Baseline

main.cpp

@@ -1,103 +1,89 @@
-#include <cfloat>
-#include <iostream>
-#include <math.h>
+#include "board.hpp"
+#include "forces.hpp"
+#include "math.h"
+#include "pedestrian.hpp"
+#include "vector2d.hpp"
+
+double g(double v_max_alpha, double w_alpha_norm) {
+  if (w_alpha_norm <= v_max_alpha) {
+    return 1;
+  }
+  return v_max_alpha / w_alpha_norm;
+}
 
 using namespace std;
 
-struct Vector2d {
-  double x, y;
-  Vector2d(double a, double b) : x(a), y(b) {}
-  Vector2d() : x(.0), y(.0) {}
-  Vector2d operator+(Vector2d v) const { return Vector2d(v.x + x, v.y + y); }
-  Vector2d operator-(Vector2d v) const { return Vector2d(x - v.x, y - v.y); }
-  Vector2d operator-(double a) const { return Vector2d(x - a, y - a); }
-  Vector2d operator+(double a) const { return Vector2d(x + a, y + a); }
-  Vector2d operator/(double a) const { return Vector2d(x / a, y / a); }
-  Vector2d operator*(double a) const { return Vector2d(x * a, y * a); }
-  Vector2d operator+=(const Vector2d &v) {
-    *this = *this + v;
-    return *this;
-  }
-  double norm() { return sqrt(x * x + y * y); }
-  double dot(Vector2d v) { return x * v.x + y * v.y; }
-  void reset() {
-    x = 0;
-    y = 0;
-  }
-};
-
 // Numer of pedestrians
 // $n_p$
-const int n_p = 100;
+// const int n_p = 100;
 
 // Number of iterations
 // $n_{iter}$
-const int n_iter = 100;
+// const int n_iter = 100;
 
-// TODO: Change this
-// $\tau$
-const double tau = 0.12345;
-
-void compute_acceleration_term(Vector2d *F_i) {}
-void compute_repulsive_effects_from_pedestrians(Vector2d *F_i) {}
-void compute_repulsive_effects_from_borders(Vector2d *F_i) {}
-
-// Return an array of doubles
-double *w(Vector2d e, Vector2d f) {
-
-  // TODO:
-  // $cos(60\degree)$
-  // if (e * f > f.norm() * (0.5)) {
-  // }
-  // return 0;
+Pedestrian *init_pedestrians(int n_p) {
+  Pedestrian *P = new Pedestrian[n_p];
+  for (int i = 0; i < n_p; i++) {
+    P[i] = Pedestrian();
+  }
+  return P;
 }
 
-int main() {
+Board init_board(int width, int length) {
+  Vector2d obs[] = {Vector2d(2.0, 1.0), Vector2d(4.0, 1.0), Vector2d(6.0, 2.0), Vector2d(6.0, 4.0)};
+  return Board(width, length, 4, obs);
+}
 
-  // ! DONT TOUCH
+int main(int argc, const char* argv[]) {
 
-  // $\vec{v}^0_i$
-  // Velocity at iteration $t$ for pedestrian $i$
-  double v[n_iter][n_p];
+  Board B = init_board(10, 15);
 
-  // $\vec{r}^0_i$
-  // Intended destination at iteration $t$ for pedestrian $i$
-  Vector2d r[n_iter][n_p];
+  int n_p = atoi(argv[1]);
+  int n_iter = atoi(argv[2]);
 
-  // $\vec{e}_i$
-  // Desired direction to the next way point at iteration $t$ for pedestrian $i$
-  Vector2d e[n_iter][n_p];
-
-  // $v_i^{max}$
-  // Maximum allowed speed for pedestrian $i$
-  double v_max[n_p];
-
-  // $v_i^{0}$
-  // Desired speed for pedestrian $i$
-  double v_0[n_p];
-
-  // $\vec{F}_i$
-  // Total social force for pedestrian $i$
-  Vector2d F[n_p][n_p];
-
-  // $\vec{r}_0$
-  // Desired destination of pedestrian $n_p$
-  Vector2d r_0[n_p];
+  Pedestrian *pedestrians = init_pedestrians(n_p);
 
   for (int t = 0; t < n_iter; t++) {
+
     for (int i = 0; i < n_p; i++) {
-      for (int itr = 0; itr < n_p; itr++) {
-        F[i][itr].reset();
-      }
-      compute_acceleration_term(F[i]);
-      compute_repulsive_effects_from_pedestrians(F[i]);
-      compute_repulsive_effects_from_borders(F[i]);
 
-      // TODO: Update $\vec{w}_i$
+      Pedestrian &p = pedestrians[i];
 
-      // TODO: Update $\vec{v}_i^{t+1}$
+      p.F_i.reset();
 
-      // TODO: pdate $\vec{r}_i^{t+1}$
+      //
+      // $\vec{F}_\alpha(\vec{v}_\alpha, v^0_\alpha \vec{e}_\alpha) \vec{e}_\alpha(t) = \frac{1}{\tau_\alpha}(v^0_\alpha \vec{e}_\alpha - \vec{v}_\alpha)$
+      //
+      compute_acceleration_term(&p);
+
+      //
+      // $\sum_{\beta} \vec{F}_{\alpha\beta}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{\beta})$
+      //
+      compute_repulsive_effects_from_pedestrians(pedestrians, &p, n_p);
+
+      //
+      // $\sum_{B} \vec{F}_{\alpha B}(\vec{e}_{\alpha}, \vec{r}_{\alpha} - \vec{r}_{B})$
+      //
+      compute_repulsive_effects_from_borders(B, &p);
+
+      //
+      // $\vec{w}_i = \vec{v}_i + \vec{F}_idt$
+      //
+      p.w_alpha = p.curr_vel + p.F_i * delta_t;
+
+      //
+      // $\vec{v}_i^{t+1} = \vec{w}_ig(\frac{v^{max}_i}{\Arrowvert \vec{w}_i \Arrowvert}) $
+      //
+      p.next_vel = p.w_alpha * g(p.v_max, p.w_alpha.norm());
+
+      //
+      // $\vec{r}_i^{t+1} += \vec{r}^t_i + v^t_idt$
+      //
+      p.curr_pos = p.curr_pos + p.curr_vel * delta_t;
+    }
+
+    for (int i = 0; i < n_p; i++) {
+      pedestrians[i].update();
     }
   }