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Commit 0e00dd07 authored by Benedikt Kleinmeier's avatar Benedikt Kleinmeier
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In "OSMBehaviorController", removed evasion code (instead use BHM to... 

In "OSMBehaviorController", removed evasion code (instead use BHM to demonstrate evasion cognition which already provides evasion methods)
parent cedd2873
Pipeline #344883 failed with stages
in 96 minutes and 31 seconds
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VadereSimulator/src/org/vadere/simulator/control/psychology/cognition/models/CounterflowCognitionModel.java
View file @ 0e00dd07
......@@ -34,8 +34,8 @@ public class CounterflowCognitionModel implements ICognitionModel {
if (neighborCloserToTarget != null) {
if (TopographyHelper.walkingDirectionDiffers(pedestrian, neighborCloserToTarget, topography)) {
pedestrian.setSelfCategory(SelfCategory.EVADE);
} else if (neighborCloserToTarget.getSelfCategory() == SelfCategory.EVADE) {
pedestrian.setSelfCategory(SelfCategory.EVADE); // Imitate behavior
} else if (neighborCloserToTarget.getSelfCategory() == SelfCategory.EVADE) { // Imitate behavior
pedestrian.setSelfCategory(SelfCategory.EVADE);
}
}
}
......
VadereSimulator/src/org/vadere/simulator/models/bhm/PedestrianBHM.java
View file @ 0e00dd07
......@@ -183,7 +183,10 @@ public class PedestrianBHM extends Pedestrian {
makeStep();
} else if (selfCategory == SelfCategory.WAIT) {
// do nothing
} else {
} else if (selfCategory == SelfCategory.EVADE) {
// TODO: Force tangential or sideways evasion using BHM's internal methods.
}
else {
throw new IllegalArgumentException("Unsupported SelfCategory: " + selfCategory);
}
......
VadereSimulator/src/org/vadere/simulator/models/osm/OSMBehaviorController.java
View file @ 0e00dd07
package org.vadere.simulator.models.osm;
import org.apache.commons.lang3.tuple.Pair;
import org.apache.commons.math.exception.OutOfRangeException;
import org.apache.commons.math3.distribution.BinomialDistribution;
import org.apache.commons.math3.random.JDKRandomGenerator;
import org.jetbrains.annotations.NotNull;
import org.jetbrains.annotations.Nullable;
import org.vadere.simulator.models.potential.combinedPotentials.CombinedPotentialStrategy;
......@@ -18,10 +15,10 @@ import org.vadere.state.scenario.ScenarioElement;
import org.vadere.state.scenario.Target;
import org.vadere.state.scenario.Topography;
import org.vadere.state.simulation.FootStep;
import org.vadere.util.geometry.shapes.*;
import org.vadere.util.geometry.shapes.VPoint;
import org.vadere.util.geometry.shapes.Vector2D;
import org.vadere.util.logging.Logger;
import java.awt.geom.Rectangle2D;
import java.util.LinkedList;
import java.util.List;
......@@ -45,26 +42,6 @@ public class OSMBehaviorController {
// Static Variables
private static Logger logger = Logger.getLogger(OSMBehaviorController.class);
private static final int BINOMIAL_DISTRIBUTION_SUCCESS_VALUE = 1;
// Member Variables
BinomialDistribution evasionDirectionDistribution;
// Constructors
public OSMBehaviorController() {
evasionDirectionDistribution = createEvasionDistribution(0, 0.8);
}
private BinomialDistribution createEvasionDistribution(int seed, double evadeRightProbability) {
if (evadeRightProbability < 0 || evadeRightProbability > 1) {
throw new OutOfRangeException(evadeRightProbability, 0, 1);
}
JDKRandomGenerator randomGenerator = new JDKRandomGenerator();
randomGenerator.setSeed(seed);
return new BinomialDistribution(randomGenerator, BINOMIAL_DISTRIBUTION_SUCCESS_VALUE, evadeRightProbability);
}
// Methods
public void makeStepToTarget(@NotNull final PedestrianOSM pedestrian, @NotNull final Topography topography) {
......@@ -162,118 +139,6 @@ public class OSMBehaviorController {
pedestrian.setTimeOfNextStep(stepEndTime);
}
/**
* 1. Use TargetAttractionAndEvasionStrategy to weight agents a little less
* 2. Use gradient to get walking direction of pedestrian
* 3. Sample "evasionDirectionDistribution" to evaluate evasion direction (right or left)
* 4. Call updateNextPosition() with adapted reachable area (use gradient and evasion direction for this)
* 5. Restore TargetAttractionStrategy
*
* @param pedestrian The pedestrian to evade
* @param topography The topography to be able to move the pedestrian within the topography
* @param timeStepInSec The current simulation time in second
*/
public void evade(PedestrianOSM pedestrian, Topography topography, double timeStepInSec) {
// pedestrian.setCombinedPotentialStrategy(CombinedPotentialStrategy.TARGET_ATTRACTION_AND_EVASION_STRATEGY);
boolean evadeRight = evasionDirectionDistribution.sample() == BINOMIAL_DISTRIBUTION_SUCCESS_VALUE;
VShape reachableArea = createCircularReachableAreaInEvasionDirectionByTargetCentroid(pedestrian, evadeRight, topography);
// TODO Use pedestrian.updateNextPosition(reachableArea) only and do not set position hard
// to avoid zig-zag trajectories.
// TODO If evasion region is outside topography, use smaller rotation angle (< 45° deg)
// to force that agents evade only once and then keep their lane.
/*
if (topographyContainsReachableArea(topography, reachableArea)) {
pedestrian.setNextPosition(reachableArea.getCentroid());
} else {
*/
pedestrian.updateNextPosition(reachableArea);
// }
makeStep(pedestrian, topography, pedestrian.getDurationNextStep());
pedestrian.setTimeOfNextStep(pedestrian.getTimeOfNextStep() + pedestrian.getDurationNextStep());
// pedestrian.setCombinedPotentialStrategy(CombinedPotentialStrategy.TARGET_ATTRACTION_STRATEGY);
}
public VShape createCircularReachableAreaInEvasionDirectionByTargetCentroid(PedestrianOSM pedestrian, boolean evadeRight, Topography topography) {
VPoint nextPosition = pedestrian.getPosition();
if (pedestrian.hasNextTarget()) {
Target currentTarget = topography.getTarget(pedestrian.getNextTargetId());
VPoint vectorToTarget = TopographyHelper.calculateVectorPedestrianToTarget(pedestrian, currentTarget);
double evasionAngleRad = (evadeRight) ? -Math.toRadians(45) : +Math.toRadians(45);
VPoint nextWalkingDirection = vectorToTarget.rotate(evasionAngleRad);
VPoint nextPositionNormedToZero = nextWalkingDirection.norm().scalarMultiply(pedestrian.getDesiredStepSize());
nextPosition = nextPositionNormedToZero.add(pedestrian.getPosition());
}
VCircle reachableArea = new VCircle(nextPosition, pedestrian.getRadius() * 1.5);
return reachableArea;
}
public VShape createCircularReachableAreaInEvasionDirection(PedestrianOSM pedestrian, boolean evadeRight) {
Vector2D targetGradient = pedestrian.getTargetGradient(pedestrian.getPosition());
Vector2D pedestrianWalkingDirection = targetGradient.rotate(Math.toRadians(180));
double evasionAngleRad = (evadeRight) ? -Math.toRadians(45) : +Math.toRadians(45);
Vector2D nextWalkingDirection = pedestrianWalkingDirection.rotate(evasionAngleRad);
VPoint nextPositionNormedToZero = nextWalkingDirection.norm().scalarMultiply(pedestrian.getDesiredStepSize());
VPoint nextPosition = nextPositionNormedToZero.add(pedestrian.getPosition());
VCircle reachableArea = new VCircle(nextPosition, pedestrian.getRadius());
return reachableArea;
}
private boolean topographyContainsReachableArea(Topography topography, VShape reachableArea) {
Rectangle2D.Double bounds = topography.getBounds();
double boundsWidth = topography.getBoundingBoxWidth();
Rectangle2D.Double validArea = new Rectangle2D.Double(bounds.x + boundsWidth, bounds.y + boundsWidth, bounds.width - 2 * boundsWidth, bounds.height - 2 * boundsWidth);
boolean reachableAreaInsideBoundary = validArea.contains(reachableArea.getCentroid().x, reachableArea.getCentroid().y);
return reachableAreaInsideBoundary;
}
// TODO: Maybe, remove this method because low-level (optimization) code expects "reachableArea" to be of type "VCircle". :/
/**
* Use an isosceles triangle as reachable area where the isosceles legs represent pedestrian's step length
* and the angle between both legs is 30° deg. Both legs meet at pedestrian's current position.
* This triangle is rotated by using the targetGradient plus/minus some evasion offset of 45° deg.
*
* @param pedestrian The pedestrian to derive current position and walking direction (by using the gradient)
* @param evadeRight Decides if the isosceles triangle should be rotated by +45° deg or -45° deg
* @return The new reachable area for the pedestrian as isosceles triangle
*/
public VShape createIsoscelesTriangleAsReachableArea(PedestrianOSM pedestrian, boolean evadeRight) {
double legAngleInRadians = Math.toRadians(15);
double stepSize = pedestrian.getDesiredStepSize();
double xCoord = stepSize * Math.cos(legAngleInRadians);
double yCoord = stepSize * Math.sin(legAngleInRadians);
Vector2D p1 = new Vector2D(0, 0);
Vector2D p2 = new Vector2D(xCoord, yCoord);
Vector2D p3 = new Vector2D(xCoord, -yCoord);
Vector2D targetGradient = pedestrian.getTargetGradient(pedestrian.getPosition());
Vector2D pedestrianWalkingDirection = targetGradient.rotate(Math.toRadians(180));
double walkingAngleRad = pedestrianWalkingDirection.angleToZero();
double evasionAngleRad = (evadeRight) ? -Math.toRadians(45) : +Math.toRadians(45);
double nextWalkingAngleRad = walkingAngleRad + evasionAngleRad;
Vector2D p1Rotated = p1.rotate(nextWalkingAngleRad);
Vector2D p2Rotated = p2.rotate(nextWalkingAngleRad);
Vector2D p3Rotated = p3.rotate(nextWalkingAngleRad);
VPoint base = pedestrian.getPosition();
VTriangle rotatedTriangleCounterClockwise = new VTriangle(base.add(p1Rotated), base.add(p3Rotated), base.add(p2Rotated));
return rotatedTriangleCounterClockwise;
}
/**
* Maximize distance to the threat (a threat) and increase speed.
*
......
VadereSimulator/src/org/vadere/simulator/models/osm/PedestrianOSM.java
View file @ 0e00dd07
......@@ -366,10 +366,6 @@ public class PedestrianOSM extends Pedestrian {
this.combinedPotentialStrategy = new TargetAttractionStrategy(this.potentialFieldTarget,
this.potentialFieldObstacle,
this.potentialFieldPedestrian);
} else if (newStrategy == CombinedPotentialStrategy.TARGET_ATTRACTION_AND_EVASION_STRATEGY) {
this.combinedPotentialStrategy = new TargetAttractionAndEvasionStrategy(this.potentialFieldTarget,
this.potentialFieldObstacle,
this.potentialFieldPedestrian);
} else if (newStrategy == CombinedPotentialStrategy.TARGET_REPULSION_STRATEGY) {
this.combinedPotentialStrategy = new TargetRepulsionStrategy(this.potentialFieldTarget,
this.potentialFieldObstacle,
......
VadereSimulator/src/org/vadere/simulator/models/osm/updateScheme/UpdateSchemeEventDriven.java
View file @ 0e00dd07
......@@ -62,8 +62,6 @@ public class UpdateSchemeEventDriven implements UpdateSchemeOSM {
} else {
osmBehaviorController.makeStepToTarget(pedestrian, topography);
}
} else if (selfCategory == SelfCategory.EVADE) {
osmBehaviorController.evade(pedestrian, topography, timeStepInSec);
} else if (selfCategory == SelfCategory.INSIDE_THREAT_AREA) {
osmBehaviorController.changeToTargetRepulsionStrategyAndIncreaseSpeed(pedestrian, topography);
osmBehaviorController.makeStepToTarget(pedestrian, topography);
......
VadereSimulator/src/org/vadere/simulator/models/potential/combinedPotentials/CombinedPotentialStrategy.java
View file @ 0e00dd07
......@@ -8,6 +8,5 @@ package org.vadere.simulator.models.potential.combinedPotentials;
*/
public enum CombinedPotentialStrategy {
TARGET_ATTRACTION_STRATEGY,
TARGET_ATTRACTION_AND_EVASION_STRATEGY,
TARGET_REPULSION_STRATEGY
}
VadereSimulator/src/org/vadere/simulator/models/potential/combinedPotentials/TargetAttractionAndEvasionStrategy.java deleted 100644 → 0
View file @ cedd2873
package org.vadere.simulator.models.potential.combinedPotentials;
import org.vadere.simulator.models.potential.fields.IPotentialFieldTarget;
import org.vadere.simulator.models.potential.fields.PotentialFieldAgent;
import org.vadere.simulator.models.potential.fields.PotentialFieldObstacle;
import org.vadere.state.scenario.Agent;
import org.vadere.util.geometry.shapes.IPoint;
import java.util.Collection;
/**
* Combine potential so that agents are attracted by targets
* but other agents are less weighted.
*/
public class TargetAttractionAndEvasionStrategy implements ICombinedPotentialStrategy {
private IPotentialFieldTarget potentialFieldTarget;
private PotentialFieldObstacle potentialFieldObstacle;
private PotentialFieldAgent potentialFieldAgent;
public TargetAttractionAndEvasionStrategy(IPotentialFieldTarget potentialFieldTarget, PotentialFieldObstacle potentialFieldObstacle, PotentialFieldAgent potentialFieldAgent) {
this.potentialFieldTarget = potentialFieldTarget;
this.potentialFieldObstacle = potentialFieldObstacle;
this.potentialFieldAgent = potentialFieldAgent;
}
@Override
public double getValue(IPoint newPos, Agent thisAgent, Collection<? extends Agent> otherAgents) {
double targetPotential = potentialFieldTarget.getPotential(newPos, thisAgent);
double obstaclePotential = potentialFieldObstacle.getObstaclePotential(newPos, thisAgent);
double agentPotential = potentialFieldAgent.getAgentPotential(newPos, thisAgent, otherAgents);
agentPotential = agentPotential * 0.8;
return targetPotential + agentPotential + obstaclePotential;
}
}
VadereSimulator/tests/org/vadere/simulator/models/osm/OSMBehaviorControllerTest.java
View file @ 0e00dd07
......@@ -14,8 +14,6 @@ import org.vadere.state.scenario.Target;
import org.vadere.state.scenario.Topography;
import org.vadere.util.geometry.shapes.VCircle;
import org.vadere.util.geometry.shapes.VPoint;
import org.vadere.util.geometry.shapes.VShape;
import org.vadere.util.geometry.shapes.VTriangle;
import java.util.ArrayList;
import java.util.LinkedList;
......@@ -385,28 +383,4 @@ public class OSMBehaviorControllerTest {
assertEquals(expectedTimeOfNextStep, pedestrian1.getTimeOfNextStep(), ALLOWED_DOUBLE_TOLERANCE);
}
@Test
public void createIsoscelesTriangleAsReachableAreaReturnsTriangleTypes() {
createOppositeDirectionVariation1Topography();
boolean evadeRight = true;
OSMBehaviorController controllerUnderTest = new OSMBehaviorController();
for (int i = 0; i < 5; i++) {
VShape reachableArea = controllerUnderTest.createIsoscelesTriangleAsReachableArea(pedestrian1, evadeRight);
assertTrue(reachableArea instanceof VTriangle);
}
}
@Test
public void createCircularReachableAreaInEvasionDirectionWorksProperly() {
createOppositeDirectionVariation1Topography();
boolean evadeRight = true;
OSMBehaviorController controllerUnderTest = new OSMBehaviorController();
// Ped1 walks from (0,0) to (-1,0) => walking direction (gradient) is roughly (-1, 0).
VShape reachableArea = controllerUnderTest.createCircularReachableAreaInEvasionDirection(pedestrian2, evadeRight);
// TODO Assert that coordinates match roughly the expectation.
}
}
\ No newline at end of file
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