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Commit d103f2e9 authored by Benedikt Kleinmeier's avatar Benedikt Kleinmeier
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Moved BHM navigation classes to new package "helpers.navigation" and... 

Moved BHM navigation classes to new package "helpers.navigation" and implemented "NavigationBuilder" to instantiate model from string in scenario file
parent ee1ae4bb
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Scenarios/ModelTests/TestBHM/scenarios/BHM-Defaults-WithFloorField.scenario
View file @ d103f2e9
......@@ -46,12 +46,13 @@
"stepLengthDeviation" : false,
"navigationCluster" : false,
"navigationFollower" : false,
"followerProximityNavigation" : true,
"navigationModel" : "NavigationProximity",
"directionWallDistance" : false,
"tangentialEvasion" : true,
"sidewaysEvasion" : false,
"onlyEvadeContraFlow" : false,
"makeSmallSteps" : false,
"followerProximityNavigation" : true,
"differentBehaviour" : false,
"differentEvasionBehaviourPercentage" : [ ],
"varyingBehaviour" : true,
......
Scenarios/ModelTests/TestBHM/scenarios/BHM-Defaults.scenario
View file @ d103f2e9
......@@ -46,12 +46,13 @@
"stepLengthDeviation" : false,
"navigationCluster" : false,
"navigationFollower" : false,
"followerProximityNavigation" : true,
"navigationModel" : "NavigationProximity",
"directionWallDistance" : false,
"tangentialEvasion" : true,
"sidewaysEvasion" : false,
"onlyEvadeContraFlow" : false,
"makeSmallSteps" : false,
"followerProximityNavigation" : true,
"differentBehaviour" : false,
"differentEvasionBehaviourPercentage" : [ ],
"varyingBehaviour" : true,
......
Scenarios/ModelTests/TestBHM/scenarios/CounterFlow-CounterflowCognitionModel.scenario
View file @ d103f2e9
......@@ -28,12 +28,13 @@
"stepLengthDeviation" : true,
"navigationCluster" : false,
"navigationFollower" : false,
"followerProximityNavigation" : true,
"navigationModel" : "NavigationProximity",
"directionWallDistance" : false,
"tangentialEvasion" : false,
"sidewaysEvasion" : false,
"onlyEvadeContraFlow" : false,
"makeSmallSteps" : false,
"followerProximityNavigation" : false,
"differentBehaviour" : false,
"differentEvasionBehaviourPercentage" : [ ],
"varyingBehaviour" : false,
......@@ -220,4 +221,4 @@
},
"stimulusInfos" : [ ]
}
}
\ No newline at end of file
}
Scenarios/ModelTests/TestBHM/scenarios/floor_field_navigation_test_displaced_ok.scenario
View file @ d103f2e9
......@@ -28,12 +28,13 @@
"stepLengthDeviation" : true,
"navigationCluster" : false,
"navigationFollower" : false,
"followerProximityNavigation" : true,
"navigationModel" : "NavigationProximity",
"directionWallDistance" : false,
"tangentialEvasion" : true,
"sidewaysEvasion" : true,
"onlyEvadeContraFlow" : false,
"makeSmallSteps" : false,
"followerProximityNavigation" : false,
"differentBehaviour" : false,
"differentEvasionBehaviourPercentage" : [ ],
"varyingBehaviour" : false,
......@@ -100,7 +101,9 @@
},
"attributesStrategy" : {
"useStrategyModel" : false,
"strategyModel" : null
"strategyModel" : null,
"arguments" : [ ],
"requiredDataProcessorIds" : [ ]
},
"topography" : {
"attributes" : {
......@@ -215,4 +218,4 @@
},
"stimulusInfos" : [ ]
}
}
\ No newline at end of file
}
Scenarios/ModelTests/TestBHM/scenarios/floor_field_navigation_test_ok.scenario
View file @ d103f2e9
......@@ -28,12 +28,13 @@
"stepLengthDeviation" : true,
"navigationCluster" : false,
"navigationFollower" : false,
"followerProximityNavigation" : true,
"navigationModel" : "NavigationProximity",
"directionWallDistance" : false,
"tangentialEvasion" : false,
"sidewaysEvasion" : false,
"onlyEvadeContraFlow" : false,
"makeSmallSteps" : false,
"followerProximityNavigation" : false,
"differentBehaviour" : false,
"differentEvasionBehaviourPercentage" : [ ],
"varyingBehaviour" : false,
......@@ -100,7 +101,9 @@
},
"attributesStrategy" : {
"useStrategyModel" : false,
"strategyModel" : null
"strategyModel" : null,
"arguments" : [ ],
"requiredDataProcessorIds" : [ ]
},
"topography" : {
"attributes" : {
......@@ -122,7 +125,7 @@
"height" : 1.0,
"type" : "RECTANGLE"
},
"id" : -1
"id" : 2
}, {
"shape" : {
"x" : 1.0,
......@@ -131,7 +134,7 @@
"height" : 1.0,
"type" : "RECTANGLE"
},
"id" : -1
"id" : 3
}, {
"shape" : {
"x" : 1.0,
......@@ -140,7 +143,7 @@
"height" : 19.5,
"type" : "RECTANGLE"
},
"id" : -1
"id" : 4
}, {
"shape" : {
"x" : 1.0,
......@@ -149,7 +152,7 @@
"height" : 1.0,
"type" : "RECTANGLE"
},
"id" : -1
"id" : 5
}, {
"shape" : {
"x" : 33.0,
......@@ -158,7 +161,7 @@
"height" : 18.0,
"type" : "RECTANGLE"
},
"id" : -1
"id" : 6
}, {
"shape" : {
"x" : 2.5,
......@@ -167,7 +170,7 @@
"height" : 1.0,
"type" : "RECTANGLE"
},
"id" : -1
"id" : 7
}, {
"shape" : {
"x" : 2.5,
......@@ -176,7 +179,7 @@
"height" : 16.4,
"type" : "RECTANGLE"
},
"id" : -1
"id" : 8
}, {
"shape" : {
"x" : 2.5,
......@@ -185,7 +188,7 @@
"height" : 1.0,
"type" : "RECTANGLE"
},
"id" : -1
"id" : 9
}, {
"shape" : {
"x" : 24.0,
......@@ -194,7 +197,7 @@
"height" : 12.5,
"type" : "RECTANGLE"
},
"id" : -1
"id" : 10
}, {
"shape" : {
"x" : 20.1,
......@@ -203,7 +206,7 @@
"height" : 11.4,
"type" : "RECTANGLE"
},
"id" : -1
"id" : 11
} ],
"measurementAreas" : [ ],
"stairs" : [ ],
......@@ -228,7 +231,7 @@
"targetChangers" : [ ],
"absorbingAreas" : [ ],
"sources" : [ {
"id" : -1,
"id" : 12,
"shape" : {
"x" : 16.0,
"y" : 2.0,
......@@ -269,4 +272,4 @@
},
"stimulusInfos" : [ ]
}
}
\ No newline at end of file
}
VadereSimulator/src/org/vadere/simulator/models/bhm/Navigation.java deleted 100644 → 0
View file @ ee1ae4bb
package org.vadere.simulator.models.bhm;
import org.vadere.util.geometry.shapes.VPoint;
public interface Navigation {
public VPoint getNavigationPosition();
}
VadereSimulator/src/org/vadere/simulator/models/bhm/PedestrianBHM.java
View file @ d103f2e9
......@@ -2,6 +2,9 @@ package org.vadere.simulator.models.bhm;
import org.jetbrains.annotations.NotNull;
import org.jetbrains.annotations.Nullable;
import org.vadere.simulator.models.bhm.helpers.navigation.INavigation;
import org.vadere.simulator.models.bhm.helpers.navigation.NavigationBuilder;
import org.vadere.simulator.models.bhm.helpers.navigation.NavigationEvasion;
import org.vadere.simulator.models.potential.fields.IPotentialFieldTarget;
import org.vadere.state.attributes.models.AttributesBHM;
import org.vadere.state.attributes.scenario.AttributesAgent;
......@@ -35,10 +38,10 @@ public class PedestrianBHM extends Pedestrian {
private VPoint lastPosition;
private VPoint targetDirection;
private final transient Navigation navigation;
private final transient INavigation navigation;
private final transient List<DirectionAddend> directionAddends;
protected int action;
public int action;
private boolean evadesTangentially;
private boolean evadesSideways;
......@@ -75,27 +78,8 @@ public class PedestrianBHM extends Pedestrian {
// model building ...
// TODO: Implement a model builder class similar to "CognitionModelBuilder".
// Select a "Navigation" class by passing a simple string.
this.navigation = new NavigationEvasion(this, topography);
/*
if (attributesBHM.isNavigationCluster()) {
this.navigation = new NavigationCluster(this, topography, random);
if (attributesBHM.isNavigationFollower()) {
logger.warn("Only one navigation heuristic can be chosen."
+ "Choosing cluster navigation.");
}
} else if (attributesBHM.isNavigationFollower()) {
this.navigation = new NavigationFollower(this, topography, random);
if (attributesBHM.isNavigationCluster()) {
logger.warn("Only one navigation heuristic can be chosen."
+ "Choosing follower navigation.");
}
} else {
this.navigation = new NavigationProximity(this, random);
}
*/
String navigationModel = attributesBHM.getNavigationModel();
this.navigation = NavigationBuilder.instantiateModel(navigationModel, this, topography, random);
if (attributesBHM.isDirectionWallDistance()) {
directionAddends.add(new DirectionAddendObstacle(this));
......@@ -192,7 +176,7 @@ public class PedestrianBHM extends Pedestrian {
// do nothing
} else if (selfCategory == SelfCategory.EVADE) {
// TODO: Force tangential or sideways evasion using BHM's internal methods
// or by implementing "Navigation" interface myself and always evade to the right hand side.
// or by implementing "INavigation" interface myself and always evade to the right hand side.
nextPosition = navigation.getNavigationPosition();
makeStep();
}
......@@ -229,7 +213,7 @@ public class PedestrianBHM extends Pedestrian {
}
}
VPoint stepAwayFromCollision(final Pedestrian collisionPed) {
public VPoint stepAwayFromCollision(final Pedestrian collisionPed) {
return getPosition().subtract(collisionPed.getPosition()).norm().scalarMultiply(stepLength).add(getPosition());
}
......@@ -258,7 +242,7 @@ public class PedestrianBHM extends Pedestrian {
// target direction methods...
VPoint computeTargetStep() {
public VPoint computeTargetStep() {
return UtilsBHM.getTargetStep(this, getPosition(), getTargetDirection());
}
......@@ -316,7 +300,7 @@ public class PedestrianBHM extends Pedestrian {
}
}
VPoint computeMovementProjection() {
public VPoint computeMovementProjection() {
return getPosition().add(getTargetDirection().scalarMultiply(
stepLength * attributesBHM.getPlannedStepsAhead()));
}
......@@ -351,7 +335,7 @@ public class PedestrianBHM extends Pedestrian {
/**
* Check collisions on the path.
*/
boolean collidesWithPedestrianOnPath(VPoint position) {
public boolean collidesWithPedestrianOnPath(VPoint position) {
Pedestrian collision = findCollisionPedestrian(position, true);
return collision != null;
......@@ -361,7 +345,7 @@ public class PedestrianBHM extends Pedestrian {
* If findAny is false, return the first collision on the path to position.
* If findAny is true, return the first collision that was found (could be any).
*/
Pedestrian findCollisionPedestrian(VPoint position, boolean findAny) {
public Pedestrian findCollisionPedestrian(VPoint position, boolean findAny) {
Pedestrian result = null;
double minDistance = Double.MAX_VALUE;
......@@ -417,7 +401,7 @@ public class PedestrianBHM extends Pedestrian {
/**
* This does not check collisions on the path, just collisions with position!
*/
List<Obstacle> detectObstacleProximity(@NotNull VPoint position, double proximity) {
public List<Obstacle> detectObstacleProximity(@NotNull VPoint position, double proximity) {
Collection<Obstacle> obstacles = topography.getObstacles();
List<Obstacle> result = new LinkedList<>();
......
VadereSimulator/src/org/vadere/simulator/models/bhm/helpers/navigation/INavigation.java 0 → 100644
View file @ d103f2e9
package org.vadere.simulator.models.bhm.helpers.navigation;
import org.vadere.simulator.models.bhm.PedestrianBHM;
import org.vadere.state.scenario.Topography;
import org.vadere.util.geometry.shapes.VPoint;
import java.util.Random;
public interface INavigation {
public void initialize(PedestrianBHM pedestrianBHM, Topography topography, Random random);
public VPoint getNavigationPosition();
}
VadereSimulator/src/org/vadere/simulator/models/bhm/helpers/navigation/NavigationBuilder.java 0 → 100644
View file @ d103f2e9
package org.vadere.simulator.models.bhm.helpers.navigation;
import org.vadere.simulator.models.bhm.PedestrianBHM;
import org.vadere.state.scenario.Topography;
import org.vadere.util.reflection.DynamicClassInstantiator;
import java.util.Random;
/**
* This class encapsulates the creation of a concrete {@link INavigation}
* which is defined by the user in the JSON scenario description.
*
* The user provides the simple class name in the JSON scenario file.
* I.e., no fully qualified classname.
*/
public class NavigationBuilder {
public static final String JAVA_PACKAGE_SEPARATOR = ".";
public static INavigation instantiateModel(String simpleClassName, PedestrianBHM pedestrianBHM, Topography topography, Random random) {
String classSearchPath = INavigation.class.getPackageName();
String fullyQualifiedClassName = classSearchPath + JAVA_PACKAGE_SEPARATOR + simpleClassName;
DynamicClassInstantiator<INavigation> instantiator = new DynamicClassInstantiator<>();
INavigation navigationModel = instantiator.createObject(fullyQualifiedClassName);
navigationModel.initialize(pedestrianBHM, topography, random);
return navigationModel;
}
}
VadereSimulator/src/org/vadere/simulator/models/bhm/NavigationCluster.java → VadereSimulator/src/org/vadere/simulator/models/bhm/helpers/navigation/NavigationCluster.java
View file @ d103f2e9
package org.vadere.simulator.models.bhm;
package org.vadere.simulator.models.bhm.helpers.navigation;
import org.vadere.simulator.models.bhm.PedestrianBHM;
import org.vadere.simulator.models.bhm.UtilsBHM;
import org.vadere.state.attributes.models.AttributesBHM;
import org.vadere.state.scenario.Pedestrian;
import org.vadere.state.scenario.Topography;
......@@ -11,20 +13,22 @@ import java.util.LinkedList;
import java.util.List;
import java.util.Random;
public class NavigationCluster implements Navigation {
public class NavigationCluster implements INavigation {
private static Logger logger = Logger.getLogger(NavigationCluster.class);
private final Topography topography;
private final AttributesBHM attributesBHM;
private final PedestrianBHM me;
private final NavigationProximity proximityNavigation;
private Topography topography;
private AttributesBHM attributesBHM;
private PedestrianBHM me;
private NavigationProximity proximityNavigation;
public NavigationCluster(PedestrianBHM me, Topography topography, Random random) {
this.me = me;
@Override
public void initialize(PedestrianBHM pedestrianBHM, Topography topography, Random random) {
this.me = pedestrianBHM;
this.topography = topography;
this.attributesBHM = me.getAttributesBHM();
this.proximityNavigation = new NavigationProximity(me, random);
this.proximityNavigation = new NavigationProximity();
proximityNavigation.initialize(me, topography, random);
}
@Override
......
VadereSimulator/src/org/vadere/simulator/models/bhm/NavigationEvasion.java → VadereSimulator/src/org/vadere/simulator/models/bhm/helpers/navigation/NavigationEvasion.java
View file @ d103f2e9
package org.vadere.simulator.models.bhm;
package org.vadere.simulator.models.bhm.helpers.navigation;
import org.apache.commons.lang3.tuple.ImmutablePair;
import org.apache.commons.lang3.tuple.Pair;
import org.vadere.simulator.models.bhm.PedestrianBHM;
import org.vadere.state.attributes.models.AttributesBHM;
import org.vadere.state.scenario.Pedestrian;
import org.vadere.state.scenario.Topography;
......@@ -11,6 +12,7 @@ import org.vadere.util.logging.Logger;
import java.util.ArrayList;
import java.util.List;
import java.util.Random;
import java.util.stream.Collectors;
/**
......@@ -24,18 +26,16 @@ import java.util.stream.Collectors;
* <li>Wait.</li>
* </ol>
*/
public class NavigationEvasion implements Navigation {
public class NavigationEvasion implements INavigation {
private static Logger logger = Logger.getLogger(NavigationEvasion.class);
private final PedestrianBHM me;
private final Topography topography;
private final AttributesBHM attributesBHM;
private PedestrianBHM me;
private Topography topography;
public NavigationEvasion(PedestrianBHM me, Topography topography) {
this.me = me;
public void initialize(PedestrianBHM pedestrianBHM, Topography topography, Random random) {
this.me = pedestrianBHM;
this.topography = topography;
this.attributesBHM = me.getAttributesBHM();
}
@Override
......
VadereSimulator/src/org/vadere/simulator/models/bhm/NavigationFollower.java → VadereSimulator/src/org/vadere/simulator/models/bhm/helpers/navigation/NavigationFollower.java
View file @ d103f2e9
package org.vadere.simulator.models.bhm;
package org.vadere.simulator.models.bhm.helpers.navigation;
import org.vadere.simulator.models.bhm.PedestrianBHM;
import org.vadere.simulator.models.bhm.UtilsBHM;
import org.vadere.state.attributes.models.AttributesBHM;
import org.vadere.state.scenario.Pedestrian;
import org.vadere.state.scenario.Topography;
......@@ -10,20 +12,21 @@ import java.util.LinkedList;
import java.util.List;
import java.util.Random;
public class NavigationFollower implements Navigation {
public class NavigationFollower implements INavigation {
private static Logger logger = Logger.getLogger(NavigationFollower.class);
private final Topography topography;
private final AttributesBHM attributesBHM;
private final PedestrianBHM me;
private final NavigationProximity proximityNavigation;
private Topography topography;
private AttributesBHM attributesBHM;
private PedestrianBHM me;
private NavigationProximity proximityNavigation;
public NavigationFollower(PedestrianBHM me, Topography topography, Random random) {
this.me = me;
public void initialize(PedestrianBHM pedestrianBHM, Topography topography, Random random) {
this.me = pedestrianBHM;
this.topography = topography;
this.attributesBHM = me.getAttributesBHM();
this.proximityNavigation = new NavigationProximity(me, random);
this.proximityNavigation = new NavigationProximity();
this.proximityNavigation.initialize(me, topography, random);
}
@Override
......
VadereSimulator/src/org/vadere/simulator/models/bhm/NavigationProximity.java → VadereSimulator/src/org/vadere/simulator/models/bhm/helpers/navigation/NavigationProximity.java
View file @ d103f2e9
package org.vadere.simulator.models.bhm;
package org.vadere.simulator.models.bhm.helpers.navigation;
import org.jetbrains.annotations.NotNull;
import org.vadere.simulator.models.bhm.PedestrianBHM;
import org.vadere.simulator.models.bhm.UtilsBHM;
import org.vadere.state.attributes.models.AttributesBHM;
import org.vadere.state.scenario.Obstacle;
import org.vadere.state.scenario.Pedestrian;
import org.vadere.state.scenario.Topography;
import org.vadere.util.geometry.GeometryUtils;
import org.vadere.util.geometry.shapes.VPoint;
import org.vadere.util.geometry.shapes.VShape;
......@@ -14,16 +17,16 @@ import java.util.List;
import java.util.Optional;
import java.util.Random;
public class NavigationProximity implements Navigation {
public class NavigationProximity implements INavigation {
private static Logger logger = Logger.getLogger(NavigationProximity.class);
private final Random random;
private final AttributesBHM attributesBHM;
private final PedestrianBHM me;
private Random random;
private AttributesBHM attributesBHM;
private PedestrianBHM me;
public NavigationProximity(PedestrianBHM me, Random random) {
this.me = me;
public void initialize(PedestrianBHM pedestrianBHM, Topography topography, Random random) {
this.me = pedestrianBHM;
this.random = random;
this.attributesBHM = me.getAttributesBHM();
}
......
VadereSimulator/tests/org/vadere/simulator/models/bhm/NavigationEvasionTest.java
View file @ d103f2e9
package org.vadere.simulator.models.bhm;
import org.junit.Test;
import org.vadere.simulator.models.bhm.helpers.navigation.NavigationEvasion;
import org.vadere.simulator.models.potential.fields.IPotentialFieldTargetGrid;
import org.vadere.simulator.projects.Domain;
import org.vadere.state.attributes.Attributes;
......@@ -8,7 +9,6 @@ import org.vadere.state.attributes.models.AttributesBHM;
import org.vadere.state.attributes.models.AttributesFloorField;
import org.vadere.state.attributes.scenario.AttributesAgent;
import org.vadere.state.attributes.scenario.AttributesTarget;
import org.vadere.state.scenario.Pedestrian;
import org.vadere.state.scenario.Target;
import org.vadere.state.scenario.Topography;
import org.vadere.util.geometry.shapes.VCircle;
......
VadereState/src/org/vadere/state/attributes/models/AttributesBHM.java
View file @ d103f2e9
......@@ -18,15 +18,17 @@ public class AttributesBHM extends Attributes {
private double stepLengthSD = 0.036;
private boolean stepLengthDeviation = false;
// TODO: Remove boolean navigation variables (including migration). Instead, use new "NavigationBuilder".
private boolean navigationCluster = false;
private boolean navigationFollower = false;
private boolean directionWallDistance = false;
private boolean followerProximityNavigation = true;
private String navigationModel = "NavigationProximity";
private boolean directionWallDistance = false;
private boolean tangentialEvasion = true;
private boolean sidewaysEvasion = false;
private boolean onlyEvadeContraFlow = false;
private boolean makeSmallSteps = false;
private boolean followerProximityNavigation = true;
private boolean differentBehaviour = false;
private LinkedList<Double> differentEvasionBehaviourPercentage = new LinkedList<>();
......@@ -78,6 +80,12 @@ public class AttributesBHM extends Attributes {
return navigationFollower;
}
public boolean isFollowerProximityNavigation() {
return followerProximityNavigation;
}
public String getNavigationModel() { return navigationModel; }
public boolean isDirectionWallDistance() {
return directionWallDistance;
}
......@@ -98,9 +106,6 @@ public class AttributesBHM extends Attributes {
return makeSmallSteps;
}
public boolean isFollowerProximityNavigation() {
return followerProximityNavigation;
}