introduce our own Nelder-Mead implementation into the master branch.

VadereMeshing/src/org/vadere/meshing/mesh/gen/AVertex.java

@@ -121,6 +121,11 @@ public class AVertex<P extends IPoint> implements IVertex<P>, Cloneable {
 		return id+"";
 	}
 
+	@Override
+	public IPoint add(double x, double y) {
+		return point.add(x, y);
+	}
+
 	@Override
 	public IPoint norm(double len) {
 		return point.norm(len);

VadereMeshing/src/org/vadere/meshing/mesh/gen/PVertex.java

@@ -72,6 +72,11 @@ public class PVertex<P extends IPoint> implements IVertex<P> {
 
 	// TODO: make it protected since it is a non-deep copy. Therefore the IVertex should maybe not be a IPoint!?
 
+	@Override
+	public IPoint add(double x, double y) {
+		return point.add(x, y);
+	}
+
 	@Override
 	public IPoint norm(double len) {
 		return point.norm(len);

VadereModelTests/TestBHM/scenarios/floor_field_navigation_test_displaced_ok.scenario

@@ -26,7 +26,7 @@
         "navigationCluster" : false,
         "navigationFollower" : false,
         "directionWallDistance" : false,
-        "tangentialEvasion" : true,
+        "tangentialEvasion" : false,
         "sidewaysEvasion" : false,
         "onlyEvadeContraFlow" : false,
         "makeSmallSteps" : false,
@@ -69,7 +69,7 @@
           "queueWidthLoading" : 1.0,
           "pedestrianDynamicWeight" : 6.0,
           "loadingType" : "CONSTANT",
-          "width" : 0.4,
+          "width" : 1.0,
           "height" : 5.0
         }
       }

VadereModelTests/TestNelderMead/scenarios/labyrinth.scenario

@@ -33,8 +33,8 @@
       "org.vadere.state.attributes.models.AttributesOSM" : {
         "stepCircleResolution" : 4,
         "numberOfCircles" : 1,
-        "optimizationType" : "NELDER_MEAD",
-        "varyStepDirection" : true,
+        "optimizationType" : "NELDER_MEAD_CIRCLE",
+        "varyStepDirection" : false,
         "movementType" : "ARBITRARY",
         "stepLengthIntercept" : 0.4625,
         "stepLengthSlopeSpeed" : 0.2345,
@@ -88,8 +88,8 @@
       },
       "obstacles" : [ {
         "shape" : {
-          "x" : 0.5,
-          "y" : 11.0,
+          "x" : 0.2,
+          "y" : 10.7,
           "width" : 33.5,
           "height" : 1.0,
           "type" : "RECTANGLE"
@@ -97,7 +97,7 @@
         "id" : -1
       }, {
         "shape" : {
-          "x" : 1.0,
+          "x" : 1.3,
           "y" : 12.5,
           "width" : 33.6,
           "height" : 1.0,
@@ -106,7 +106,7 @@
         "id" : -1
       }, {
         "shape" : {
-          "x" : 1.0,
+          "x" : 1.3,
           "y" : 12.5,
           "width" : 1.0,
           "height" : 19.5,
@@ -115,55 +115,55 @@
         "id" : -1
       }, {
         "shape" : {
-          "x" : 1.0,
+          "x" : 1.3,
           "y" : 31.0,
-          "width" : 33.0,
+          "width" : 32.4,
           "height" : 1.0,
           "type" : "RECTANGLE"
         },
         "id" : -1
       }, {
         "shape" : {
-          "x" : 33.0,
-          "y" : 14.0,
+          "x" : 32.5,
+          "y" : 14.3,
           "width" : 1.0,
-          "height" : 18.0,
+          "height" : 13.8,
           "type" : "RECTANGLE"
         },
         "id" : -1
       }, {
         "shape" : {
-          "x" : 2.5,
-          "y" : 14.0,
-          "width" : 31.4,
+          "x" : 3.1,
+          "y" : 14.3,
+          "width" : 30.4,
           "height" : 1.0,
           "type" : "RECTANGLE"
         },
         "id" : -1
       }, {
         "shape" : {
-          "x" : 2.5,
-          "y" : 14.0,
+          "x" : 3.1,
+          "y" : 14.3,
           "width" : 0.9,
-          "height" : 16.4,
+          "height" : 15.8,
           "type" : "RECTANGLE"
         },
         "id" : -1
       }, {
         "shape" : {
-          "x" : 2.5,
-          "y" : 29.5,
-          "width" : 30.0,
+          "x" : 3.1,
+          "y" : 29.2,
+          "width" : 32.0,
           "height" : 1.0,
           "type" : "RECTANGLE"
         },
         "id" : -1
       }, {
         "shape" : {
-          "x" : 24.0,
-          "y" : 16.0,
+          "x" : 24.1,
+          "y" : 16.7,
           "width" : 7.1,
-          "height" : 12.5,
+          "height" : 11.0,
           "type" : "RECTANGLE"
         },
         "id" : -1

VadereSimulator/src/org/vadere/simulator/models/osm/OptimalStepsModel.java

@@ -16,8 +16,10 @@ import org.vadere.simulator.models.groups.cgm.CentroidGroupStepSizeAdjuster;
 import org.vadere.simulator.models.groups.cgm.CentroidGroupModel;
 import org.vadere.simulator.models.groups.cgm.CentroidGroupPotential;
 import org.vadere.simulator.models.osm.optimization.ParticleSwarmOptimizer;
+import org.vadere.simulator.models.osm.optimization.PatternSearchOptimizer;
 import org.vadere.simulator.models.osm.optimization.StepCircleOptimizer;
 import org.vadere.simulator.models.osm.optimization.StepCircleOptimizerBrent;
+import org.vadere.simulator.models.osm.optimization.StepCircleOptimizerCircleNelderMead;
 import org.vadere.simulator.models.osm.optimization.StepCircleOptimizerDiscrete;
 import org.vadere.simulator.models.osm.optimization.StepCircleOptimizerEvolStrat;
 import org.vadere.simulator.models.osm.optimization.StepCircleOptimizerGradient;
@@ -250,12 +252,18 @@ public class OptimalStepsModel implements MainModel, PotentialFieldModel {
 			case NELDER_MEAD:
 				result = new StepCircleOptimizerNelderMead(random);
 				break;
+			case NELDER_MEAD_CIRCLE:
+				result = new StepCircleOptimizerCircleNelderMead(random, attributesOSM);
+				break;
 			case POWELL:
 				result = new StepCircleOptimizerPowell(random);
 				break;
 			case PSO:
 				result = new ParticleSwarmOptimizer(movementThreshold, random);
 				break;
+			case PATTERN_SEARCH:
+				result = new PatternSearchOptimizer(movementThreshold, attributesOSM, random);
+				break;
 			case GRADIENT:
 				result = new StepCircleOptimizerGradient(topography,
 						potentialFieldTarget, attributesOSM);

VadereSimulator/src/org/vadere/simulator/models/osm/optimization/ParticleSwarmOptimizer.java

@@ -9,13 +9,15 @@ import org.vadere.util.geometry.shapes.VCircle;
 import org.vadere.util.geometry.shapes.VCircleSector;
 import org.vadere.util.geometry.shapes.VPoint;
 import org.vadere.util.math.MathUtil;
-import org.vadere.util.math.pso.PSO;
+import org.vadere.util.math.optimization.pso.PSO;
 
 import java.awt.Shape;
 import java.util.*;
 import java.util.List;
 
 /**
+ * This class implements a particle swarm optimization which is not jet tested extensively.
+ *
  * @author Benedikt Zoennchen
  */
 public class ParticleSwarmOptimizer implements StepCircleOptimizer {

VadereSimulator/src/org/vadere/simulator/models/osm/optimization/PatternSearchOptimizer.java

+package org.vadere.simulator.models.osm.optimization;
+
+
+import org.jetbrains.annotations.NotNull;
+import org.vadere.simulator.models.osm.PedestrianOSM;
+import org.vadere.state.attributes.models.AttributesOSM;
+import org.vadere.util.geometry.GeometryUtils;
+import org.vadere.util.geometry.shapes.VCircle;
+import org.vadere.util.geometry.shapes.VPoint;
+import org.vadere.util.math.optimization.PatternSearch;
+
+import java.awt.*;
+import java.util.List;
+import java.util.Random;
+
+/**
+ * This is a implementation of https://en.wikipedia.org/wiki/Pattern_search_(optimization).
+ * It is not jet tested extensively!
+ *
+ * @author Benedikt Zoennchen
+ */
+public class PatternSearchOptimizer implements StepCircleOptimizer {
+
+	private final double distanceThreshold;
+	private final AttributesOSM attributesOSM;
+	private final List<VPoint> basePoint;
+	private final double edgeLen = 0.3;
+
+	public PatternSearchOptimizer(final double distanceThreshold, @NotNull final AttributesOSM attributesOSM, @NotNull final Random random) {
+		this.distanceThreshold = distanceThreshold;
+		this.attributesOSM = attributesOSM;
+		this.basePoint = GeometryUtils.getDiscDiscretizationGridPoints(new VCircle(new VPoint(0,0), 1.0 ), 1.0 / 2);
+
+		//this.basePoint = GeometryUtils.getDiscDiscretizationPoints(random, false, new VCircle(new VPoint(0,0), 1.0), attributesOSM.getNumberOfCircles(), attributesOSM.getStepCircleResolution(), 0, 2*Math.PI);
+	}
+
+	@Override
+	public VPoint getNextPosition(PedestrianOSM ped, Shape reachableArea) {
+		assert reachableArea instanceof VCircle;
+		VCircle circle = (VCircle) reachableArea;
+		//PatternSearch patternSearch = new PatternSearch(circle, pos -> ped.getPotential(pos), 0.01, basePoint, attributesOSM.getNumberOfCircles(), attributesOSM.getStepCircleResolution());
+		PatternSearch patternSearch = new PatternSearch(circle, pos -> ped.getPotential(pos), distanceThreshold, basePoint, circle.getRadius());
+		patternSearch.optimize();
+		return patternSearch.getArgMin();
+	}
+
+
+	@Override
+	public StepCircleOptimizer clone() {
+		return this;
+	}
+}
+

VadereSimulator/src/org/vadere/simulator/models/osm/optimization/StepCircleOptimizerCircleNelderMead.java

+package org.vadere.simulator.models.osm.optimization;
+
+import org.apache.commons.lang3.tuple.Pair;
+import org.jetbrains.annotations.NotNull;
+import org.vadere.simulator.models.osm.PedestrianOSM;
+import org.vadere.state.attributes.models.AttributesOSM;
+import org.vadere.util.geometry.GeometryUtils;
+import org.vadere.util.geometry.shapes.IPoint;
+import org.vadere.util.geometry.shapes.VCircle;
+import org.vadere.util.geometry.shapes.VPoint;
+import org.vadere.util.geometry.shapes.VTriangle;
+import org.vadere.util.logging.Logger;
+import org.vadere.util.math.optimization.neldermead.NelderMead1D;
+import org.vadere.util.math.optimization.neldermead.NelderMead2D;
+
+import java.awt.*;
+import java.util.ArrayList;
+import java.util.Collection;
+import java.util.List;
+import java.util.Random;
+import java.util.function.Function;
+
+public class StepCircleOptimizerCircleNelderMead implements StepCircleOptimizer {
+
+	private static Logger logger = Logger
+			.getLogger(StepCircleOptimizerCircleNelderMead.class);
+	private static double threshold = 0.01;
+
+	private final Random random;
+	private final AttributesOSM attributesOSM;
+
+	public StepCircleOptimizerCircleNelderMead(@NotNull final Random random, @NotNull final AttributesOSM attributesOSM) {
+		this.random = random;
+		this.attributesOSM = attributesOSM;
+
+	}
+
+	private VPoint getNextPosition1D(@NotNull final PedestrianOSM ped, @NotNull final Shape reachableArea) {
+		final VCircle stepCircle = (VCircle)reachableArea;
+		Function<IPoint, Double> eval = pos -> ped.getPotential(pos);
+		Collection<Pair<Double, Double>> simplices = generate1DSimplexes(ped, stepCircle);
+		NelderMead1D nelderMead = new NelderMead1D(stepCircle, eval, threshold, simplices);
+		nelderMead.optimize();
+		return nelderMead.getArg();
+	}
+
+	@Override
+	public VPoint getNextPosition(@NotNull final PedestrianOSM ped, @NotNull final Shape reachableArea) {
+		VPoint point1D = getNextPosition1D(ped, reachableArea);
+		VPoint point2D = getNextPosition2D(ped, reachableArea);
+		double oneDimResult = ped.getPotential(point1D);
+		double twoDimResult = ped.getPotential(point2D);
+		double currentPotential = ped.getPotential(ped.getPosition());
+
+		if(oneDimResult < twoDimResult && oneDimResult < currentPotential) {
+			return point1D;
+		} else if(twoDimResult < currentPotential) {
+			return point2D;
+		} else {
+			return ped.getPosition();
+		}
+		//return point2D;
+	}
+
+	private List<Pair<Double, Double>> generate1DSimplexes(@NotNull final PedestrianOSM ped, @NotNull final VCircle stepCircle) {
+		int numberOfCircles = ped.getAttributesOSM().getStepCircleResolution();
+		double alpha = 2*Math.PI / (2.0*numberOfCircles);
+		List<Pair<Double, Double>> simplexes = new ArrayList<>(numberOfCircles);
+		for(int i = 0; i < ped.getAttributesOSM().getStepCircleResolution(); i++) {
+			simplexes.add(Pair.of(alpha*(2*i), alpha*(2*i+1)));
+		}
+		return simplexes;
+	}
+
+	private List<VTriangle> generate2DSimplexes(@NotNull final PedestrianOSM ped, @NotNull final VCircle stepCircle) {
+		double step = stepCircle.getRadius() / 3.0;
+		assert ped.getAttributesOSM().getNumberOfCircles() == 1;
+
+		List<VPoint> positions = StepCircleOptimizerDiscrete.getReachablePositions(ped, stepCircle, random);
+		List<VTriangle> simplices = new ArrayList<>(positions.size());
+		VPoint pos = ped.getPosition();
+
+		double angle = 2.0/3.0*Math.PI;
+
+		VPoint dir = new VPoint(0, ped.getRadius() / 2);
+		VPoint p1 = ped.getPosition().add(dir);
+		VPoint p2 = ped.getPosition().add(dir.rotate(angle));
+		VPoint p3 = ped.getPosition().add(dir.rotate(-angle));
+
+		simplices.add(new VTriangle(p1, p2, p3));
+
+		for(int i = 0; i < positions.size(); i++) {
+			double innerDistance = ped.getPosition().distance((positions.get(i)));
+			VPoint innerDirection = positions.get(i).subtract(pos).scalarMultiply(1.0 / innerDistance);
+
+			int j = (i+1) % positions.size();
+			VPoint anotherPoint = positions.get(j);
+			double outerDistance = anotherPoint.distance((ped.getPosition()));
+			VPoint outerDirection = positions.get(j).subtract(pos).scalarMultiply(1.0 / outerDistance);
+
+
+			double x1 = Math.min(step, innerDistance) * innerDirection.getX();
+			double y1 = Math.min(step, innerDistance) * innerDirection.getY();
+			double x2 = Math.min(step, outerDistance) * outerDirection.getX();
+			double y2 = Math.min(step, outerDistance) * outerDirection.getY();
+			VPoint d = new VPoint(x1+x2, y1+y2).setMagnitude(step);
+			p1 = pos.add(d);
+			p2 = p1.add(x1, y1);
+			p3 = p1.add(x2, y2);
+
+			simplices.add(new VTriangle(p1, p2, p3));
+		}
+
+		return simplices;
+	}
+
+	//List<VPoint> positions = StepCircleOptimizerDiscrete.getReachablePositions(pedestrian, (VCircle)reachableArea, random);
+	private VPoint getNextPosition2D(@NotNull final PedestrianOSM ped, @NotNull final Shape reachableArea) {
+
+		final VCircle stepCircle = (VCircle)reachableArea;
+		Function<IPoint, Double> eval = pos -> {
+			if(stepCircle.contains(pos)) {
+				return ped.getPotential(pos);
+			}
+			else {
+				return NelderMead2D.MAX_VAL;
+			}
+		};
+
+		/*double radius = stepCircle.getRadius() / 2;
+		List<VPoint> positions = StepCircleOptimizerDiscrete.getReachablePositions(ped, new VCircle(stepCircle.getCenter(), radius), random);
+		List<VTriangle> simplices = new ArrayList<>(positions.size());
+		int numberOfCircles = ped.getAttributesOSM().getNumberOfCircles();
+		double radDist = radius / numberOfCircles;
+
+		for(int i = 0; i < positions.size(); i++) {
+			VPoint p1 = positions.get(i);
+			VPoint p2 = positions.get((i+1) % positions.size());
+			double dist = p1.distance(stepCircle.getCenter());
+			VPoint midPoint = new VLine(p1, p2).midPoint();
+			VPoint p3;
+			double circRadius = ped.getPosition().distance(p1);
+			if(Math.abs(circRadius-radDist) > GeometryUtils.DOUBLE_EPS) {
+				VPoint e = midPoint.subtract(ped.getPosition()).setMagnitude(circRadius-radDist);
+				p3 = ped.getPosition().add(e);
+			} else {
+				p3 = ped.getPosition();
+			}
+
+
+			simplices.add(new VTriangle(p1, p2, p3));
+		}
+
+
+
+		double angle = 2.0/3.0*Math.PI;
+
+		VPoint dir = new VPoint(0, ped.getRadius());
+		VPoint p1 = ped.getPosition().add(dir);
+		VPoint p2 = ped.getPosition().add(dir.rotate(angle));
+		VPoint p3 = ped.getPosition().add(dir.rotate(-angle));
+
+		simplices.add(new VTriangle(p1, p2, p3));*/
+
+		List<VTriangle> simplicies = generate2DSimplexes(ped, (VCircle) reachableArea);
+		NelderMead2D nelderMead = new NelderMead2D(stepCircle, eval, threshold, simplicies);
+		String string = nelderMead.toString();
+		//System.out.println(string);
+		nelderMead.optimize();
+		assert stepCircle.signedDistance(nelderMead.getArg()) < GeometryUtils.DOUBLE_EPS;
+		return nelderMead.getArg();
+	}
+
+	/*private VPoint getNextPosition2D(@NotNull final PedestrianOSM ped, @NotNull final Shape reachableArea) {
+
+		final VCircle stepCircle = (VCircle)reachableArea;
+		Function<IPoint, Double> eval = pos -> {
+			if(stepCircle.contains(pos)) {
+				return ped.getPotential(pos);
+			}
+			else {
+				return 10000.0;
+			}
+		};
+
+		// generate start simplices
+		double l = stepCircle.getRadius() * 0.5;
+		double s = l * Math.sqrt(3);
+		VPoint pos = ped.getPosition();
+		double h = Math.sqrt(3) * 0.5 * s;
+		VPoint p1 = new VPoint(0, l);
+		VPoint p2 = p1.subtract(new VPoint(s * 0.5, h));
+		VPoint p3 = p1.subtract(new VPoint(-s * 0.5, h));
+
+		if(attributesOSM.isVaryStepDirection()) {
+			double delta = random.nextDouble() * 2 * Math.PI;
+			p1 = p1.rotate(delta);
+			p2 = p2.rotate(delta);
+			p3 = p3.rotate(delta);
+		}
+
+		p1 = p1.add(pos);
+		p2 = p2.add(pos);
+		p3 = p3.add(pos);
+
+		Collection<VTriangle> simplices = Collections.singletonList(new VTriangle(p1, p2, p3));
+
+		NelderMead2D nelderMead = new NelderMead2D(stepCircle, eval, attributesOSM.getMovementThreshold(), simplices);
+		nelderMead.optimize();
+		assert stepCircle.contains(nelderMead.getArg());
+		return nelderMead.getArg();
+	}*/
+
+	@Override
+	public StepCircleOptimizerCircleNelderMead clone() {
+		return new StepCircleOptimizerCircleNelderMead(random, attributesOSM);
+	}
+}

VadereSimulator/src/org/vadere/simulator/models/osm/updateScheme/UpdateSchemeEventDrivenParallel.java

@@ -195,6 +195,11 @@ public class UpdateSchemeEventDrivenParallel extends UpdateSchemeEventDriven {
 			return this.point.add(point);
 		}
 
+		@Override
+		public IPoint add(double x, double y) {
+			return point.add(x, y);
+		}
+
 		@Override
 		public IPoint addPrecise(IPoint point) {
 			return this.point.addPrecise(point);

VadereState/src/org/vadere/state/types/OptimizationType.java

 package org.vadere.state.types;
 
 public enum OptimizationType {
-	PSO, NELDER_MEAD, POWELL, EVOLUTION_STRATEGY, BRENT, GRADIENT, DISCRETE, NONE
+	PATTERN_SEARCH, PSO, NELDER_MEAD, NELDER_MEAD_CIRCLE, POWELL, EVOLUTION_STRATEGY, BRENT, GRADIENT, DISCRETE, NONE
 }

VadereUtils/src/org/vadere/util/geometry/GeometryUtils.java

@@ -167,6 +167,31 @@ public class GeometryUtils {
 		return circumcenter.distance(point) < circumcenter.distance(p1);
 	}
 
+	public static List<VPoint> getDiscDiscretizationPoints(
+			@NotNull final VCircle circle,
+			final int numberOfCircles,
+			final int numberOfPointsOfLargestCircle,
+			final double anchorAngle,
+			final double angle) {
+		return getDiscDiscretizationPoints(null, false, circle, numberOfCircles, numberOfPointsOfLargestCircle, anchorAngle, angle);
+	}
+
+	public static List<VPoint> getDiscDiscretizationGridPoints(@Nullable final VCircle circle, double edgeLen) {
+		int n = (int)(circle.getRadius() * 2 / edgeLen) + 1;
+		List<VPoint> points = new ArrayList<>(n * n);
+		double x = circle.getCenter().x - circle.getRadius();
+		double y = circle.getCenter().y - circle.getRadius();
+		for (int i = 0; i < n; i++) {
+			for(int j = 0; j < n; j++) {
+				VPoint point = new VPoint(x+i * edgeLen, y+j * edgeLen);
+				if(circle.contains(point)) {
+					points.add(point);
+				}
+			}
+		}
+		return points;
+	}
+
 	/**
 	 * Generates a set of points which are positioned inside a disc segment. The points are placed equidistant on one or multiple circles
 	 * with the center at the center of the disc and the radius smaller or equals the radius of the disc.
@@ -188,7 +213,8 @@ public class GeometryUtils {
 			final int numberOfPointsOfLargestCircle,
 			final double anchorAngle,
 			final double angle) {
-		assert !varyDirection || random != null;
+
+		assert random != null || !varyDirection;
 		double randOffset = varyDirection ? random.nextDouble() : 0;
 
 		List<VPoint> reachablePositions = new ArrayList<>();
@@ -221,14 +247,6 @@ public class GeometryUtils {
 		return reachablePositions;
 	}
 
-	public static List<VPoint> getDiscDiscretizationPoints(
-			@NotNull final VCircle circle,
-			final int numberOfCircles,
-			final int numberOfPointsOfLargestCircle,
-			final double anchorAngle,
-			final double angle) {
-		return getDiscDiscretizationPoints(null, false, circle, numberOfCircles, numberOfPointsOfLargestCircle, anchorAngle, angle);
-	}
 
 	/**
 	 * Computes the point on the line segment that is closest to the given point

VadereUtils/src/org/vadere/util/geometry/shapes/IPoint.java

@@ -14,6 +14,8 @@ public interface IPoint extends Cloneable {
 
 	IPoint add(final IPoint point);
 
+	IPoint add(final double x, final double y);
+
 	IPoint addPrecise(final IPoint point);
 
 	IPoint subtract(final IPoint point);

VadereUtils/src/org/vadere/util/geometry/shapes/MPoint.java

@@ -34,7 +34,14 @@ public class MPoint implements org.vadere.util.geometry.shapes.IPoint, Cloneable
         return this;
     }
 
-    @Override
+	@Override
+	public IPoint add(double x, double y) {
+		this.point = this.point.add(x, y);