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pedestrian_behavior.cpp_backup
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pedestrian_behavior.cpp_backup
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#include "pedestrian_behavior.h"
#include <stdio.h>
#include <cassert>
#include <cmath>
#include <random>
#include <vector>
void Pedestrian_Behavior::update_state (std::queue<pedestrian::action> &actions, double time_step, State& pedestrian_state) {
if (isExit && actions.empty()) return;
if (actions.empty()) {
insert_new_long_term_goal(actions, pedestrian_state);
}
pedestrian::action next_action = actions.front();
/*if (next_action.is_short_term_stop) {
actions.pop();
}
else {*/
/*DEBUG*/
//printf("Size of actions: %d\n", actions.size());
/**/
pedestrian_state.x = pedestrian_state.x + next_action.x_velocity * time_step;
pedestrian_state.y = pedestrian_state.y + next_action.y_velocity * time_step;
pedestrian_state.v = sqrt((next_action.x_velocity)*(next_action.x_velocity) +(next_action.y_velocity) *(next_action.y_velocity));
pedestrian_state.theta = atan2(next_action.y_velocity, next_action.x_velocity);
assert(!actions.empty());
actions.pop();
}
void Pedestrian_Behavior::insert_new_long_term_goal(std::queue<pedestrian::action> &actions, State& pedestrian_state) {
printf("In insert goal\n");
int goal_type = (getRand() % 100) + 1;
/*DEBUG*/
//goal_type = 1;
printf("Goal type is %d\n", goal_type);
/**/
/*
switch (goal_type) {
case 1:
insert_long_term_exit(actions, pedestrian_state);
break;
case 2:
insert_long_term_walk_same_pavement(actions, pedestrian_state);
break;
case 3:
insert_long_term_walk_opposite_pavement(actions, pedestrian_state);
break;
case 4:
insert_long_term_stop(actions);
break;
default:
printf("Wrong value sampled\n");
}
*/
int chanceCross=45;
if (goal_type >0 && goal_type < 5)
{
insert_long_term_exit(actions, pedestrian_state);
}
else if (goal_type < 90-chanceCross)
{
insert_long_term_walk_same_pavement(actions, pedestrian_state);
}
else if (goal_type < 90)
{
insert_long_term_walk_opposite_pavement(actions, pedestrian_state);
}
else if (goal_type <=100)
{
insert_long_term_stop(actions);
}
else printf("Wrong value sampled\n");
}
void Pedestrian_Behavior::insert_long_term_exit(std::queue<pedestrian::action> &actions, State& pedestrian_state) {
printf("In long_term_exit\n");
double target_x;
double random_velocity = 0;
while (random_velocity == 0.0) {
if (pedestrian_state.x <= PAVEMENT_LEFT_X_MAX) {
target_x = X_MIN;
random_velocity = 0.0 - sample_random(MIN_PEDESTRIAN_SPEED, MAX_PEDESTRIAN_SPEED);
}
else {
target_x = X_MAX;
random_velocity = sample_random(MIN_PEDESTRIAN_SPEED, MAX_PEDESTRIAN_SPEED);
}
}
int num_time_steps_needed = (int)ceil(((target_x - pedestrian_state.x) / random_velocity)/TIME_STEP_DURATION);
/*DEBUG*/
printf("num_time_steps_needed: %d\n",num_time_steps_needed);
printf("target_x: %lf, pedestrian_state.x: %lf\nrandom_velocity: %lf\n",target_x, pedestrian_state.x, random_velocity);
/**/
for (int i = 0; i < num_time_steps_needed; i++) {
pedestrian::action new_action = {random_velocity, 0.0};
actions.push(new_action);
}
/*
for (int i=0;i <NUMBER_OF_TIMESTEPS;++i)
{
pedestrian::action new_action = {0.0, 0.0};
actions.push(new_action);
}
*/
isExit=1;
}
double Pedestrian_Behavior::sample_random(double min_value, double max_value) {
std::uniform_real_distribution<double> dist(min_value, max_value);
std::mt19937 rng;
rng.seed(std::random_device{}());
return dist(rng);
}
double Pedestrian_Behavior::sample_normal_random(double min_value, double max_value, double mean, double stddev) {
std::uniform_real_distribution<double> dist(mean, stddev);
std::mt19937 rng;
rng.seed(std::random_device{}());
double value = 100000;
while ((value > Y_MAX) || (value < Y_MIN)) {
value = dist(rng);
}
return value;
}
void Pedestrian_Behavior::insert_long_term_walk_same_pavement(std::queue<pedestrian::action> &actions, State& pedestrian_state) {
printf("In long_term_walk_same_pavement\n");
double sample_goal_location_y = pedestrian_state.y;
while (sample_goal_location_y == pedestrian_state.y) {
sample_goal_location_y = sample_random(Y_MIN, Y_MAX);
}
double random_velocity = 0.0;
while (random_velocity == 0.0) {
random_velocity = sample_random(MIN_PEDESTRIAN_SPEED, MAX_PEDESTRIAN_SPEED);
}
if (sample_goal_location_y < pedestrian_state.y) random_velocity *= -1.0;
int num_time_steps_needed = (int)ceil(((sample_goal_location_y - pedestrian_state.y) / random_velocity)/TIME_STEP_DURATION);
num_time_steps_needed = abs(num_time_steps_needed);
assert((printf("\ngoal:(%lf,%lf), cur:(%lf,%lf),v:%lf, numStep:%d\n",pedestrian_state.x, sample_goal_location_y, pedestrian_state.x, pedestrian_state.y, random_velocity, num_time_steps_needed ),num_time_steps_needed > 0));
for (int i = 0; i < num_time_steps_needed; i++) {
pedestrian::action new_action = {0.0, random_velocity};
actions.push(new_action);
}
}
void Pedestrian_Behavior::insert_long_term_walk_opposite_pavement(std::queue<pedestrian::action> &actions, State& pedestrian_state) {
printf("In long_term_walk_opposite_pavement\n");
double sample_goal_location_x;
double sample_goal_location_y;
double y_cross;
if (pedestrian_state.x <= PAVEMENT_LEFT_X_MAX) {
sample_goal_location_x = sample_random(PAVEMENT_RIGHT_X_MIN, PAVEMENT_RIGHT_X_MAX);
sample_goal_location_y = sample_random(Y_MIN, Y_MAX);
}
else {
sample_goal_location_x = sample_random(PAVEMENT_LEFT_X_MIN, PAVEMENT_LEFT_X_MAX);
sample_goal_location_y = sample_random(Y_MIN, Y_MAX);
}
std::vector<int> zebra_crossings_within_range;
for (int i = 0; i < NUM_ZEBRA_CROSSING; i++) {
if ((((sample_goal_location_y - environment.zebra_crossings[i].y_min) <= 0) && ((pedestrian_state.y - environment.zebra_crossings[i].y_min) >= 0)) ||
(((sample_goal_location_y - environment.zebra_crossings[i].y_min) >= 0) && ((pedestrian_state.y - environment.zebra_crossings[i].y_min) <= 0)) ||
(((sample_goal_location_y - environment.zebra_crossings[i].y_max) <= 0) && ((pedestrian_state.y - environment.zebra_crossings[i].y_max) >= 0)) ||
(((sample_goal_location_y - environment.zebra_crossings[i].y_max) >= 0) && ((pedestrian_state.y - environment.zebra_crossings[i].y_max) <= 0))) {
zebra_crossings_within_range.push_back(i);
}
}
int random_use_zebra_crossing = (rand() % 10) + 1;
if (zebra_crossings_within_range.size() > 0) {
if (random_use_zebra_crossing > 3) {
if (zebra_crossings_within_range.size() > 1) {
//2 zebra crossings within range
double min_value = 0;
double max_value = 4;
double value = sample_random(min_value, max_value);
if (value <= 2) {
y_cross = environment.zebra_crossings[zebra_crossings_within_range[0]].y_min + value;
}
else {
y_cross = environment.zebra_crossings[zebra_crossings_within_range[1]].y_min + value - 2;
}
}
else {
double min_value = 0;
double max_value = 2;
double value = sample_random(min_value, max_value);
y_cross = environment.zebra_crossings[zebra_crossings_within_range[0]].y_min + value;
}
}
else {
double mid_point_range;
double min_y = std::min(pedestrian_state.y, sample_goal_location_y);
double max_y = std::max(pedestrian_state.y, sample_goal_location_y);
double mean = min_y + abs(max_y - min_y)/2.0;
double stddev = abs(max_y - min_y)/2.0;
y_cross = sample_normal_random(Y_MIN, Y_MAX, mean, stddev);
}
}
else {
if (random_use_zebra_crossing > 7) {
double min_value = 0;
double max_value = 4;
double value = sample_random(min_value, max_value);
if (value <= 2) {
y_cross = environment.zebra_crossings[0].y_min + value;
}
else {
y_cross = environment.zebra_crossings[1].y_min + value - 2;
}
}
else {
double mid_point_range;
double min_y = std::min(pedestrian_state.y, sample_goal_location_y);
double max_y = std::max(pedestrian_state.y, sample_goal_location_y);
double mean = min_y + abs(max_y - min_y)/2.0;
double stddev = abs(max_y - min_y)/2.0;
y_cross = sample_normal_random(Y_MIN, Y_MAX, mean, stddev);
}
}
//------------------------Found the cross over point--------------------------------------
double random_velocity = 0.0;
while (random_velocity == 0.0) {
random_velocity = sample_random(MIN_PEDESTRIAN_SPEED, MAX_PEDESTRIAN_SPEED);
}
if (y_cross < pedestrian_state.y) random_velocity *= -1.0;
int num_time_steps_needed = (int)ceil((abs(y_cross - pedestrian_state.y) / random_velocity)/TIME_STEP_DURATION);
num_time_steps_needed = abs(num_time_steps_needed);
for (int i = 0; i < num_time_steps_needed; i++) {
pedestrian::action new_action = {0.0, random_velocity};
actions.push(new_action);
}
double random_velocity1 = 0.0;
while (random_velocity1 == 0.0) {
random_velocity1 = sample_random(MIN_PEDESTRIAN_SPEED, MAX_PEDESTRIAN_SPEED);
}
if (sample_goal_location_x < pedestrian_state.x) random_velocity1 *= -1.0;
int num_time_steps_needed1 = (int)ceil((abs(sample_goal_location_x - pedestrian_state.x) / random_velocity1)/TIME_STEP_DURATION);
num_time_steps_needed1 = abs(num_time_steps_needed1);
for (int i = 0; i < num_time_steps_needed1; i++) {
pedestrian::action new_action = {random_velocity1, 0.0};
actions.push(new_action);
}
double random_velocity2 = 0.0;
while (random_velocity2 == 0.0) {
random_velocity2 = sample_random(MIN_PEDESTRIAN_SPEED, MAX_PEDESTRIAN_SPEED);
}
if (sample_goal_location_y < y_cross) random_velocity2 *= -1.0;
int num_time_steps_needed2 = (int)ceil((abs(sample_goal_location_y - pedestrian_state.y) / random_velocity2)/TIME_STEP_DURATION);
num_time_steps_needed2 = abs(num_time_steps_needed2);
for (int i = 0; i < num_time_steps_needed2; i++) {
pedestrian::action new_action = {0.0, random_velocity2};
actions.push(new_action);
}
assert( (printf("\ncurX:%lf, curY:%lf, cross:%lf, dest: (%lf,%lf)\n v1:%lf, v2:%lf,v3:%lf\nnumStep=%d, numStep1=%d, numStep2=%d\n",pedestrian_state.x, pedestrian_state.y, y_cross, sample_goal_location_x, sample_goal_location_y, random_velocity, random_velocity1, random_velocity2, num_time_steps_needed, num_time_steps_needed1, num_time_steps_needed2), (num_time_steps_needed + num_time_steps_needed1 + num_time_steps_needed2) > 0));
}
void Pedestrian_Behavior::insert_long_term_stop(std::queue<pedestrian::action> &actions) {
printf("In long_term_stop\n");
int random_steps = (rand() % 101);
random_steps += 50;
for (int i = 0; i < random_steps; i++) {
pedestrian::action new_action = {0.0, 0.0};
actions.push(new_action);
}
}