# SPDX-License-Identifier: LGPL-3.0-or-later
import warnings
from dataclasses import dataclass
try:
from warnings import deprecated
except ImportError:
from deprecated import deprecated
import jupedsim.native as py_jps
[docs]
@dataclass(kw_only=True)
class CollisionFreeSpeedModelV3:
"""Collision Free Speed Model V3
This variant keeps per-agent interaction parameters and uses bounded rotational steering
around the desired direction.
"""
pass
[docs]
@dataclass(kw_only=True)
class CollisionFreeSpeedModelV3AgentParameters:
"""
Agent parameters for Collision Free Speed Model V3.
V3 separates direction and speed updates: the walking direction is
obtained by rotating a reference direction (the desired direction
bent by wall repulsion) toward the side opposite the most relevant
forward neighbor, while the walking speed is computed from a scalar
spacing using the optimal-velocity relation. The heading angle is
relaxed in time to suppress jitter.
.. note::
Instances of this type are copied when creating the agent, you can safely
create one instance of this type and modify it between calls to ``add_agent``.
E.g.:
.. code:: python
positions = [...] # List of initial agent positions
params = CollisionFreeSpeedModelV3AgentParameters(desired_speed=0.9)
for p in positions:
params.position = p
sim.add_agent(params)
Attributes:
position: Position of the agent.
time_gap: Time constant that describes how fast a pedestrian closes gaps.
desired_speed: Maximum (free) walking speed of the agent.
radius: Radius of the agent.
journey_id: Id of the journey the agent follows.
stage_id: Id of the stage the agent targets.
strength_neighbor_repulsion: Maximum turning angle authority
(clamped against ``theta_max_upper_bound``).
range_neighbor_repulsion: Base perception range; combined with the
scale factors below to form the anisotropic decay lengths
``r_x = range_neighbor_repulsion * range_x_scale`` and
``r_y = range_neighbor_repulsion * range_y_scale``.
strength_geometry_repulsion: Strength of wall repulsion that
bends the reference direction.
range_geometry_repulsion: Decay length of wall repulsion.
range_x_scale: Longitudinal aspect factor for the perception field.
range_y_scale: Lateral aspect factor for the perception field.
theta_max_upper_bound: Hard upper bound on the per-step turning angle.
agent_buffer: Buffer distance subtracted from spacing in the
optimal-velocity relation; shifts the speed-zero point to a
positive spacing.
"""
position: tuple[float, float] = (0.0, 0.0)
time_gap: float = 1.0
desired_speed: float = 1.2
radius: float = 0.2
journey_id: int = 0
stage_id: int = 0
strength_neighbor_repulsion: float = 8.0
range_neighbor_repulsion: float = 0.1
strength_geometry_repulsion: float = 5.0
range_geometry_repulsion: float = 0.02
range_x_scale: float = 20.0
range_y_scale: float = 8.0
theta_max_upper_bound: float = 1.57
agent_buffer: float = 0.0
def __init__(
self,
*,
position: tuple[float, float] = (0.0, 0.0),
time_gap: float = 1.0,
desired_speed: float = 1.2,
v0: float | None = None,
radius: float = 0.2,
journey_id: int = 0,
stage_id: int = 0,
strength_neighbor_repulsion: float = 8.0,
range_neighbor_repulsion: float = 0.1,
strength_geometry_repulsion: float = 5.0,
range_geometry_repulsion: float = 0.02,
range_x_scale: float = 20.0,
range_y_scale: float = 8.0,
theta_max_upper_bound: float = 1.57,
agent_buffer: float = 0.0,
):
self.position = position
self.time_gap = time_gap
if v0 is not None:
warnings.warn(
"'v0' is deprecated, use 'desired_speed' instead.",
DeprecationWarning,
stacklevel=2,
)
self.desired_speed = v0
else:
self.desired_speed = desired_speed
self.radius = radius
self.journey_id = journey_id
self.stage_id = stage_id
self.strength_neighbor_repulsion = strength_neighbor_repulsion
self.range_neighbor_repulsion = range_neighbor_repulsion
self.strength_geometry_repulsion = strength_geometry_repulsion
self.range_geometry_repulsion = range_geometry_repulsion
self.range_x_scale = range_x_scale
self.range_y_scale = range_y_scale
self.theta_max_upper_bound = theta_max_upper_bound
self.agent_buffer = agent_buffer
@property
@deprecated("deprecated, use 'desired_speed' instead.")
def v0(self) -> float:
return self.desired_speed
@v0.setter
@deprecated("deprecated, use 'desired_speed' instead.")
def v0(self, v0):
self.desired_speed = v0
def as_native(
self,
) -> py_jps.CollisionFreeSpeedModelV3AgentParameters:
return py_jps.CollisionFreeSpeedModelV3AgentParameters(
position=self.position,
time_gap=self.time_gap,
desired_speed=self.desired_speed,
radius=self.radius,
journey_id=self.journey_id,
stage_id=self.stage_id,
strength_neighbor_repulsion=self.strength_neighbor_repulsion,
range_neighbor_repulsion=self.range_neighbor_repulsion,
strength_geometry_repulsion=self.strength_geometry_repulsion,
range_geometry_repulsion=self.range_geometry_repulsion,
range_x_scale=self.range_x_scale,
range_y_scale=self.range_y_scale,
theta_max_upper_bound=self.theta_max_upper_bound,
agent_buffer=self.agent_buffer,
)
[docs]
class CollisionFreeSpeedModelV3State:
def __init__(self, backing):
self._obj = backing
@property
def time_gap(self) -> float:
return self._obj.time_gap
@time_gap.setter
def time_gap(self, time_gap):
self._obj.time_gap = time_gap
@property
def desired_speed(self) -> float:
return self._obj.desired_speed
@desired_speed.setter
def desired_speed(self, desired_speed):
self._obj.desired_speed = desired_speed
@property
@deprecated("deprecated, use 'desired_speed' instead.")
def v0(self) -> float:
return self._obj.desired_speed
@v0.setter
@deprecated("deprecated, use 'desired_speed' instead.")
def v0(self, v0):
self._obj.desired_speed = v0
@property
def radius(self) -> float:
return self._obj.radius
@radius.setter
def radius(self, radius):
self._obj.radius = radius
@property
def strength_neighbor_repulsion(self) -> float:
return self._obj.strength_neighbor_repulsion
@strength_neighbor_repulsion.setter
def strength_neighbor_repulsion(self, strength_neighbor_repulsion):
self._obj.strength_neighbor_repulsion = strength_neighbor_repulsion
@property
def range_neighbor_repulsion(self) -> float:
return self._obj.range_neighbor_repulsion
@range_neighbor_repulsion.setter
def range_neighbor_repulsion(self, range_neighbor_repulsion):
self._obj.range_neighbor_repulsion = range_neighbor_repulsion
@property
def strength_geometry_repulsion(self) -> float:
return self._obj.strength_geometry_repulsion
@strength_geometry_repulsion.setter
def strength_geometry_repulsion(self, strength_geometry_repulsion):
self._obj.strength_geometry_repulsion = strength_geometry_repulsion
@property
def range_geometry_repulsion(self) -> float:
return self._obj.range_geometry_repulsion
@range_geometry_repulsion.setter
def range_geometry_repulsion(self, range_geometry_repulsion):
self._obj.range_geometry_repulsion = range_geometry_repulsion
@property
def range_x_scale(self) -> float:
return self._obj.range_x_scale
@range_x_scale.setter
def range_x_scale(self, range_x_scale):
self._obj.range_x_scale = range_x_scale
@property
def range_y_scale(self) -> float:
return self._obj.range_y_scale
@range_y_scale.setter
def range_y_scale(self, range_y_scale):
self._obj.range_y_scale = range_y_scale
@property
def theta_max_upper_bound(self) -> float:
return self._obj.theta_max_upper_bound
@theta_max_upper_bound.setter
def theta_max_upper_bound(self, theta_max_upper_bound):
self._obj.theta_max_upper_bound = theta_max_upper_bound
@property
def agent_buffer(self) -> float:
return self._obj.agent_buffer
@agent_buffer.setter
def agent_buffer(self, agent_buffer):
self._obj.agent_buffer = agent_buffer
