Source code for jupedsim.models.warp_driver

# SPDX-License-Identifier: LGPL-3.0-or-later

from dataclasses import dataclass

import jupedsim.native as py_jps




@dataclass(kw_only=True)
class WarpDriverModel:
    r"""Parameters for WarpDriver Model.

    Based on Wolinski, Lin, and Pettré (2016) — probabilistic collision
    avoidance using warped intrinsic fields.

    Attributes:
        time_horizon: look-ahead time for collision prediction [s].
        step_size: gradient descent step size (alpha).
        sigma: Gaussian spread of the intrinsic field.
        time_uncertainty: time uncertainty parameter (lambda).
        velocity_uncertainty_x: longitudinal velocity uncertainty parameter.
        velocity_uncertainty_y: lateral velocity uncertainty parameter.
    """

    time_horizon: float = 2.0
    step_size: float = 0.5
    sigma: float = 0.3
    time_uncertainty: float = 0.5
    velocity_uncertainty_x: float = 0.2
    velocity_uncertainty_y: float = 0.2





@dataclass(kw_only=True)
class WarpDriverModelAgentParameters:
    """Parameters required to create an Agent in the WarpDriver Model.

    Attributes:
        position: Position of the agent.
        orientation: Orientation of the agent.
        journey_id: Id of the journey the agent follows.
        stage_id: Id of the stage the agent targets.
        desired_speed: desired speed of the agent [m/s].
        radius: radius of the agent [m].
    """

    position: tuple[float, float] = (0.0, 0.0)
    orientation: tuple[float, float] = (0.0, 0.0)
    journey_id: int = 0
    stage_id: int = 0
    desired_speed: float = 1.2
    radius: float = 0.15

    def as_native(
        self,
    ) -> py_jps.WarpDriverModelAgentParameters:
        return py_jps.WarpDriverModelAgentParameters(
            position=self.position,
            orientation=self.orientation,
            journey_id=self.journey_id,
            stage_id=self.stage_id,
            radius=self.radius,
            desired_speed=self.desired_speed,
        )





class WarpDriverModelState:
    """State of an agent using the WarpDriver Model."""

    def __init__(self, backing) -> None:
        self._obj = backing

    @property
    def radius(self) -> float:
        """Radius of this agent [m]."""
        return self._obj.radius

    @radius.setter
    def radius(self, radius):
        self._obj.radius = radius

    @property
    def desired_speed(self) -> float:
        """Desired speed of this agent [m/s]."""
        return self._obj.desired_speed

    @desired_speed.setter
    def desired_speed(self, desired_speed):
        self._obj.desired_speed = desired_speed