Eclipse SUMO - Simulation of Urban MObility
Loading...
Searching...
No Matches
MSPModel_Striping.cpp
Go to the documentation of this file.
1/****************************************************************************/
2// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3// Copyright (C) 2014-2024 German Aerospace Center (DLR) and others.
4// This program and the accompanying materials are made available under the
5// terms of the Eclipse Public License 2.0 which is available at
6// https://www.eclipse.org/legal/epl-2.0/
7// This Source Code may also be made available under the following Secondary
8// Licenses when the conditions for such availability set forth in the Eclipse
9// Public License 2.0 are satisfied: GNU General Public License, version 2
10// or later which is available at
11// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13/****************************************************************************/
19// The pedestrian following model (prototype)
20/****************************************************************************/
21#include <config.h>
22
23#include <cmath>
24#include <algorithm>
25#include <utils/common/RandHelper.h>
26#include <utils/geom/GeomHelper.h>
27#include <utils/options/OptionsCont.h>
28#include <utils/router/PedestrianRouter.h>
29#include <microsim/MSNet.h>
30#include <microsim/MSEdge.h>
31#include <microsim/MSEventControl.h>
32#include <microsim/MSLane.h>
33#include <microsim/MSLink.h>
34#include <microsim/MSJunction.h>
35#include <microsim/MSStoppingPlace.h>
36#include <microsim/MSVehicleControl.h>
37#include <microsim/MSGlobals.h>
38#include <microsim/transportables/MSStage.h>
39#include <microsim/transportables/MSTransportableControl.h>
40#include "MSPModel_Striping.h"
41
42
43// ===========================================================================
44// DEBUGGING HELPERS
45// ===========================================================================
46//
47#define DEBUGID1 ""
48#define DEBUGID2 ""
49//#define DEBUGCOND(PED) (false)
50//#define DEBUGCOND(PED) ((PED).getPerson()->getID() == DEBUGID1 || (PED).getPerson()->getID() == DEBUGID2)
51#define DEBUGCOND(PED) ((PED).getPerson()->isSelected())
52#define DEBUGCOND2(LANE) ((LANE)->isSelected())
53//#define LOG_ALL 1
54//#define DEBUG_MOVETOXY
55
56void MSPModel_Striping::DEBUG_PRINT(const Obstacles& obs) {
57 for (int i = 0; i < (int)obs.size(); ++i) {
58 std::cout
59 << "(" << obs[i].description
60 << " x=(" << obs[i].xBack << "," << obs[i].xFwd
61 << ") s=" << obs[i].speed
62 << ") ";
63 }
64 std::cout << "\n";
65}
66
67// ===========================================================================
68// named (internal) constants
69// ===========================================================================
70
71// distances are comparable with lower values being "more important"
72const double MSPModel_Striping::DIST_FAR_AWAY(10000);
73const double MSPModel_Striping::DIST_BEHIND(1000);
74const double MSPModel_Striping::DIST_OVERLAP(-1);
75
76// ===========================================================================
77// static members
78// ===========================================================================
79
80MSPModel_Striping::WalkingAreaPaths MSPModel_Striping::myWalkingAreaPaths;
81std::map<const MSEdge*, std::vector<const MSLane*> > MSPModel_Striping::myWalkingAreaFoes;
82MSPModel_Striping::MinNextLengths MSPModel_Striping::myMinNextLengths;
83
84// model parameters (static to simplify access from class PState
85double MSPModel_Striping::stripeWidth;
86double MSPModel_Striping::dawdling;
87double MSPModel_Striping::minGapToVehicle;
88int MSPModel_Striping::myWalkingAreaDetail;
89SUMOTime MSPModel_Striping::jamTime;
90SUMOTime MSPModel_Striping::jamTimeCrossing;
91SUMOTime MSPModel_Striping::jamTimeNarrow;
92double MSPModel_Striping::jamFactor;
93bool MSPModel_Striping::myLegacyPosLat;
94const double MSPModel_Striping::LOOKAHEAD_SAMEDIR(4.0); // seconds
95const double MSPModel_Striping::LOOKAHEAD_ONCOMING(10.0); // seconds
96const double MSPModel_Striping::LOOKAHEAD_ONCOMING_DIST(10.0); // m
97const double MSPModel_Striping::LOOKAROUND_VEHICLES(60.0); // meters
98const double MSPModel_Striping::LATERAL_PENALTY(-1.); // meters
99const double MSPModel_Striping::OBSTRUCTED_PENALTY(-300000.); // meters
100const double MSPModel_Striping::INAPPROPRIATE_PENALTY(-20000.); // meters
101const double MSPModel_Striping::ONCOMING_CONFLICT_PENALTY(-1000.); // meters
102const double MSPModel_Striping::OBSTRUCTION_THRESHOLD(MSPModel_Striping::OBSTRUCTED_PENALTY * 0.5); // despite obstruction, additional utility may have been added
103const double MSPModel_Striping::SQUEEZE(0.7);
104double MSPModel_Striping::RESERVE_FOR_ONCOMING_FACTOR;
105double MSPModel_Striping::RESERVE_FOR_ONCOMING_FACTOR_JUNCTIONS;
106double MSPModel_Striping::RESERVE_FOR_ONCOMING_MAX;
107const double MSPModel_Striping::MAX_WAIT_TOLERANCE(120.); // seconds
108const double MSPModel_Striping::LATERAL_SPEED_FACTOR(0.4);
109const double MSPModel_Striping::MIN_STARTUP_DIST(0.4); // meters
110
111
112// ===========================================================================
113// MSPModel_Striping method definitions
114// ===========================================================================
115
116MSPModel_Striping::MSPModel_Striping(const OptionsCont& oc, MSNet* net) {
117 myWalkingAreaDetail = oc.getInt("pedestrian.striping.walkingarea-detail");
118 initWalkingAreaPaths(net);
119 // configurable parameters
120 stripeWidth = oc.getFloat("pedestrian.striping.stripe-width");
121 MSVehicleType* defaultPedType = MSNet::getInstance()->getVehicleControl().getVType(DEFAULT_PEDTYPE_ID, nullptr, true);
122 if (defaultPedType != nullptr && defaultPedType->getWidth() > stripeWidth) {
123 WRITE_WARNINGF(TL("Pedestrian vType '%' width % is larger than pedestrian.striping.stripe-width and this may cause collisions with vehicles."),
124 DEFAULT_PEDTYPE_ID, defaultPedType->getWidth());
125 }
126
127 dawdling = oc.getFloat("pedestrian.striping.dawdling");
128 minGapToVehicle = oc.getFloat("pedestrian.striping.mingap-to-vehicle");
129 RESERVE_FOR_ONCOMING_FACTOR = oc.getFloat("pedestrian.striping.reserve-oncoming");
130 RESERVE_FOR_ONCOMING_FACTOR_JUNCTIONS = oc.getFloat("pedestrian.striping.reserve-oncoming.junctions");
131 RESERVE_FOR_ONCOMING_MAX = oc.getFloat("pedestrian.striping.reserve-oncoming.max");
132
133 jamTime = string2time(oc.getString("pedestrian.striping.jamtime"));
134 if (jamTime <= 0) {
135 jamTime = SUMOTime_MAX;
136 }
137 jamTimeCrossing = string2time(oc.getString("pedestrian.striping.jamtime.crossing"));
138 if (jamTimeCrossing <= 0) {
139 jamTimeCrossing = SUMOTime_MAX;
140 }
141 jamTimeNarrow = string2time(oc.getString("pedestrian.striping.jamtime.narrow"));
142 if (jamTimeNarrow <= 0) {
143 jamTimeNarrow = SUMOTime_MAX;
144 }
145 jamFactor = oc.getFloat("pedestrian.striping.jamfactor");
146 myLegacyPosLat = oc.getBool("pedestrian.striping.legacy-departposlat");
147}
148
149
150MSPModel_Striping::~MSPModel_Striping() {
151 myWalkingAreaPaths.clear(); // need to recompute when lane pointers change
152 myWalkingAreaFoes.clear();
153 myMinNextLengths.clear();
154}
155
156
157MSTransportableStateAdapter*
158MSPModel_Striping::add(MSTransportable* transportable, MSStageMoving* stage, SUMOTime) {
159 if (!transportable->isPerson()) {
160 // containers are not supported (TODO add a warning here?)
161 return nullptr;
162 }
163 MSPerson* person = static_cast<MSPerson*>(transportable);
164 MSNet* net = MSNet::getInstance();
165 if (!myAmActive) {
166 net->getBeginOfTimestepEvents()->addEvent(new MovePedestrians(this), net->getCurrentTimeStep() + DELTA_T);
167 myAmActive = true;
168 }
169 assert(person->getCurrentStageType() == MSStageType::WALKING);
170 const MSLane* lane = stage->checkDepartLane(person->getEdge(), person->getVClass(), stage->getDepartLane(), person->getID());
171 if (lane == nullptr) {
172 const char* error = TL("Person '%' could not find sidewalk on edge '%', time=%.");
173 if (OptionsCont::getOptions().getBool("ignore-route-errors")) {
174 WRITE_WARNINGF(error, person->getID(), person->getEdge()->getID(), time2string(net->getCurrentTimeStep()));
175 return nullptr;
176 } else {
177 throw ProcessError(TLF(error, person->getID(), person->getEdge()->getID(), time2string(net->getCurrentTimeStep())));
178 }
179 }
180 PState* ped = new PState(person, stage, lane);
181 myActiveLanes[lane].push_back(ped);
182 myNumActivePedestrians++;
183 return ped;
184}
185
186
187MSTransportableStateAdapter*
188MSPModel_Striping::loadState(MSTransportable* transportable, MSStageMoving* stage, std::istringstream& in) {
189 MSPerson* person = static_cast<MSPerson*>(transportable);
190 MSNet* net = MSNet::getInstance();
191 if (!myAmActive) {
192 net->getBeginOfTimestepEvents()->addEvent(new MovePedestrians(this), SIMSTEP);
193 myAmActive = true;
194 }
195 PState* ped = new PState(person, stage, &in);
196 myActiveLanes[ped->getLane()].push_back(ped);
197 myNumActivePedestrians++;
198 return ped;
199}
200
201
202int
203MSPModel_Striping::numStripes(const MSLane* lane) {
204 return MAX2(1, (int)floor(lane->getWidth() / stripeWidth));
205}
206
207
208int
209MSPModel_Striping::connectedDirection(const MSLane* from, const MSLane* to) {
210 if (from == nullptr || to == nullptr) {
211 return UNDEFINED_DIRECTION;
212 } else if (from->getLinkTo(to) != nullptr) {
213 return FORWARD;
214 } else if (to->getLinkTo(from) != nullptr) {
215 return BACKWARD;
216 } else {
217 return UNDEFINED_DIRECTION;
218 }
219}
220
221
222void
223MSPModel_Striping::initWalkingAreaPaths(const MSNet*) {
224 if (myWalkingAreaPaths.size() > 0) {
225 return;
226 }
227 // collect vehicle lanes that cross walkingareas
228 for (MSEdgeVector::const_iterator i = MSEdge::getAllEdges().begin(); i != MSEdge::getAllEdges().end(); ++i) {
229 const MSEdge* edge = *i;
230 if (!edge->isWalkingArea() && !edge->isCrossing()) {
231 for (MSLane* lane : edge->getLanes()) {
232 for (MSLink* link : lane->getLinkCont()) {
233 if (link->getWalkingAreaFoe() != nullptr) {
234 // link is an exit link
235 myWalkingAreaFoes[&link->getWalkingAreaFoe()->getEdge()].push_back(link->getLaneBefore());
236 //std::cout << " wa=" << link->getWalkingAreaFoe()->getEdge().getID() << " foe=" << link->getLaneBefore()->getID() << "\n";
237 }
238 if (link->getWalkingAreaFoeExit() != nullptr) {
239 // link is an exit link
240 myWalkingAreaFoes[&link->getWalkingAreaFoeExit()->getEdge()].push_back(link->getLaneBefore());
241 //std::cout << " wa=" << link->getWalkingAreaFoeExit()->getEdge().getID() << " foe=" << link->getLaneBefore()->getID() << "\n";
242 }
243 }
244 }
245 }
246 }
247
248 // build walkingareaPaths
249 for (MSEdgeVector::const_iterator i = MSEdge::getAllEdges().begin(); i != MSEdge::getAllEdges().end(); ++i) {
250 insertWalkArePaths(*i, myWalkingAreaPaths);
251 }
252}
253
254
255void
256MSPModel_Striping::insertWalkArePaths(const MSEdge* edge, WalkingAreaPaths& into) {
257 if (edge->isWalkingArea()) {
258 const MSLane* walkingArea = getSidewalk<MSEdge, MSLane>(edge);
259 myMinNextLengths[walkingArea] = walkingArea->getLength();
260 // build all possible paths across this walkingArea
261 // gather all incident lanes
262 std::vector<const MSLane*> lanes;
263 for (const MSEdge* in : edge->getPredecessors()) {
264 if (!in->isTazConnector()) {
265 lanes.push_back(getSidewalk<MSEdge, MSLane>(in));
266 if (lanes.back() == nullptr) {
267 throw ProcessError("Invalid connection from edge '" + in->getID() + "' to walkingarea edge '" + edge->getID() + "'");
268 }
269 }
270 }
271 for (const MSEdge* out : edge->getSuccessors()) {
272 if (!out->isTazConnector()) {
273 lanes.push_back(getSidewalk<MSEdge, MSLane>(out));
274 if (lanes.back() == nullptr) {
275 throw ProcessError("Invalid connection from walkingarea edge '" + edge->getID() + "' to edge '" + out->getID() + "'");
276 }
277 }
278 }
279 // build all combinations
280 for (int j = 0; j < (int)lanes.size(); ++j) {
281 for (int k = 0; k < (int)lanes.size(); ++k) {
282 if (j != k) {
283 // build the walkingArea
284 const MSLane* const from = lanes[j];
285 const MSLane* const to = lanes[k];
286 const int fromDir = from->getLinkTo(walkingArea) != nullptr ? FORWARD : BACKWARD;
287 const int toDir = walkingArea->getLinkTo(to) != nullptr ? FORWARD : BACKWARD;
288 PositionVector shape;
289 Position fromPos = from->getShape()[fromDir == FORWARD ? -1 : 0];
290 Position toPos = to->getShape()[toDir == FORWARD ? 0 : -1];
291 const double maxExtent = fromPos.distanceTo2D(toPos) / 4; // prevent sharp corners
292 const double extrapolateBy = MIN2(maxExtent, walkingArea->getWidth() / 2);
293 // assemble shape
294 shape.push_back(fromPos);
295 if (extrapolateBy > POSITION_EPS) {
296 PositionVector fromShp = from->getShape();
297 fromShp.extrapolate(extrapolateBy);
298 shape.push_back_noDoublePos(fromDir == FORWARD ? fromShp.back() : fromShp.front());
299 PositionVector nextShp = to->getShape();
300 nextShp.extrapolate(extrapolateBy);
301 shape.push_back_noDoublePos(toDir == FORWARD ? nextShp.front() : nextShp.back());
302 }
303 shape.push_back_noDoublePos(toPos);
304 if (shape.size() < 2) {
305 PositionVector fromShp = from->getShape();
306 fromShp.extrapolate(1.5 * POSITION_EPS); // noDoublePos requires a difference of POSITION_EPS in at least one coordinate
307 shape.push_back_noDoublePos(fromDir == FORWARD ? fromShp.back() : fromShp.front());
308 assert(shape.size() == 2);
309 } else if (myWalkingAreaDetail > 4) {
310 shape = shape.bezier(myWalkingAreaDetail);
311 }
312 double angleOverride = INVALID_DOUBLE;
313 if (shape.size() >= 4 && shape.length() < walkingArea->getWidth()) {
314 const double aStart = shape.angleAt2D(0);
315 const double aEnd = shape.angleAt2D((int)shape.size() - 2);
316 if (fabs(aStart - aEnd) < DEG2RAD(10)) {
317 angleOverride = (aStart + aEnd) / 2;
318 }
319 }
320 if (fromDir == BACKWARD) {
321 // will be walking backward on walkingArea
322 shape = shape.reverse();
323 }
324 WalkingAreaPath wap = WalkingAreaPath(from, walkingArea, to, shape, fromDir, angleOverride);
325 into.insert(std::make_pair(std::make_pair(from, to), wap));
326 myMinNextLengths[walkingArea] = MIN2(myMinNextLengths[walkingArea], wap.length);
327 }
328 }
329 }
330 }
331}
332
333
334const MSPModel_Striping::WalkingAreaPath*
335MSPModel_Striping::getArbitraryPath(const MSEdge* walkingArea) {
336 assert(walkingArea->isWalkingArea());
337 std::vector<const MSLane*> lanes;
338 for (const MSEdge* const pred : walkingArea->getPredecessors()) {
339 lanes.push_back(getSidewalk<MSEdge, MSLane>(pred));
340 }
341 for (const MSEdge* const succ : walkingArea->getSuccessors()) {
342 lanes.push_back(getSidewalk<MSEdge, MSLane>(succ));
343 }
344 if (lanes.size() < 1) {
345 throw ProcessError(TLF("Invalid walkingarea '%' does not allow continuation.", walkingArea->getID()));
346 }
347 return &myWalkingAreaPaths.find(std::make_pair(lanes.front(), lanes.back()))->second;
348}
349
350const MSPModel_Striping::WalkingAreaPath*
351MSPModel_Striping::guessPath(const MSEdge* walkingArea, const MSEdge* before, const MSEdge* after) {
352 assert(walkingArea->isWalkingArea());
353 const MSLane* swBefore = getSidewalk<MSEdge, MSLane>(before);
354 const MSLane* swAfter = getSidewalk<MSEdge, MSLane>(after);
355 const auto pathIt = myWalkingAreaPaths.find(std::make_pair(swBefore, swAfter));
356 if (pathIt != myWalkingAreaPaths.end()) {
357 return &pathIt->second;
358 }
359 const MSEdgeVector& preds = walkingArea->getPredecessors();
360 const MSEdgeVector& succs = walkingArea->getSuccessors();
361 bool useBefore = swBefore != nullptr && std::find(preds.begin(), preds.end(), before) != preds.end();
362 bool useAfter = swAfter != nullptr && std::find(succs.begin(), succs.end(), after) != succs.end();
363 if (useBefore) {
364 if (useAfter) {
365 return getWalkingAreaPath(walkingArea, swBefore, swAfter);
366 } else if (succs.size() > 0) {
367 // could also try to exploit direction
368 return getWalkingAreaPath(walkingArea, swBefore, getSidewalk<MSEdge, MSLane>(succs.front()));
369 }
370 } else if (useAfter && preds.size() > 0) {
371 // could also try to exploit direction
372 return getWalkingAreaPath(walkingArea, getSidewalk<MSEdge, MSLane>(preds.front()), swAfter);
373 }
374 return getArbitraryPath(walkingArea);
375}
376
377
378const MSPModel_Striping::WalkingAreaPath*
379MSPModel_Striping::getWalkingAreaPath(const MSEdge* walkingArea, const MSLane* before, const MSLane* after) {
380 assert(walkingArea->isWalkingArea());
381 const auto pathIt = myWalkingAreaPaths.find(std::make_pair(before, after));
382 if (pathIt != myWalkingAreaPaths.end()) {
383 return &pathIt->second;
384 } else {
385 // this can happen in case of moveToXY where before can point anywhere
386 const MSEdgeVector& preds = walkingArea->getPredecessors();
387 if (preds.size() > 0) {
388 const MSEdge* const pred = walkingArea->getPredecessors().front();
389 const auto pathIt2 = myWalkingAreaPaths.find(std::make_pair(getSidewalk<MSEdge, MSLane>(pred), after));
390 assert(pathIt2 != myWalkingAreaPaths.end());
391 return &pathIt2->second;
392 } else {
393 return getArbitraryPath(walkingArea);
394 }
395 }
396}
397
398
399
400MSPModel_Striping::NextLaneInfo
401MSPModel_Striping::getNextLane(const PState& ped, const MSLane* currentLane, const MSLane* prevLane) {
402 const MSEdge* currentEdge = &currentLane->getEdge();
403 const MSJunction* junction = ped.getDirection() == FORWARD ? currentEdge->getToJunction() : currentEdge->getFromJunction();
404 const MSEdge* nextRouteEdge = ped.getStage()->getNextRouteEdge();
405 const MSLane* nextRouteLane = getSidewalk<MSEdge, MSLane>(nextRouteEdge, ped.getPerson()->getVClass());
406 // result values
407 const MSLane* nextLane = nextRouteLane;
408 const MSLink* link = nullptr;
409 int nextDir = UNDEFINED_DIRECTION;
410
411 //if DEBUGCOND(ped) {
412 // std::cout << " nextRouteLane=" << Named::getIDSecure(nextRouteLane) << " junction=" << junction->getID() << "\n";
413 //}
414 if (nextRouteLane == nullptr && nextRouteEdge != nullptr) {
415 std::string error = "Person '" + ped.getPerson()->getID() + "' could not find sidewalk on edge '" + nextRouteEdge->getID() + "', time="
416 + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".";
417 if (OptionsCont::getOptions().getBool("ignore-route-errors")) {
418 WRITE_WARNING(error);
419 nextRouteLane = nextRouteEdge->getLanes().front();
420 } else {
421 throw ProcessError(error);
422 }
423 }
424
425 if (nextRouteLane != nullptr) {
426 if (currentEdge->isInternal()) {
427 assert(junction == currentEdge->getFromJunction());
428 nextDir = junction == nextRouteEdge->getFromJunction() ? FORWARD : BACKWARD;
429 if (nextDir == FORWARD) {
430 nextLane = currentLane->getLinkCont()[0]->getViaLaneOrLane();
431 } else {
432 nextLane = currentLane->getLogicalPredecessorLane();
433 }
434 if DEBUGCOND(ped) {
435 std::cout << " internal\n";
436 }
437 } else if (currentEdge->isCrossing()) {
438 nextDir = ped.getDirection();
439 if (nextDir == FORWARD) {
440 nextLane = currentLane->getLinkCont()[0]->getLane();
441 } else {
442 nextLane = currentLane->getLogicalPredecessorLane();
443 }
444 if DEBUGCOND(ped) {
445 std::cout << " crossing\n";
446 }
447 unregisterCrossingApproach(ped, currentLane);
448 } else if (currentEdge->isWalkingArea()) {
449 ConstMSEdgeVector crossingRoute;
450 // departPos can be 0 because the direction of the walkingArea does not matter
451 // for the arrivalPos, we need to make sure that the route does not deviate across other junctions
452 const int nextRouteEdgeDir = nextRouteEdge->getFromJunction() == junction ? FORWARD : BACKWARD;
453 const double arrivalPos = (nextRouteEdge == ped.getStage()->getRoute().back()
454 ? ped.getStage()->getArrivalPos()
455 : (nextRouteEdgeDir == FORWARD ? 0 : nextRouteEdge->getLength()));
456 MSEdgeVector prohibited;
457 if (prevLane != nullptr) {
458 prohibited.push_back(&prevLane->getEdge());
459 }
460 MSNet::getInstance()->getPedestrianRouter(0, prohibited).compute(currentEdge, nextRouteEdge, 0, arrivalPos, ped.getStage()->getMaxSpeed(ped.getPerson()), 0, junction, crossingRoute, true);
461 if DEBUGCOND(ped) {
462 std::cout
463 << " nre=" << nextRouteEdge->getID()
464 << " nreDir=" << nextRouteEdgeDir
465 << " aPos=" << arrivalPos
466 << " crossingRoute=" << toString(crossingRoute)
467 << "\n";
468 }
469 if (crossingRoute.size() > 1) {
470 const MSEdge* nextEdge = crossingRoute[1];
471 nextLane = getSidewalk<MSEdge, MSLane>(crossingRoute[1], ped.getPerson()->getVClass());
472 assert((nextEdge->getFromJunction() == junction || nextEdge->getToJunction() == junction));
473 assert(nextLane != prevLane);
474 nextDir = connectedDirection(currentLane, nextLane);
475 if DEBUGCOND(ped) {
476 std::cout << " nextDir=" << nextDir << "\n";
477 }
478 assert(nextDir != UNDEFINED_DIRECTION);
479 if (nextDir == FORWARD) {
480 link = currentLane->getLinkTo(nextLane);
481 } else {
482 link = nextLane->getLinkTo(currentLane);
483 if (nextEdge->isCrossing() && link->getTLLogic() == nullptr) {
484 const MSLane* oppositeWalkingArea = nextLane->getLogicalPredecessorLane();
485 link = oppositeWalkingArea->getLinkTo(nextLane);
486 }
487 }
488 assert(link != nullptr);
489 if (nextLane->isCrossing()) {
490 registerCrossingApproach(ped, nextLane, prevLane);
491 }
492 } else {
493 if DEBUGCOND(ped) {
494 std::cout << SIMTIME
495 << " no route from '" << (currentEdge == nullptr ? "NULL" : currentEdge->getID())
496 << "' to '" << (nextRouteEdge == nullptr ? "NULL" : nextRouteEdge->getID())
497 << "\n";
498 }
499 // check if a direct connection exists (moving onto the walkingarea was the wrong choice)
500 if (ped.getDirection() == FORWARD) {
501 link = prevLane->getLinkTo(nextRouteLane);
502 } else {
503 link = nextRouteLane->getLinkTo(prevLane);
504 }
505 if (link != nullptr) {
506 // leave direction as UNDEFINED_DIRECTION to signal that currentLane must be changed
507 nextLane = link->getViaLaneOrLane();
508 } else {
509 WRITE_WARNING("Person '" + ped.getPerson()->getID() + "' could not find route across junction '" + junction->getID()
510 + "' from walkingArea '" + currentEdge->getID()
511 + "' to edge '" + nextRouteEdge->getID() + "', time=" +
512 time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
513 // error indicated by nextDir == UNDEFINED_DIRECTION
514 nextLane = nextRouteLane;
515 }
516 }
517 } else if (currentEdge == nextRouteEdge) {
518 // strange loop in this route. No need to use walkingArea
519 nextDir = -ped.getDirection();
520 } else {
521 // normal edge. by default use next / previous walking area
522 nextDir = ped.getDirection();
523 nextLane = getNextWalkingArea(currentLane, ped.getDirection(), link);
524 if (nextLane != nullptr) {
525 // walking area found
526 if DEBUGCOND(ped) {
527 std::cout << " next walkingArea " << (nextDir == FORWARD ? "forward" : "backward") << "\n";
528 }
529 } else {
530 // walk forward by default
531 if (junction == nextRouteEdge->getToJunction()) {
532 nextDir = BACKWARD;
533 } else if (junction == nextRouteEdge->getFromJunction()) {
534 nextDir = FORWARD;
535 } else {
536 // topological disconnect, find a direction that makes sense
537 // for the future part of the route
538 ConstMSEdgeVector futureRoute = ped.getStage()->getRoute();
539 futureRoute.erase(futureRoute.begin(), futureRoute.begin() + ped.getStage()->getRoutePosition() + 1);
540 int passedFwd = 0;
541 int passedBwd = 0;
542 canTraverse(FORWARD, futureRoute, passedFwd);
543 canTraverse(BACKWARD, futureRoute, passedBwd);
544 nextDir = (passedFwd >= passedBwd) ? FORWARD : BACKWARD;
545 if DEBUGCOND(ped) {
546 std::cout << " nextEdge=" << nextRouteEdge->getID() << " passedFwd=" << passedFwd << " passedBwd=" << passedBwd << " futureRoute=" << toString(futureRoute) << " nextDir=" << nextDir << "\n";
547 }
548 }
549 // try to use a direct link as fallback
550 // direct links only exist if built explicitly. They are used to model tl-controlled links if there are no crossings
551 if (ped.getDirection() == FORWARD) {
552 link = currentLane->getLinkTo(nextRouteLane);
553 if (link != nullptr) {
554 if DEBUGCOND(ped) {
555 std::cout << " direct forward\n";
556 }
557 nextLane = currentLane->getInternalFollowingLane(nextRouteLane);
558 }
559 } else {
560 link = nextRouteLane->getLinkTo(currentLane);
561 if (link != nullptr) {
562 if DEBUGCOND(ped) {
563 std::cout << " direct backward\n";
564 }
565 nextLane = nextRouteLane->getInternalFollowingLane(currentLane);
566 if (nextLane != nullptr) {
567 // advance to the end of consecutive internal lanes
568 while (nextLane->getLinkCont()[0]->getViaLaneOrLane()->isInternal()) {
569 nextLane = nextLane->getLinkCont()[0]->getViaLaneOrLane();
570 }
571 }
572 }
573 }
574 }
575 if (nextLane == nullptr) {
576 // no internal lane found
577 nextLane = nextRouteLane;
578 if DEBUGCOND(ped) {
579 std::cout << SIMTIME << " no next lane found for " << currentLane->getID() << " dir=" << ped.getDirection() << "\n";
580 }
581 if (usingInternalLanesStatic() && currentLane->getLinkCont().size() > 0) {
582 WRITE_WARNING("Person '" + ped.getPerson()->getID() + "' could not find route across junction '" + junction->getID()
583 + "' from edge '" + currentEdge->getID()
584 + "' to edge '" + nextRouteEdge->getID() + "', time=" +
585 time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
586 }
587 } else if (nextLane->getLength() <= POSITION_EPS) {
588 // internal lane too short
589 // most often this is due to a zero-size junction. However, if
590 // the person needs to pass a crossing we cannot skip ahead
591 if ((nextLane->getCanonicalSuccessorLane() == nullptr
592 || !nextLane->getCanonicalSuccessorLane()->getEdge().isCrossing())
593 && (nextLane->getLogicalPredecessorLane() == nullptr ||
594 !nextLane->getLogicalPredecessorLane()->getEdge().isCrossing())) {
595 //WRITE_WARNING("Person '" + ped.getID()
596 // + "' skips short lane '" + nextLane->getID()
597 // + "' length=" + toString(nextLane->getLength())
598 // + " time=" + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
599 nextLane = nextRouteLane;
600 nextDir = nextRouteEdge->getFromJunction() == junction ? FORWARD : BACKWARD;
601 }
602 }
603 }
604 }
605 if DEBUGCOND(ped) {
606 std::cout << SIMTIME
607 << " p=" << ped.getPerson()->getID()
608 << " l=" << currentLane->getID()
609 << " nl=" << (nextLane == nullptr ? "NULL" : nextLane->getID())
610 << " nrl=" << (nextRouteLane == nullptr ? "NULL" : nextRouteLane->getID())
611 << " d=" << nextDir
612 << " link=" << (link == nullptr ? "NULL" : link->getViaLaneOrLane()->getID())
613 << " pedDir=" << ped.getDirection()
614 << "\n";
615 }
616 assert(nextLane != 0 || nextRouteLane == 0);
617 return NextLaneInfo(nextLane, link, nextDir);
618}
619
620
621const MSLane*
622MSPModel_Striping::getNextWalkingArea(const MSLane* currentLane, const int dir, const MSLink*& link) {
623 if (dir == FORWARD) {
624 for (const MSLink* const l : currentLane->getLinkCont()) {
625 if (l->getLane()->getEdge().isWalkingArea()) {
626 link = l;
627 return l->getLane();
628 }
629 }
630 } else {
631 const std::vector<MSLane::IncomingLaneInfo>& laneInfos = currentLane->getIncomingLanes();
632 for (std::vector<MSLane::IncomingLaneInfo>::const_iterator it = laneInfos.begin(); it != laneInfos.end(); ++it) {
633 if ((*it).lane->getEdge().isWalkingArea()) {
634 link = (*it).viaLink;
635 return (*it).lane;
636 }
637 }
638 }
639 return nullptr;
640}
641
642
643MSPModel_Striping::Obstacles
644MSPModel_Striping::getNeighboringObstacles(const Pedestrians& pedestrians, int egoIndex, int stripes) {
645 const PState& ego = *static_cast<PState*>(pedestrians[egoIndex]);
646 const int egoStripe = ego.stripe();
647 Obstacles obs(stripes, Obstacle(ego.getDirection()));
648 std::vector<bool> haveBlocker(stripes, false);
649 for (int index = egoIndex + 1; index < (int)pedestrians.size(); index++) {
650 const PState& p = *static_cast<PState*>(pedestrians[index]);
651 if DEBUGCOND(ego) {
652 std::cout << SIMTIME << " ped=" << ego.getID() << " cur=" << egoStripe << " checking neighbor " << p.getID()
653 << " nCur=" << p.stripe() << " nOth=" << p.otherStripe();
654 }
655 if (!p.isWaitingToEnter() && !p.isJammed()) {
656 const Obstacle o(p);
657 if DEBUGCOND(ego) {
658 std::cout << " dist=" << ego.distanceTo(o) << std::endl;
659 }
660 if (ego.distanceTo(o) == DIST_BEHIND) {
661 break;
662 }
663 if (ego.distanceTo(o) == DIST_OVERLAP) {
664 if (p.stripe() != egoStripe || p.getDirection() != ego.getDirection()) {
665 obs[p.stripe()] = o;
666 haveBlocker[p.stripe()] = true;
667 } else {
668 //std::cout << SIMTIME << " ignoring overlap between " << ego.getID() << " and " << p.getID() << " on stripe=" << egoStripe << "\n";
669 }
670 if (p.otherStripe() != egoStripe || p.getDirection() != ego.getDirection()) {
671 obs[p.otherStripe()] = o;
672 haveBlocker[p.otherStripe()] = true;
673 } else {
674 //std::cout << SIMTIME << " ignoring overlap between " << ego.getID() << " and " << p.getID() << " on stripe2=" << egoStripe << "\n";
675 }
676 } else {
677 if (!haveBlocker[p.stripe()]) {
678 obs[p.stripe()] = o;
679 }
680 if (!haveBlocker[p.otherStripe()]) {
681 obs[p.otherStripe()] = o;
682 }
683 }
684 }
685 }
686 if DEBUGCOND(ego) {
687 std::cout << SIMTIME << " ped=" << ego.getPerson()->getID() << " neighObs=";
688 DEBUG_PRINT(obs);
689 }
690 return obs;
691}
692
693
694int
695MSPModel_Striping::getStripeOffset(int origStripes, int destStripes, bool addRemainder) {
696 int offset = (destStripes - origStripes) / 2;
697 if (addRemainder) {
698 offset += (destStripes - origStripes) % 2;
699 }
700 return offset;
701}
702
703
704const MSPModel_Striping::Obstacles&
705MSPModel_Striping::getNextLaneObstacles(NextLanesObstacles& nextLanesObs, const
706 MSLane* lane, const MSLane* nextLane, int stripes, int nextDir,
707 double currentLength, int currentDir) {
708 if (nextLanesObs.count(nextLane) == 0) {
709 const double nextLength = nextLane->getEdge().isWalkingArea() ? myMinNextLengths[nextLane] : nextLane->getLength();
710 // figure out the which pedestrians are ahead on the next lane
711 const int nextStripes = numStripes(nextLane);
712 // do not move past the end of the next lane in a single step
713 Obstacles obs(stripes, Obstacle(nextDir == FORWARD ? nextLength : 0, 0, OBSTACLE_NEXTEND, "nextEnd", 0));
714
715 const int offset = getStripeOffset(nextStripes, stripes, currentDir != nextDir && nextStripes > stripes);
716 //std::cout << SIMTIME << " getNextLaneObstacles"
717 // << " nextLane=" << nextLane->getID()
718 // << " nextLength=" << nextLength
719 // << " nextDir=" << nextDir
720 // << " currentLength=" << currentLength
721 // << " currentDir=" << currentDir
722 // << " stripes=" << stripes
723 // << " nextStripes=" << nextStripes
724 // << " offset=" << offset
725 // << "\n";
726 if (nextStripes < stripes) {
727 // some stripes do not continue
728 for (int ii = 0; ii < stripes; ++ii) {
729 if (ii < offset || ii >= nextStripes + offset) {
730 obs[ii] = Obstacle(nextDir == FORWARD ? 0 : nextLength, 0, OBSTACLE_END, "stripeEnd", 0);
731 }
732 }
733 }
734 Pedestrians& pedestrians = getPedestrians(nextLane);
735 if (nextLane->getEdge().isWalkingArea()) {
736 transformToCurrentLanePositions(obs, currentDir, nextDir, currentLength, nextLength);
737 // complex transformation into the coordinate system of the current lane
738 // (pedestrians on next lane may walk at arbitrary angles relative to the current lane)
739 double lateral_offset = (lane->getWidth() - stripeWidth) * 0.5;
740 if ((stripes - nextStripes) % 2 != 0) {
741 lateral_offset += 0.5 * stripeWidth;
742 }
743 nextDir = currentDir;
744 // transform pedestrians into the current coordinate system
745 for (int ii = 0; ii < (int)pedestrians.size(); ++ii) {
746 const PState& p = *static_cast<PState*>(pedestrians[ii]);
747 if (p.isWaitingToEnter() || p.isJammed()) {
748 continue;
749 }
750 Position pPos = p.getPosition(*p.getStage(), -1);
751 Position relPos = lane->getShape().transformToVectorCoordinates(pPos, true);
752 if (relPos == Position::INVALID) {
753 WRITE_WARNINGF("Could not map position % onto lane '%'", pPos, lane->getID());
754 }
755 const double newY = relPos.y() + lateral_offset;
756 //if (p.getPerson()->getID() == "ped200") std::cout << " ped=" << p.getPerson()->getID() << " relX=" << relPos.x() << " relY=" << newY << " latOff=" << lateral_offset << " s=" << p.stripe(newY) << " os=" << p.otherStripe(newY) << "\n";
757 if ((currentDir == FORWARD && relPos.x() >= lane->getLength()) || (currentDir == BACKWARD && relPos.x() < 0)) {
758 addCloserObstacle(obs, relPos.x(), p.stripe(newY), stripes, p.getPerson()->getID(), p.getPerson()->getVehicleType().getWidth(), currentDir, OBSTACLE_PED);
759 addCloserObstacle(obs, relPos.x(), p.otherStripe(newY), stripes, p.getPerson()->getID(), p.getPerson()->getVehicleType().getWidth(), currentDir, OBSTACLE_PED);
760 }
761 }
762 } else {
763 // simple transformation into the coordinate system of the current lane
764 // (only need to worry about currentDir and nextDir)
765 // XXX consider waitingToEnter on nextLane
766 sort(pedestrians.begin(), pedestrians.end(), by_xpos_sorter(nextDir));
767 for (int ii = 0; ii < (int)pedestrians.size(); ++ii) {
768 const PState& p = *static_cast<PState*>(pedestrians[ii]);
769 if (p.isWaitingToEnter() || p.isJammed()) {
770 continue;
771 }
772 double newY = p.getPosLat();
773 Obstacle pObs(p);
774 if (nextDir != currentDir) {
775 newY = (nextStripes - 1) * stripeWidth - newY;
776 pObs.speed *= -1;
777 }
778 newY += offset * stripeWidth;
779 const int stripe = p.stripe(newY);
780 if (stripe >= 0 && stripe < stripes) {
781 obs[stripe] = pObs;
782 }
783 const int otherStripe = p.otherStripe(newY);
784 if (otherStripe >= 0 && otherStripe < stripes) {
785 obs[otherStripe] = pObs;
786 }
787 }
788 if (nextLane->getEdge().isCrossing()) {
789 // add vehicle obstacles
790 const MSLink* crossingEntryLink = nextLane->getIncomingLanes().front().viaLink;
791 const bool prio = crossingEntryLink->havePriority() || crossingEntryLink->getTLLogic() != nullptr;
792 addCrossingVehs(nextLane, stripes, offset, nextDir, obs, prio);
793 }
794 if (nextLane->getVehicleNumberWithPartials() > 0) {
795 Obstacles vehObs = getVehicleObstacles(nextLane, nextDir);
796 PState::mergeObstacles(obs, vehObs, nextDir, offset);
797 }
798 transformToCurrentLanePositions(obs, currentDir, nextDir, currentLength, nextLength);
799 }
800 nextLanesObs[nextLane] = obs;
801 }
802 return nextLanesObs[nextLane];
803}
804
805void
806MSPModel_Striping::transformToCurrentLanePositions(Obstacles& obs, int currentDir, int nextDir, double currentLength, double nextLength) {
807 for (Obstacle& o : obs) {
808 if (currentDir == FORWARD) {
809 if (nextDir == FORWARD) {
810 o.xFwd += currentLength;
811 o.xBack += currentLength;
812 } else {
813 const double tmp = o.xFwd;
814 o.xFwd = currentLength + nextLength - o.xBack;
815 o.xBack = currentLength + nextLength - tmp;
816 }
817 } else {
818 if (nextDir == FORWARD) {
819 const double tmp = o.xFwd;
820 o.xFwd = -o.xBack;
821 o.xBack = -tmp;
822 } else {
823 o.xFwd -= nextLength;
824 o.xBack -= nextLength;
825 }
826 }
827 }
828}
829
830
831void
832MSPModel_Striping::addCloserObstacle(Obstacles& obs, double x, int stripe, int numStripes, const std::string& id, double width, int dir, ObstacleType type) {
833 if (stripe >= 0 && stripe < numStripes) {
834 if ((dir == FORWARD && x - width / 2. < obs[stripe].xBack) || (dir == BACKWARD && x + width / 2. > obs[stripe].xFwd)) {
835 obs[stripe] = Obstacle(x, 0, type, id, width);
836 }
837 }
838}
839
840void
841MSPModel_Striping::moveInDirection(SUMOTime currentTime, std::set<MSPerson*>& changedLane, int dir) {
842 for (ActiveLanes::iterator it_lane = myActiveLanes.begin(); it_lane != myActiveLanes.end(); ++it_lane) {
843 const MSLane* lane = it_lane->first;
844 Pedestrians& pedestrians = it_lane->second;
845 if (pedestrians.size() == 0) {
846 continue;
847 }
848 //std::cout << SIMTIME << ">>> lane=" << lane->getID() << " numPeds=" << pedestrians.size() << "\n";
849 if (lane->getEdge().isWalkingArea()) {
850 const double lateral_offset = (lane->getWidth() - stripeWidth) * 0.5;
851 const double minY = stripeWidth * - 0.5 + NUMERICAL_EPS;
852 const double maxY = stripeWidth * (numStripes(lane) - 0.5) - NUMERICAL_EPS;
853 const WalkingAreaPath* debugPath = nullptr;
854 // need to handle each walkingAreaPath separately and transform
855 // coordinates beforehand
856 std::set<const WalkingAreaPath*, walkingarea_path_sorter> paths;
857 for (Pedestrians::iterator it = pedestrians.begin(); it != pedestrians.end(); ++it) {
858 const PState* p = static_cast<PState*>(*it);
859 assert(p->myWalkingAreaPath != 0);
860 if (p->getDirection() == dir) {
861 paths.insert(p->myWalkingAreaPath);
862 if DEBUGCOND(*p) {
863 debugPath = p->myWalkingAreaPath;
864 std::cout << SIMTIME << " debugging WalkingAreaPath from=" << debugPath->from->getID() << " to=" << debugPath->to->getID() << " minY=" << minY << " maxY=" << maxY << " latOffset=" << lateral_offset << "\n";
865 }
866 }
867 }
868 const double usableWidth = (numStripes(lane) - 1) * stripeWidth;
869 for (std::set<const WalkingAreaPath*, walkingarea_path_sorter>::iterator it = paths.begin(); it != paths.end(); ++it) {
870 const WalkingAreaPath* path = *it;
871 Pedestrians toDelete;
872 Pedestrians transformedPeds;
873 transformedPeds.reserve(pedestrians.size());
874 for (Pedestrians::iterator it_p = pedestrians.begin(); it_p != pedestrians.end(); ++it_p) {
875 PState* p = static_cast<PState*>(*it_p);
876 if (p->myWalkingAreaPath == path) {
877 transformedPeds.push_back(p);
878 if (path == debugPath) std::cout << " ped=" << p->getPerson()->getID() << " relX=" << p->getEdgePos(0) << " relY=" << p->getPosLat() << " (untransformed), vecCoord="
879 << path->shape.transformToVectorCoordinates(p->getPosition(*p->getStage(), -1)) << "\n";
880 } else if (p->myWalkingAreaPath->from == path->to && p->myWalkingAreaPath->to == path->from) {
881 if (p->myWalkingAreaPath->dir != path->dir) {
882 // opposite direction is already in the correct coordinate system
883 transformedPeds.push_back(p);
884 if (path == debugPath) std::cout << " ped=" << p->getPerson()->getID() << " relX=" << p->getEdgePos(0) << " relY=" << p->getPosLat() << " (untransformed), vecCoord="
885 << path->shape.transformToVectorCoordinates(p->getPosition(*p->getStage(), -1)) << "\n";
886 } else {
887 // x position must be reversed
888 PState* tp = new PState(*p);
889 tp->reverse(path->length, usableWidth);
890 toDelete.push_back(tp);
891 transformedPeds.push_back(tp);
892 if (path == debugPath) std::cout << " ped=" << p->getPerson()->getID() << " relX=" << p->getEdgePos(0) << " relY=" << p->getPosLat() << " (semi-transformed), vecCoord="
893 << path->shape.transformToVectorCoordinates(p->getPosition(*p->getStage(), -1)) << "\n";
894 }
895 } else {
896 const Position relPos = path->shape.transformToVectorCoordinates(p->getPosition(*p->getStage(), -1));
897 const double newY = relPos.y() + lateral_offset;
898 if (relPos != Position::INVALID && newY >= minY && newY <= maxY) {
899 PState* tp = new PState(*p);
900 tp->reset(relPos.x(), newY);
901 toDelete.push_back(tp);
902 transformedPeds.push_back(tp);
903 if (path == debugPath) {
904 std::cout << " ped=" << p->getPerson()->getID() << " relX=" << relPos.x() << " relY=" << newY << " (transformed), vecCoord=" << relPos << "\n";
905 }
906 } else {
907 if (path == debugPath) {
908 std::cout << " ped=" << p->getPerson()->getID() << " relX=" << relPos.x() << " relY=" << newY << " (invalid), vecCoord=" << relPos << "\n";
909 }
910 }
911 }
912 }
913 auto itFoe = myWalkingAreaFoes.find(&lane->getEdge());
914 if (itFoe != myWalkingAreaFoes.end()) {
915 // add vehicle foes on paths which cross this walkingarea
916 // translate the vehicle into a number of dummy-pedestrians
917 // that occupy the same space
918 for (const MSLane* foeLane : itFoe->second) {
919 for (auto itVeh = foeLane->anyVehiclesBegin(); itVeh != foeLane->anyVehiclesEnd(); ++itVeh) {
920 const MSVehicle* veh = *itVeh;
921 const double vehWidth = veh->getVehicleType().getWidth();
922 Boundary relCorners;
923 Position relFront = path->shape.transformToVectorCoordinates(veh->getPosition(), true);
924 Position relBack = path->shape.transformToVectorCoordinates(veh->getBackPosition(), true);
925 if (relFront == Position::INVALID) {
926 WRITE_WARNINGF("Could not vehicle '%' front position % onto walkingarea '%' path=%, time=%.",
927 veh->getID(), veh->getPosition(), lane->getID(), path->shape, time2string(SIMSTEP));
928 }
929 if (relBack == Position::INVALID) {
930 WRITE_WARNINGF("Could not vehicle '%' back position % onto walkingarea '%' path=%, time=%.",
931 veh->getID(), veh->getBackPosition(), lane->getID(), path->shape, time2string(SIMSTEP));
932 }
933 PositionVector relCenter;
934 relCenter.push_back(relFront);
935 relCenter.push_back(relBack);
936 relCenter.move2side(vehWidth / 2);
937 relCorners.add(relCenter[0]);
938 relCorners.add(relCenter[1]);
939 relCenter.move2side(-vehWidth);
940 relCorners.add(relCenter[0]);
941 relCorners.add(relCenter[1]);
942 // persons should require less gap than the vehicles to prevent getting stuck
943 // when a vehicles moves towards them
944 relCorners.growWidth(SAFETY_GAP / 2);
945 const double xWidth = relCorners.getWidth();
946 const double vehYmin = MAX2(minY - lateral_offset, relCorners.ymin());
947 const double vehYmax = MIN2(maxY - lateral_offset, relCorners.ymax());
948 const double xCenter = relCorners.getCenter().x();
949 Position yMinPos(xCenter, vehYmin);
950 Position yMaxPos(xCenter, vehYmax);
951 const bool addFront = addVehicleFoe(veh, lane, yMinPos, dir * xWidth, 0, lateral_offset, minY, maxY, toDelete, transformedPeds);
952 const bool addBack = addVehicleFoe(veh, lane, yMaxPos, dir * xWidth, 0, lateral_offset, minY, maxY, toDelete, transformedPeds);
953 if (path == debugPath) {
954 std::cout << " veh=" << veh->getID()
955 << " corners=" << relCorners
956 << " xWidth=" << xWidth
957 << " ymin=" << relCorners.ymin()
958 << " ymax=" << relCorners.ymax()
959 << " vehYmin=" << vehYmin
960 << " vehYmax=" << vehYmax
961 << "\n";
962 }
963 if (addFront && addBack) {
964 // add in-between positions
965 const double yDist = vehYmax - vehYmin;
966 for (double dist = stripeWidth; dist < yDist; dist += stripeWidth) {
967 const double relDist = dist / yDist;
968 Position between = (yMinPos * relDist) + (yMaxPos * (1 - relDist));
969 if (path == debugPath) {
970 std::cout << " vehBetween=" << veh->getID() << " pos=" << between << "\n";
971 }
972 addVehicleFoe(veh, lane, between, dir * xWidth, stripeWidth, lateral_offset, minY, maxY, toDelete, transformedPeds);
973 }
974 }
975 }
976 }
977 }
978 moveInDirectionOnLane(transformedPeds, lane, currentTime, changedLane, dir, path == debugPath);
979 arriveAndAdvance(pedestrians, currentTime, changedLane, dir);
980 // clean up
981 for (Pedestrians::iterator it_p = toDelete.begin(); it_p != toDelete.end(); ++it_p) {
982 delete *it_p;
983 }
984 }
985 } else {
986 moveInDirectionOnLane(pedestrians, lane, currentTime, changedLane, dir, false);
987 arriveAndAdvance(pedestrians, currentTime, changedLane, dir);
988 }
989 }
990}
991
992
993bool
994MSPModel_Striping::addVehicleFoe(const MSVehicle* veh, const MSLane* walkingarea, const Position& relPos, double xWidth, double yWidth, double lateral_offset,
995 double minY, double maxY, Pedestrians& toDelete, Pedestrians& transformedPeds) {
996 if (relPos != Position::INVALID) {
997 const double newY = relPos.y() + lateral_offset;
998 if (newY >= minY && newY <= maxY) {
999 PState* tp = new PStateVehicle(veh, walkingarea, relPos.x(), newY, xWidth, yWidth);
1000 //std::cout << SIMTIME << " addVehicleFoe=" << veh->getID() << " rx=" << relPos.x() << " ry=" << newY << " s=" << tp->stripe() << " o=" << tp->otherStripe() << "\n";
1001 toDelete.push_back(tp);
1002 transformedPeds.push_back(tp);
1003 }
1004 return true;
1005 } else {
1006 return false;
1007 }
1008}
1009
1010void
1011MSPModel_Striping::arriveAndAdvance(Pedestrians& pedestrians, SUMOTime currentTime, std::set<MSPerson*>& changedLane, int dir) {
1012 // advance to the next lane / arrive at destination
1013 sort(pedestrians.begin(), pedestrians.end(), by_xpos_sorter(dir));
1014 // can't use iterators because we do concurrent modification
1015 for (int i = 0; i < (int)pedestrians.size(); i++) {
1016 PState* const p = static_cast<PState*>(pedestrians[i]);
1017 if (p->isRemoteControlled()) {
1018 continue;
1019 }
1020 if (p->getDirection() == dir && p->distToLaneEnd() < 0) {
1021 // moveToNextLane may trigger re-insertion (for consecutive
1022 // walks) so erase must be called first
1023 pedestrians.erase(pedestrians.begin() + i);
1024 i--;
1025 p->moveToNextLane(currentTime);
1026 if (p->getLane() != nullptr) {
1027 changedLane.insert(p->getPerson());
1028 myActiveLanes[p->getLane()].push_back(p);
1029 } else {
1030 // end walking stage and destroy PState
1031 p->getStage()->moveToNextEdge(p->getPerson(), currentTime, dir);
1032 myNumActivePedestrians--;
1033 }
1034 }
1035 }
1036}
1037
1038
1039void
1040MSPModel_Striping::moveInDirectionOnLane(Pedestrians& pedestrians, const MSLane* lane, SUMOTime currentTime, std::set<MSPerson*>& changedLane, int dir, bool debug) {
1041 const int stripes = numStripes(lane);
1042 //std::cout << " laneWidth=" << lane->getWidth() << " stripeWidth=" << stripeWidth << " stripes=" << stripes << "\n";
1043 Obstacles obs(stripes, Obstacle(dir)); // continuously updated
1044 NextLanesObstacles nextLanesObs; // continuously updated
1045 sort(pedestrians.begin(), pedestrians.end(), by_xpos_sorter(dir));
1046
1047 Obstacles crossingVehs(stripes, Obstacle(dir));
1048 bool hasCrossingVehObs = false;
1049 if (lane->getEdge().isCrossing()) {
1050 // assume that vehicles will brake when already on the crossing
1051 hasCrossingVehObs = addCrossingVehs(lane, stripes, 0, dir, crossingVehs, true);
1052 }
1053
1054 for (int ii = 0; ii < (int)pedestrians.size(); ++ii) {
1055 PState& p = *static_cast<PState*>(pedestrians[ii]);
1056 UNUSED_PARAMETER(debug);
1057 //if (debug) {
1058 // std::cout << SIMTIME << " CHECKING d=" << dir << " p=" << p.getID() << " relX=" << p.myRelX << " xmin=" << p.getMinX() << " xmax=" << p.getMaxX() << " pdir=" << p.getDirection() << "\n";
1059 //}
1060 Obstacles currentObs = obs;
1061 if (p.getDirection() != dir || changedLane.count(p.getPerson()) != 0 || p.getRemotePosition() != Position::INVALID) {
1062 if (!p.isWaitingToEnter() && !p.isJammed()) {
1063 //if DEBUGCOND(p) {
1064 // std::cout << " obs=" << p.getPerson()->getID() << " y=" << p.getPosLat() << " stripe=" << p.stripe() << " oStripe=" << p.otherStripe() << "\n";
1065 //}
1066 Obstacle o(p);
1067 if (p.getDirection() != dir && p.getSpeed(*p.getStage()) == 0.) {
1068 // ensure recognition of oncoming
1069 o.speed = (p.getDirection() == FORWARD ? 0.1 : -0.1);
1070 }
1071 if (o.closer(obs[p.stripe()], dir)) {
1072 obs[p.stripe()] = o;
1073 }
1074 if (o.closer(obs[p.otherStripe()], dir)) {
1075 obs[p.otherStripe()] = o;
1076 }
1077 }
1078 continue;
1079 }
1080 if DEBUGCOND(p) {
1081 std::cout << SIMTIME << " ped=" << p.getPerson()->getID() << " currentObs=";
1082 gDebugFlag1 = true;
1083 DEBUG_PRINT(currentObs);
1084 }
1085 const MSLane* nextLane = p.myNLI.lane;
1086 const MSLink* link = p.myNLI.link;
1087 const double dist = p.distToLaneEnd();
1088 const double speed = p.getStage()->getMaxSpeed(p.getPerson());
1089 if (nextLane != nullptr && dist <= LOOKAHEAD_ONCOMING_DIST) {
1090 const double currentLength = (p.myWalkingAreaPath == nullptr ? lane->getLength() : p.myWalkingAreaPath->length);
1091 const Obstacles& nextObs = getNextLaneObstacles(
1092 nextLanesObs, lane, nextLane, stripes,
1093 p.myNLI.dir, currentLength, dir);
1094
1095 if DEBUGCOND(p) {
1096 std::cout << SIMTIME << " ped=" << p.getPerson()->getID() << " nextObs=";
1097 DEBUG_PRINT(nextObs);
1098 }
1099 p.mergeObstacles(currentObs, nextObs);
1100 }
1101 if DEBUGCOND(p) {
1102 std::cout << SIMTIME << " ped=" << p.getPerson()->getID() << " obsWithNext=";
1103 DEBUG_PRINT(currentObs);
1104 }
1105 p.mergeObstacles(currentObs, getNeighboringObstacles(pedestrians, ii, stripes));
1106 if DEBUGCOND(p) {
1107 std::cout << SIMTIME << " ped=" << p.getPerson()->getID() << " obsWithNeigh=";
1108 DEBUG_PRINT(currentObs);
1109 }
1110 // time gap to pass the intersection ahead of a vehicle.
1111 const double passingClearanceTime = p.getPerson()->getFloatParam("pedestrian.timegap-crossing");
1112 const double passingLength = p.getLength() + passingClearanceTime * speed;
1113 // check link state
1114 if DEBUGCOND(p) {
1115 gDebugFlag1 = true; // get debug output from MSLink
1116 std::cout << " link=" << (link == nullptr ? "NULL" : link->getViaLaneOrLane()->getID())
1117 << " dist=" << dist << " d2=" << dist - p.getMinGap() << " la=" << LOOKAHEAD_SAMEDIR* speed << "\n";
1118 }
1119 if (link != nullptr
1120 // only check close before junction, @todo we should take deceleration into account here
1121 && dist - p.getMinGap() < LOOKAHEAD_SAMEDIR * speed
1122 // persons move before vehicles so we subtract DELTA_TO because they cannot rely on vehicles having passed the intersection in the current time step
1123 && !link->opened(currentTime - DELTA_T, speed, speed, passingLength, p.getImpatience(currentTime), speed, 0, 0, nullptr, p.ignoreRed(link), p.getPerson())) {
1124 // prevent movement passed a closed link
1125 Obstacles closedLink(stripes, Obstacle(p.getEdgePos(0) + dir * (dist - NUMERICAL_EPS), 0, OBSTACLE_LINKCLOSED, "closedLink_" + link->getViaLaneOrLane()->getID(), 0));
1126 p.mergeObstacles(currentObs, closedLink);
1127 if DEBUGCOND(p) {
1128 std::cout << SIMTIME << " ped=" << p.getPerson()->getID() << " obsWithTLS=";
1129 DEBUG_PRINT(currentObs);
1130 }
1131 // consider rerouting over another crossing
1132 if (p.myWalkingAreaPath != nullptr) {
1133 // @todo actually another path would be needed starting at the current position
1134 const MSLane* oldNext = p.myNLI.lane;
1135 p.myNLI = getNextLane(p, p.getLane(), p.myWalkingAreaPath->from);
1136 if (p.myNLI.lane != oldNext) {
1137 unregisterCrossingApproach(p, oldNext);
1138 }
1139 }
1140 }
1141 if DEBUGCOND(p) {
1142 gDebugFlag1 = false;
1143 }
1144 if (&lane->getEdge() == p.getStage()->getDestination() && p.getStage()->getDestinationStop() != nullptr) {
1145 Obstacles arrival;
1146 if (p.getStage()->getDestinationStop()->getWaitingCapacity() > p.getStage()->getDestinationStop()->getNumWaitingPersons()) {
1147 arrival = Obstacles(stripes, Obstacle(p.getStage()->getArrivalPos() + dir * p.getMinGap(), 0, OBSTACLE_ARRIVALPOS, "arrival", 0));
1148 } else {
1149 arrival = Obstacles(stripes, Obstacle(p.getStage()->getArrivalPos() - dir * p.getMinGap(), 0, OBSTACLE_ARRIVALPOS, "arrival_blocked", 0));
1150 }
1151 p.mergeObstacles(currentObs, arrival);
1152 }
1153
1154 if (lane->getVehicleNumberWithPartials() > 0) {
1155 // react to vehicles on the same lane
1156 // @todo: improve efficiency by using the same iterator for all pedestrians on this lane
1157 Obstacles vehObs = getVehicleObstacles(lane, dir, &p);
1158 p.mergeObstacles(currentObs, vehObs);
1159 if DEBUGCOND(p) {
1160 std::cout << SIMTIME << " ped=" << p.getPerson()->getID() << " obsWithVehs=";
1161 DEBUG_PRINT(currentObs);
1162 }
1163 }
1164 if (hasCrossingVehObs) {
1165 p.mergeObstacles(currentObs, crossingVehs);
1166 if DEBUGCOND(p) {
1167 std::cout << SIMTIME << " ped=" << p.getPerson()->getID() << " obsWithVehs2=";
1168 DEBUG_PRINT(currentObs);
1169 }
1170 }
1171
1172 // walk, taking into account all obstacles
1173 p.walk(currentObs, currentTime);
1174 gDebugFlag1 = false;
1175 if (!p.isWaitingToEnter() && !p.isJammed()) {
1176 Obstacle o(p);
1177 if (o.closer(obs[p.stripe()], dir)) {
1178 obs[p.stripe()] = o;
1179 }
1180 if (o.closer(obs[p.otherStripe()], dir)) {
1181 obs[p.otherStripe()] = o;
1182 }
1183 if (MSGlobals::gCheck4Accidents && p.myWalkingAreaPath == nullptr && !p.isJammed()) {
1184 for (int coll = 0; coll < ii; ++coll) {
1185 PState& c = *static_cast<PState*>(pedestrians[coll]);
1186 if (!c.isWaitingToEnter() && c.myWalkingAreaPath == nullptr && !c.isJammed()) {
1187 if (c.stripe() == p.stripe() || p.stripe() == c.otherStripe() || p.otherStripe() == c.stripe() || p.otherStripe() == c.otherStripe()) {
1188 Obstacle cObs(c);
1189 // we check only for real collisions, no min gap violations
1190 if (p.distanceTo(cObs, false) == DIST_OVERLAP) {
1191 WRITE_WARNING("Collision of person '" + p.getPerson()->getID() + "' and person '" + c.getPerson()->getID()
1192 + "', lane='" + lane->getID() + "', time=" + time2string(currentTime) + ".");
1193 }
1194 }
1195 }
1196 }
1197 }
1198 }
1199 //std::cout << SIMTIME << p.getPerson()->getID() << " lane=" << lane->getID() << " x=" << p.myRelX << "\n";
1200 }
1201}
1202
1203
1204void
1205MSPModel_Striping::registerCrossingApproach(const PState& ped, const MSLane* crossing, const MSLane* beforeWA) {
1206 // person has entered the walkingarea
1207 SUMOTime arrivalTime = SIMSTEP;
1208 assert(ped.getLane()->isWalkingArea());
1209 const WalkingAreaPath* wa = getWalkingAreaPath(&ped.getLane()->getEdge(), beforeWA, crossing);
1210 const double speed = ped.getStage()->getMaxSpeed(ped.getPerson()) * (1 - dawdling / 2);
1211 arrivalTime += TIME2STEPS(wa->length / speed);
1212 SUMOTime leavingTime = arrivalTime + TIME2STEPS(crossing->getLength() / speed);
1213 crossing->getIncomingLanes()[0].viaLink->setApproachingPerson(ped.getPerson(), arrivalTime, leavingTime);
1214 if DEBUGCOND(ped) {
1215 std::cout << SIMTIME << " register " << ped.getPerson()->getID() << " at crossing " << crossing->getID() << "\n";
1216 }
1217}
1218
1219
1220bool
1221MSPModel_Striping::addCrossingVehs(const MSLane* crossing, int stripes, double lateral_offset, int dir, Obstacles& obs, bool prio) {
1222 bool hasCrossingVehObs = false;
1223 const MSLink* crossingExitLink = crossing->getLinkCont().front();
1224 gDebugFlag1 = DEBUGCOND2(crossing);
1225 const MSLink::LinkLeaders linkLeaders = crossingExitLink->getLeaderInfo(nullptr, crossing->getLength());
1226 gDebugFlag1 = false;
1227 if (linkLeaders.size() > 0) {
1228 for (MSLink::LinkLeaders::const_iterator it = linkLeaders.begin(); it != linkLeaders.end(); ++it) {
1229 // the vehicle to enter the junction first has priority
1230 const MSVehicle* veh = (*it).vehAndGap.first;
1231 if (veh != nullptr) {
1232 Obstacle vo((*it).distToCrossing, 0, OBSTACLE_VEHICLE, veh->getID(), veh->getVehicleType().getWidth() + 2 * minGapToVehicle, veh);
1233 // block entry to the crossing in walking direction but allow leaving it
1234 Obstacle voBlock = vo;
1235 if (dir == FORWARD) {
1236 voBlock.xBack = NUMERICAL_EPS;
1237 } else {
1238 voBlock.xFwd = crossing->getLength() - NUMERICAL_EPS;
1239 }
1240 // when approaching a priority crossings, vehicles must be able
1241 // to brake, otherwise the person must be able to cross in time
1242 const double distToCrossBeforeVeh = (dir == FORWARD ? vo.xFwd : crossing->getLength() - vo.xBack);
1243 const double bGap = (prio
1244 ? veh->getCarFollowModel().brakeGap(veh->getSpeed(), veh->getCarFollowModel().getMaxDecel(), 0)
1245 : veh->getSpeed() * distToCrossBeforeVeh); // walking 1m/s
1246 double vehYmin;
1247 double vehYmax;
1248 // relY increases from left to right (the other way around from vehicles)
1249 if ((*it).fromLeft()) {
1250 vehYmin = -(*it).vehAndGap.second + lateral_offset; // vehicle back
1251 vehYmax = vehYmin + veh->getVehicleType().getLength() + bGap + minGapToVehicle;
1252 vehYmin -= minGapToVehicle;
1253 } else {
1254 vehYmax = crossing->getWidth() + (*it).vehAndGap.second - lateral_offset; // vehicle back
1255 vehYmin = vehYmax - veh->getVehicleType().getLength() - bGap - minGapToVehicle;
1256 vehYmax += minGapToVehicle;
1257
1258 }
1259 for (int s = MAX2(0, PState::stripe(vehYmin)); s < MIN2(PState::stripe(vehYmax), stripes); ++s) {
1260 if ((dir == FORWARD && obs[s].xBack > vo.xBack)
1261 || (dir == BACKWARD && obs[s].xFwd < vo.xFwd)) {
1262 if (!prio && veh->getSpeed() > SUMO_const_haltingSpeed) {
1263 // do not enter the crossing
1264 obs[s] = voBlock;
1265 } else {
1266 obs[s] = vo;
1267 }
1268 hasCrossingVehObs = true;
1269 }
1270 }
1271 if (DEBUGCOND2(crossing)) {
1272 std::cout << SIMTIME
1273 << " crossingVeh=" << veh->getID()
1274 << " lane=" << crossing->getID()
1275 << " prio=" << prio
1276 << " latOffset=" << lateral_offset
1277 << " dir=" << dir
1278 << " stripes=" << stripes
1279 << " dist=" << (*it).distToCrossing
1280 << " gap=" << (*it).vehAndGap.second
1281 << " brakeGap=" << bGap
1282 << " fromLeft=" << (*it).fromLeft()
1283 << " distToCrossBefore=" << distToCrossBeforeVeh
1284 << " ymin=" << vehYmin
1285 << " ymax=" << vehYmax
1286 << " smin=" << PState::stripe(vehYmin)
1287 << " smax=" << PState::stripe(vehYmax)
1288 << "\n";
1289 DEBUG_PRINT(obs);
1290 }
1291 }
1292 }
1293 if (hasCrossingVehObs) {
1294 // check whether the crossing is fully blocked
1295 const int reserved = getReserved((int)obs.size(), RESERVE_FOR_ONCOMING_FACTOR_JUNCTIONS);
1296 bool allBlocked = true;
1297
1298 for (int i = 0; i < (int)obs.size(); i++) {
1299 const Obstacle& o = obs[i];
1300 if (o.type != OBSTACLE_VEHICLE && (
1301 (dir == FORWARD && i >= reserved) ||
1302 (dir == BACKWARD && i < (int)obs.size() - reserved))) {
1303 allBlocked = false;
1304 break;
1305 }
1306 }
1307 if (allBlocked) {
1308 if (DEBUGCOND2(crossing)) {
1309 std::cout << SIMTIME << " crossing=" << crossing->getID() << " allBlocked\n";
1310 }
1311 for (Obstacle& o : obs) {
1312 if (dir == FORWARD) {
1313 o.xBack = NUMERICAL_EPS;
1314 } else {
1315 o.xFwd = crossing->getLength() - NUMERICAL_EPS;
1316 }
1317 }
1318 }
1319 }
1320 }
1321 return hasCrossingVehObs;
1322}
1323
1324
1325MSPModel_Striping::Obstacles
1326MSPModel_Striping::getVehicleObstacles(const MSLane* lane, int dir, PState* ped) {
1327 const int stripes = numStripes(lane);
1328 Obstacles vehObs(stripes, Obstacle(dir));
1329 int current = -1;
1330 double minX = 0.;
1331 double maxX = 0.;
1332 double pRelY = -1.;
1333 double pWidth = 0.;
1334 std::string pID;
1335 bool debug = DEBUGCOND2(lane);
1336 if (ped != nullptr) {
1337 current = ped->stripe();
1338 minX = ped->getMinX();
1339 maxX = ped->getMaxX();
1340 pRelY = ped->getPosLat();
1341 pWidth = ped->getPerson()->getVehicleType().getWidth();
1342 pID = ped->getPerson()->getID();
1343 debug = DEBUGCOND(*ped);
1344 } else if (dir == BACKWARD) {
1345 // checking vehicles on the next lane. Use entry point as reference
1346 minX = lane->getLength();
1347 maxX = lane->getLength();
1348 }
1349 MSLane::AnyVehicleIterator begin = (dir == FORWARD ? lane->anyVehiclesUpstreamBegin() : lane->anyVehiclesBegin());
1350 MSLane::AnyVehicleIterator end = (dir == FORWARD ? lane->anyVehiclesUpstreamEnd() : lane->anyVehiclesEnd());
1351 for (MSLane::AnyVehicleIterator it = begin; it != end; ++it) {
1352 const MSVehicle* veh = *it;
1353 const bool bidi = veh->getLane() == lane->getBidiLane();
1354 const double vehBack = veh->getBackPositionOnLane(lane);
1355 double vehFront = vehBack + veh->getVehicleType().getLength();
1356 // ensure that vehicles are not blocked
1357 const double vehNextSpeed = veh->getWaitingTime() > DELTA_T ? 0 : MAX2(veh->getSpeed(), 1.0);
1358 const double clearance = SAFETY_GAP + vehNextSpeed * LOOKAHEAD_SAMEDIR;
1359 // boundaries for range checking
1360 double vehXMax;
1361 double vehXMin;
1362 double vehXMaxCheck;
1363 double vehXMinCheck;
1364 if (bidi) {
1365 vehFront = vehBack - veh->getVehicleType().getLength();
1366 vehXMax = vehBack + SAFETY_GAP;
1367 vehXMin = vehFront - clearance;
1368 if (dir == FORWARD) {
1369 vehXMaxCheck = vehBack + NUMERICAL_EPS;
1370 vehXMinCheck = vehFront - LOOKAROUND_VEHICLES;
1371 } else {
1372 vehXMaxCheck = vehBack + LOOKAHEAD_SAMEDIR;
1373 vehXMinCheck = vehFront - clearance;
1374 }
1375 } else {
1376 vehXMax = vehFront + clearance;
1377 vehXMin = vehBack - SAFETY_GAP;
1378 if (dir == FORWARD) {
1379 vehXMaxCheck = vehFront + clearance;
1380 vehXMinCheck = vehBack - LOOKAHEAD_SAMEDIR;
1381 } else {
1382 vehXMaxCheck = vehFront + LOOKAROUND_VEHICLES;
1383 vehXMinCheck = vehBack - NUMERICAL_EPS;
1384 }
1385 }
1386 if (debug) {
1387 std::cout << SIMTIME << " ped=" << pID << " veh=" << veh->getID() << " check obstacle on lane=" << lane->getID()
1388 << "\n"
1389 << " vehXMin=" << vehXMin
1390 << " vehXMax=" << vehXMax
1391 << " vehXMinC=" << vehXMinCheck
1392 << " vehXMaxC=" << vehXMaxCheck
1393 << " minX=" << minX
1394 << " maxX=" << maxX
1395 << " bidi=" << bidi
1396 << " vFront=" << vehFront
1397 << " vBack=" << vehBack
1398 << "\n";
1399 }
1400 if (vehXMaxCheck > minX && vehXMinCheck && vehXMinCheck <= maxX) {
1401 Obstacle vo(vehBack, veh->getSpeed() * (bidi ? -1 : 1), OBSTACLE_VEHICLE, veh->getID(), 0, veh);
1402 // moving vehicles block space along their path
1403 vo.xFwd = vehXMax;
1404 vo.xBack = vehXMin;
1405 // relY increases from left to right (the other way around from vehicles)
1406 // XXX lateral offset for partial vehicles
1407 const double posLat = veh->getLateralPositionOnLane() * (bidi ? -1 : 1);
1408 const double vehYmax = 0.5 * (lane->getWidth() + veh->getVehicleType().getWidth() - stripeWidth) - posLat;
1409 const double vehYmin = vehYmax - veh->getVehicleType().getWidth();
1410 for (int s = MAX2(0, PState::stripe(vehYmin)); s < MIN2(PState::stripe(vehYmax) + 1, stripes); ++s) {
1411 Obstacle prior = vehObs[s];
1412 vehObs[s] = vo;
1413 if (s == current && vehFront + SAFETY_GAP < minX) {
1414 // ignore if already overlapping while vehicle is still behind
1415 if (pRelY - pWidth < vehYmax &&
1416 pRelY + pWidth > vehYmin && dir == FORWARD) {
1417 if (debug) {
1418 std::cout << " ignoring vehicle '" << veh->getID() << " on stripe " << s << " vehFrontSG=" << vehFront + SAFETY_GAP << " minX=" << minX << "\n";
1419 }
1420 if (dir == FORWARD) {
1421 vehObs[s] = prior;
1422 } else {
1423 vehObs[s].xFwd = MIN2(vo.xFwd, vehFront + SAFETY_GAP);
1424 }
1425 }
1426 }
1427 }
1428 if (debug) {
1429 std::cout << SIMTIME << " ped=" << pID << " veh=" << veh->getID() << " obstacle on lane=" << lane->getID()
1430 << "\n"
1431 << " ymin=" << vehYmin
1432 << " ymax=" << vehYmax
1433 << " smin=" << PState::stripe(vehYmin)
1434 << " smax=" << PState::stripe(vehYmax)
1435 << " relY=" << pRelY
1436 << " current=" << current
1437 << " vo.xFwd=" << vo.xFwd
1438 << " vo.xBack=" << vo.xBack
1439 << " vFront=" << vehFront
1440 << " vBack=" << vehBack
1441 << "\n";
1442 }
1443 }
1444 }
1445 return vehObs;
1446}
1447
1448
1449// ===========================================================================
1450// MSPModel_Striping::Obstacle method definitions
1451// ===========================================================================
1452MSPModel_Striping::Obstacle::Obstacle(int dir, double dist) :
1453 xFwd(dir * dist), // by default, far away when seen in dir
1454 xBack(dir * dist), // by default, far away when seen in dir
1455 speed(0),
1456 type(OBSTACLE_NONE),
1457 description("") {
1458}
1459
1460
1461MSPModel_Striping::Obstacle::Obstacle(const PState& ped) :
1462 xFwd(ped.getMaxX()),
1463 xBack(ped.getMinX()),
1464 speed(ped.getDirection() * ped.getSpeed(*ped.getStage())),
1465 type(ped.getOType()),
1466 description(ped.getID()) {
1467 assert(!ped.isWaitingToEnter());
1468 if (type == OBSTACLE_VEHICLE) {
1469 vehicle = static_cast<const PStateVehicle&>(ped).getVehicle();
1470 }
1471}
1472
1473
1474bool
1475MSPModel_Striping::Obstacle::closer(const Obstacle& o, int dir) {
1476 if (dir == FORWARD) {
1477 return xBack <= o.xBack;
1478 } else {
1479 return xFwd >= o.xFwd;
1480 }
1481}
1482
1483
1484// ===========================================================================
1485// MSPModel_Striping::PState method definitions
1486// ===========================================================================
1487MSPModel_Striping::PState::PState(MSPerson* person, MSStageMoving* stage, const MSLane* lane):
1488 MSPModel_InteractingState(person, stage, lane),
1489 myWalkingAreaPath(nullptr) {
1490 const MSEdge* currentEdge = &lane->getEdge();
1491 const ConstMSEdgeVector& route = myStage->getRoute();
1492 assert(!route.empty());
1493 myDir = FORWARD;
1494 if (route.size() == 1) {
1495 // only a single edge, move towards end pos
1496 myDir = (myEdgePos <= myStage->getArrivalPos()) ? FORWARD : BACKWARD;
1497 } else if (route.front()->getFunction() != SumoXMLEdgeFunc::NORMAL) {
1498 // start on an intersection
1499 if (route.front()->isWalkingArea()) {
1500 myWalkingAreaPath = getArbitraryPath(route.front());
1501 }
1502 } else {
1503 int passedFwd = 0;
1504 int passedBwd = 0;
1505 const bool mayStartForward = canTraverse(FORWARD, route, passedFwd) != UNDEFINED_DIRECTION;
1506 const bool mayStartBackward = canTraverse(BACKWARD, route, passedBwd) != UNDEFINED_DIRECTION;
1507 if DEBUGCOND(*this) {
1508 std::cout << " initialize dir for " << myPerson->getID() << " forward=" << mayStartForward << " backward=" << mayStartBackward << "\n";
1509 }
1510 if (mayStartForward && mayStartBackward) {
1511 // figure out the best direction via routing
1512 ConstMSEdgeVector crossingRoute;
1513 MSNet::getInstance()->getPedestrianRouter(0).compute(currentEdge, route.back(), myEdgePos, myStage->getArrivalPos(), myStage->getMaxSpeed(person), 0, nullptr, crossingRoute, true);
1514 if (crossingRoute.size() > 1) {
1515 // route found
1516 const MSEdge* nextEdge = crossingRoute[1];
1517 if (nextEdge->getFromJunction() == currentEdge->getFromJunction() || nextEdge->getToJunction() == currentEdge->getFromJunction()) {
1518 myDir = BACKWARD;
1519 }
1520 }
1521 if DEBUGCOND(*this) {
1522 std::cout << " crossingRoute=" << toString(crossingRoute) << "\n";
1523 }
1524 } else if (!mayStartForward && !mayStartBackward) {
1525 int lastDisconnect = passedFwd >= passedBwd ? passedFwd : passedBwd;
1526 std::string dLoc;
1527 if (route.size() > 2) {
1528 dLoc = TLF(" between edge '%' and edge '%'", route[lastDisconnect - 1]->getID(), route[lastDisconnect]->getID());
1529 }
1530 WRITE_WARNINGF(TL("Person '%' walking from edge '%' to edge '%' has a disconnect%, time=%."),
1531 myPerson->getID(), route.front()->getID(), route.back()->getID(), dLoc, SIMTIME);
1532 myDir = passedFwd >= passedBwd ? FORWARD : BACKWARD;
1533 } else {
1534 myDir = !mayStartBackward ? FORWARD : BACKWARD;
1535 }
1536 }
1537 if (myPosLat == UNSPECIFIED_POS_LAT || myLegacyPosLat) {
1538 if (myPosLat == UNSPECIFIED_POS_LAT) {
1539 myPosLat = 0;
1540 }
1541 if (lane->getVehicleNumberWithPartials() > 0 && myPosLat == 0) {
1542 // better start next to the road if nothing was specified
1543 myPosLat -= stripeWidth;
1544 }
1545 if (myDir == FORWARD || lane->getPermissions() != SVC_PEDESTRIAN) {
1546 // start at the right side of the sidewalk on shared roads
1547 myPosLat = stripeWidth * (numStripes(lane) - 1) - myPosLat;
1548 }
1549 } else if (myPosLat == RANDOM_POS_LAT) {
1550 myPosLat = RandHelper::rand() * stripeWidth * (numStripes(lane) - 1);
1551 } else {
1552 // vehicle to striping coordinate system
1553 myPosLat = posLatConversion(myPosLat, lane->getWidth());
1554 }
1555 if DEBUGCOND(*this) {
1556 std::cout << " added new pedestrian " << myPerson->getID() << " on " << lane->getID() << " myEdgePos=" << myEdgePos << " myPosLat=" << myPosLat << " dir=" << myDir << " route=" << toString(myStage->getRoute()) << "\n";
1557 }
1558
1559 myNLI = getNextLane(*this, lane, nullptr);
1560}
1561
1562
1563MSPModel_Striping::PState::PState(MSPerson* person, MSStageMoving* stage, std::istringstream* in) :
1564 MSPModel_InteractingState(person, stage, nullptr),
1565 myWalkingAreaPath(nullptr) {
1566 if (in != nullptr) {
1567 std::string laneID;
1568 std::string wapLaneFrom;
1569 std::string wapLaneTo;
1570 std::string nextLaneID;
1571 std::string nextLinkFrom;
1572 std::string nextLinkTo;
1573 int nextDir;
1574
1575 (*in) >> laneID
1576 >> myEdgePos >> myPosLat >> myDir >> mySpeed >> mySpeedLat >> myWaitingToEnter >> myWaitingTime
1577 >> wapLaneFrom >> wapLaneTo
1578 >> myAmJammed
1579 >> nextLaneID
1580 >> nextLinkFrom
1581 >> nextLinkTo
1582 >> nextDir;
1583
1584
1585 myLane = MSLane::dictionary(laneID);
1586 if (myLane == nullptr) {
1587 throw ProcessError("Unknown lane '" + laneID + "' when loading walk for person '" + myPerson->getID() + "' from state.");
1588 }
1589
1590 MSLane* nextLane = nullptr;
1591 if (nextLaneID != "null") {
1592 nextLane = MSLane::dictionary(nextLaneID);
1593 if (nextLane == nullptr) {
1594 throw ProcessError("Unknown next lane '" + nextLaneID + "' when loading walk for person '" + myPerson->getID() + "' from state.");
1595 }
1596 }
1597 const MSLink* link = nullptr;
1598 if (nextLinkFrom != "null") {
1599 MSLane* from = MSLane::dictionary(nextLinkFrom);
1600 MSLane* to = MSLane::dictionary(nextLinkTo);
1601 if (from == nullptr) {
1602 throw ProcessError("Unknown link origin lane '" + nextLinkFrom + "' when loading walk for person '" + myPerson->getID() + "' from state.");
1603 }
1604 if (to == nullptr) {
1605 throw ProcessError("Unknown link destination lane '" + nextLinkTo + "' when loading walk for person '" + myPerson->getID() + "' from state.");
1606 }
1607 link = from->getLinkTo(to);
1608 }
1609 myNLI = NextLaneInfo(nextLane, link, nextDir);
1610
1611 if (wapLaneFrom != "null") {
1612 MSLane* from = MSLane::dictionary(wapLaneFrom);
1613 MSLane* to = MSLane::dictionary(wapLaneTo);
1614 if (from == nullptr) {
1615 throw ProcessError("Unknown walkingAreaPath origin lane '" + wapLaneFrom + "' when loading walk for person '" + myPerson->getID() + "' from state.");
1616 }
1617 if (to == nullptr) {
1618 throw ProcessError("Unknown walkingAreaPath destination lane '" + wapLaneTo + "' when loading walk for person '" + myPerson->getID() + "' from state.");
1619 }
1620 const auto pathIt = myWalkingAreaPaths.find(std::make_pair(from, to));
1621 if (pathIt != myWalkingAreaPaths.end()) {
1622 myWalkingAreaPath = &pathIt->second;
1623 } else {
1624 throw ProcessError("Unknown walkingAreaPath from lane '" + wapLaneFrom + "' to lane '" + wapLaneTo + "' when loading walk for person '" + myPerson->getID() + "' from state.");
1625 }
1626 }
1627 }
1628}
1629
1630
1633
1634
1635void
1636MSPModel_Striping::PState::saveState(std::ostringstream& out) {
1637 std::string wapLaneFrom = "null";
1638 std::string wapLaneTo = "null";
1639 if (myWalkingAreaPath != nullptr) {
1640 wapLaneFrom = myWalkingAreaPath->from->getID();
1641 wapLaneTo = myWalkingAreaPath->to->getID();
1642 }
1643 std::string nextLaneID = "null";
1644 std::string nextLinkFrom = "null";
1645 std::string nextLinkTo = "null";
1646 if (myNLI.lane != nullptr) {
1647 nextLaneID = myNLI.lane->getID();
1648 }
1649 if (myNLI.link != nullptr) {
1650 nextLinkFrom = myNLI.link->getLaneBefore()->getID();
1651 nextLinkTo = myNLI.link->getViaLaneOrLane()->getID();
1652 }
1653 out << " " << myLane->getID()
1654 << " " << myEdgePos
1655 << " " << myPosLat
1656 << " " << myDir
1657 << " " << mySpeed
1658 << " " << mySpeedLat
1659 << " " << myWaitingToEnter
1660 << " " << myWaitingTime
1661 << " " << wapLaneFrom
1662 << " " << wapLaneTo
1663 << " " << myAmJammed
1664 << " " << nextLaneID
1665 << " " << nextLinkFrom
1666 << " " << nextLinkTo
1667 << " " << myNLI.dir;
1668}
1669
1670double
1671MSPModel_Striping::PState::getMinX(const bool includeMinGap) const {
1672 // @todo speed should have an influence here because faster persons need more space
1673 if (myDir == FORWARD) {
1674 return myEdgePos - getLength();
1675 }
1676 return myEdgePos - (includeMinGap ? getMinGap() : 0.);
1677}
1678
1679
1680double
1681MSPModel_Striping::PState::getMaxX(const bool includeMinGap) const {
1682 // @todo speed should have an influence here because faster persons need more space
1683 if (myDir == FORWARD) {
1684 return myEdgePos + (includeMinGap ? getMinGap() : 0.);
1685 }
1686 return myEdgePos + getLength();
1687}
1688
1689
1690double
1691MSPModel_Striping::PState::getLength() const {
1692 return myPerson->getVehicleType().getLength();
1693}
1694
1695
1696double
1697MSPModel_Striping::PState::getMinGap() const {
1698 return myPerson->getVehicleType().getMinGap();
1699}
1700
1701
1702int
1703MSPModel_Striping::PState::stripe(double relY) {
1704 return (int)floor(relY / stripeWidth + 0.5);
1705}
1706
1707
1708int
1709MSPModel_Striping::PState::otherStripe(double relY) const {
1710 const int s = stripe(relY);
1711 const double offset = relY - s * stripeWidth;
1712 const double threshold = MAX2(NUMERICAL_EPS, stripeWidth - SQUEEZE * getWidth());
1713 int result;
1714 if (offset > threshold) {
1715 result = s + 1;
1716 } else if (offset < -threshold) {
1717 result = s - 1;
1718 } else {
1719 result = s;
1720 }
1721 //std::cout.setf(std::ios::fixed , std::ios::floatfield);
1722 //std::cout << std::setprecision(5);
1723 //if DEBUGCOND(*this) std::cout << " otherStripe " << myPerson->getID() << " offset=" << offset << " threshold=" << threshold << " rawResult=" << result << "\n";
1724 return result;
1725}
1726
1727int
1728MSPModel_Striping::PState::stripe() const {
1729 return MIN2(MAX2(0, stripe(myPosLat)), numStripes(myLane) - 1);
1730}
1731
1732
1733int
1734MSPModel_Striping::PState::otherStripe() const {
1735 return MIN2(MAX2(0, otherStripe(myPosLat)), numStripes(myLane) - 1);
1736}
1737
1738
1739double
1740MSPModel_Striping::PState::distToLaneEnd() const {
1741 if (myStage->getNextRouteEdge() == nullptr) {
1742 return myDir * (myStage->getArrivalPos() - myEdgePos) - POSITION_EPS - (
1743 (myWaitingTime > DELTA_T && (myStage->getDestinationStop() == nullptr ||
1744 myStage->getDestinationStop()->getWaitingCapacity() > myStage->getDestinationStop()->getNumWaitingPersons()))
1745 ? getMinGap() : 0);
1746 } else {
1747 const double length = myWalkingAreaPath == nullptr ? myLane->getLength() : myWalkingAreaPath->length;
1748 return myDir == FORWARD ? length - myEdgePos : myEdgePos;
1749 }
1750}
1751
1752
1753bool
1754MSPModel_Striping::PState::moveToNextLane(SUMOTime currentTime) {
1755 double dist = distToLaneEnd();
1756 if (DEBUGCOND(*this)) {
1757 std::cout << SIMTIME << " ped=" << myPerson->getID() << " myEdgePos=" << myEdgePos << " dist=" << dist << "\n";
1758 }
1759 if (dist <= 0) {
1760 //if (ped.getPerson()->getID() == DEBUG1) {
1761 // std::cout << SIMTIME << " addToLane x=" << ped.myEdgePos << " newDir=" << newDir << " newLane=" << newLane->getID() << " walkingAreaShape=" << walkingAreaShape << "\n";
1762 //}
1763 //std::cout << " changing to " << newLane->getID() << " myPosLat=" << ped.myPosLat << " oldStripes=" << numStripes(myLane) << " newStripes=" << numStripes(newLane);
1764 //std::cout << " newY=" << ped.myPosLat << " myDir=" << ped.getDirection() << " newDir=" << newDir;
1765 const int oldDir = myDir;
1766 const MSLane* oldLane = myLane;
1767 myLane = myNLI.lane;
1768 myDir = myNLI.dir;
1769 const bool normalLane = (myLane == nullptr || myLane->getEdge().getFunction() == SumoXMLEdgeFunc::NORMAL || &myLane->getEdge() == myStage->getNextRouteEdge());
1770 if DEBUGCOND(*this) {
1771 std::cout << SIMTIME
1772 << " ped=" << myPerson->getID()
1773 << " moveToNextLane old=" << oldLane->getID()
1774 << " new=" << (myLane == nullptr ? "NULL" : myLane->getID())
1775 << " oldDir=" << oldDir
1776 << " newDir=" << myDir
1777 << " myEdgePos=" << myEdgePos
1778 << " dist=" << dist
1779 << "\n";
1780 }
1781 if (myLane == nullptr) {
1782 myEdgePos = myStage->getArrivalPos();
1783 }
1784 // moveToNextEdge might destroy the person and thus mess up the heap. Better check first
1785 if (myStage->getRouteStep() == myStage->getRoute().end() - 1) {
1786 myLane = nullptr;
1787 } else {
1788 const bool arrived = myStage->moveToNextEdge(myPerson, currentTime, oldDir, normalLane ? nullptr : &myLane->getEdge());
1789 UNUSED_PARAMETER(arrived);
1790 assert(!arrived);
1791 assert(myDir != UNDEFINED_DIRECTION);
1792 myNLI = getNextLane(*this, myLane, oldLane);
1793 // reminders must be called after updated myNLI (to ensure that getNextEdgePtr returns the correct edge)
1794 myStage->activateEntryReminders(myPerson);
1795 assert(myNLI.lane != oldLane); // do not turn around
1796 if DEBUGCOND(*this) {
1797 std::cout << " nextLane=" << (myNLI.lane == nullptr ? "NULL" : myNLI.lane->getID()) << "\n";
1798 }
1799 if (myLane->getEdge().isWalkingArea()) {
1800 if (myNLI.dir != UNDEFINED_DIRECTION) {
1801 myWalkingAreaPath = getWalkingAreaPath(&myLane->getEdge(), oldLane, myNLI.lane);
1802 assert(myWalkingAreaPath->shape.size() >= 2);
1803 if DEBUGCOND(*this) {
1804 std::cout << " mWAPath shape=" << myWalkingAreaPath->shape << " length=" << myWalkingAreaPath->length << "\n";
1805 }
1806 } else if (myNLI.link != nullptr) {
1807 // using direct connection (instead of using walkingarea)
1808 myLane = myNLI.lane;
1809 assert(!myLane->getEdge().isWalkingArea());
1810 myStage->moveToNextEdge(myPerson, currentTime, myDir, &myLane->getEdge());
1811 myWalkingAreaPath = nullptr;
1812 myNLI = getNextLane(*this, myLane, oldLane);
1813 } else {
1814 // disconnected route. move to the next edge
1815 if (OptionsCont::getOptions().getBool("ignore-route-errors")) {
1816 // try to determine direction from topology, otherwise maintain current direction
1817 const MSEdge* currRouteEdge = *myStage->getRouteStep();
1818 const MSEdge* nextRouteEdge = myStage->getNextRouteEdge();
1819 if ((nextRouteEdge->getToJunction() == currRouteEdge->getFromJunction())
1820 || nextRouteEdge->getToJunction() == currRouteEdge->getToJunction()) {
1821 myDir = BACKWARD;
1822 } else if ((nextRouteEdge->getFromJunction() == currRouteEdge->getFromJunction())
1823 || nextRouteEdge->getFromJunction() == currRouteEdge->getToJunction()) {
1824 myDir = FORWARD;
1825 }
1826 myStage->moveToNextEdge(myPerson, currentTime, oldDir, nullptr);
1827 myLane = myNLI.lane;
1828 assert(myLane != 0);
1829 assert(myLane->getEdge().getFunction() == SumoXMLEdgeFunc::NORMAL);
1830 myNLI = getNextLane(*this, myLane, oldLane);
1831 myWalkingAreaPath = nullptr;
1832 } else {
1833 throw ProcessError(TLF("Disconnected walk for person '%'.", myPerson->getID()));
1834 }
1835 }
1836 } else {
1837 myWalkingAreaPath = nullptr;
1838 }
1839 // adapt x to fit onto the new lane
1840 // (make sure we do not move past the end of the new lane since that
1841 // lane was not checked for obstacles)
1842 const double newLength = (myWalkingAreaPath == nullptr ? myLane->getLength() : myWalkingAreaPath->length);
1843 if (-dist > newLength) {
1844 assert(OptionsCont::getOptions().getBool("ignore-route-errors"));
1845 // should not happen because the end of myLane should have been an obstacle as well
1846 // (only when the route is broken)
1847 dist = -newLength;
1848 }
1849 if (myDir == BACKWARD) {
1850 myEdgePos = newLength + dist;
1851 } else {
1852 myEdgePos = -dist;
1853 }
1854 if DEBUGCOND(*this) {
1855 std::cout << SIMTIME << " update myEdgePos ped=" << myPerson->getID()
1856 << " newLength=" << newLength
1857 << " dist=" << dist
1858 << " myEdgePos=" << myEdgePos
1859 << "\n";
1860 }
1861 // adjust to change in direction
1862 if (myDir != oldDir) {
1863 myPosLat = (numStripes(oldLane) - 1) * stripeWidth - myPosLat;
1864 }
1865 // adjust to differences in sidewalk width
1866 const int offset = getStripeOffset(numStripes(oldLane), numStripes(myLane), oldDir != myDir && numStripes(myLane) < numStripes(oldLane));
1867 myPosLat += offset * stripeWidth;
1868 if DEBUGCOND(*this) {
1869 std::cout << SIMTIME << " transformY ped=" << myPerson->getID()
1870 << " newLane=" << Named::getIDSecure(myLane)
1871 << " newY=" << myPosLat
1872 << " os=" << numStripes(oldLane) << " ns=" << numStripes(myLane)
1873 << " od=" << oldDir << " nd=" << myDir
1874 << " offset=" << offset << "\n";
1875 }
1876 }
1877 myAngle = std::numeric_limits<double>::max(); // see #9014
1878 return true;
1879 } else {
1880 return false;
1881 }
1882}
1883
1884
1885int
1886MSPModel_Striping::getReserved(int stripes, double factor) {
1887 return MIN2(
1888 (int)floor(stripes * factor),
1889 (int)floor(RESERVE_FOR_ONCOMING_MAX / stripeWidth));
1890}
1891
1892void
1893MSPModel_Striping::PState::walk(const Obstacles& obs, SUMOTime currentTime) {
1894 const int stripes = (int)obs.size();
1895 const int sMax = stripes - 1;
1896 assert(stripes == numStripes(myLane));
1897 // account stage-specific max speed but also for normal lane speed limit
1898 // (speed limits on crossings and walkingareas ignored due to #11527)
1899 const double vMax = (myStage->getConfiguredSpeed() >= 0
1900 ? myStage->getConfiguredSpeed()
1901 : (myLane->isNormal() || myLane->isInternal()
1902 ? myLane->getVehicleMaxSpeed(myPerson)
1903 : myStage->getMaxSpeed(myPerson)));
1904 // ultimate goal is to choose the preferred stripe (chosen)
1905 const int current = stripe();
1906 const int other = otherStripe();
1907 // compute distances
1908 std::vector<double> distance(stripes);
1909 for (int i = 0; i < stripes; ++i) {
1910 distance[i] = distanceTo(obs[i], obs[i].type == OBSTACLE_PED);
1911 }
1912 // compute utility for all stripes
1913 std::vector<double> utility(stripes, 0);
1914 // forbid stripes which are blocked and also all stripes behind them
1915 for (int i = 0; i < stripes; ++i) {
1916 if (distance[i] == DIST_OVERLAP) {
1917 if (i == current && (!isWaitingToEnter() || stripe() != stripe(myPosLat))) {
1918 utility[i] += OBSTRUCTED_PENALTY;
1919 }
1920 if (i < current) {
1921 for (int j = 0; j <= i; ++j) {
1922 utility[j] += OBSTRUCTED_PENALTY;
1923 }
1924 }
1925 if (i > current) {
1926 for (int j = i; j < stripes; ++j) {
1927 utility[j] += OBSTRUCTED_PENALTY;
1928 }
1929 }
1930 }
1931 }
1932 // forbid a portion of the leftmost stripes (in walking direction).
1933 // lanes with stripes less than 1 / RESERVE_FOR_ONCOMING_FACTOR
1934 // may still deadlock in heavy pedestrian traffic
1935 const bool onJunction = myLane->getEdge().isWalkingArea() || myLane->getEdge().isCrossing();
1936 const int reserved = getReserved(stripes, (onJunction ? RESERVE_FOR_ONCOMING_FACTOR_JUNCTIONS : RESERVE_FOR_ONCOMING_FACTOR));
1937 if (myDir == FORWARD) {
1938 for (int i = 0; i < reserved; ++i) {
1939 utility[i] += INAPPROPRIATE_PENALTY * (i == current ? 0.5 : 1);
1940 }
1941 } else {
1942 for (int i = sMax; i > sMax - reserved; --i) {
1943 utility[i] += INAPPROPRIATE_PENALTY * (i == current ? 0.5 : 1);
1944 }
1945 }
1946 // adapt utility based on obstacles
1947 for (int i = 0; i < stripes; ++i) {
1948 if (obs[i].speed * myDir < 0) {
1949 // penalize evasion to the left unless the obstacle is a vehicle
1950 if ((myDir == FORWARD || obs[i].type == OBSTACLE_VEHICLE) && i > 0) {
1951 utility[i - 1] -= 0.5;
1952 } else if (myDir == BACKWARD && i < sMax) {
1953 utility[i + 1] -= 0.5;
1954 }
1955 }
1956 // compute expected distance achievable by staying on this stripe for a time horizon
1957 const double walkDist = MAX2(0., distance[i]); // disregard special distance flags
1958 const double lookAhead = obs[i].speed * myDir >= 0 ? LOOKAHEAD_SAMEDIR : LOOKAHEAD_ONCOMING;
1959 const double expectedDist = MIN2(vMax * LOOKAHEAD_SAMEDIR, walkDist + obs[i].speed * myDir * lookAhead);
1960 if (expectedDist >= 0) {
1961 utility[i] += expectedDist;
1962 } else {
1963 // let only the distance count
1964 utility[i] += ONCOMING_CONFLICT_PENALTY + distance[i];
1965 }
1966 }
1967 // discourage use of the leftmost stripe (in walking direction) if there are oncoming
1968 if (myDir == FORWARD && obs[0].speed < 0) {
1969 utility[0] += ONCOMING_CONFLICT_PENALTY;
1970 } else if (myDir == BACKWARD && obs[sMax].speed > 0) {
1971 utility[sMax] += ONCOMING_CONFLICT_PENALTY;
1972 }
1973 // penalize lateral movement (if the current stripe permits walking)
1974 if (distance[current] > 0 && myWaitingTime == 0) {
1975 for (int i = 0; i < stripes; ++i) {
1976 utility[i] += abs(i - current) * LATERAL_PENALTY;
1977 }
1978 }
1979 // walk on the right side on shared space
1980 if (myLane->getPermissions() != SVC_PEDESTRIAN && myDir == BACKWARD) {
1981 for (int i = 0; i < stripes; ++i) {
1982 if (i <= current) {
1983 utility[i] += (sMax - i + 1) * LATERAL_PENALTY;
1984 }
1985 }
1986 }
1987
1988 // select best stripe
1989 int chosen = current;
1990 for (int i = 0; i < stripes; ++i) {
1991 if (utility[i] > utility[chosen] && utility[i] >= INAPPROPRIATE_PENALTY * 0.5) {
1992 chosen = i;
1993 }
1994 }
1995 // compute speed components along both axes
1996 const int next = (chosen == current ? current : (chosen < current ? current - 1 : current + 1));
1997 double xDist = MIN3(distance[current], distance[other], distance[next]);
1998 if (next != chosen) {
1999 // ensure that we do not collide with an obstacle in the stripe beyond
2000 // next as this might become the 'other' stripe in the next step
2001 const int nextOther = chosen < current ? current - 2 : current + 2;
2002 xDist = MIN2(xDist, distance[nextOther]);
2003 }
2004 // XXX preferred gap differs between approaching a standing obstacle or a moving obstacle
2005 const double preferredGap = NUMERICAL_EPS;
2006 double xSpeed = MIN2(vMax, MAX2(0., DIST2SPEED(xDist - preferredGap)));
2007 if (xSpeed < NUMERICAL_EPS) {
2008 xSpeed = 0.;
2009 }
2010 if (DEBUGCOND(*this)) {
2011 std::cout << " xSpeedPotential=" << xSpeed << "\n";
2012 }
2013 // avoid tiny steps
2014 // XXX pressure from behind?
2015 if (mySpeed == 0 && xDist < MIN_STARTUP_DIST &&
2016 // unless walking towards a short lane
2017 !(
2018 (xDist == distance[current] && obs[current].type >= OBSTACLE_END)
2019 || (xDist == distance[other] && obs[other].type >= OBSTACLE_END)
2020 || (xDist == distance[next] && obs[next].type >= OBSTACLE_END))
2021 ) {
2022 xSpeed = 0;
2023 }
2024 if (xSpeed == 0) {
2025 if (DEBUGCOND(*this)) {
2026 std::cout << " sharedWA=" << (myWalkingAreaFoes.find(&myLane->getEdge()) != myWalkingAreaFoes.end())
2027 << " vehObs=" << Named::getIDSecure(obs[current].vehicle)
2028 << " vehWait=" << STEPS2TIME(obs[current].vehicle ? obs[current].vehicle->getWaitingTime() : 0)
2029 << "\n";
2030 }
2031 if (myWaitingTime > ((myLane->getEdge().isCrossing()
2032 // treat shared walkingarea like a crossing to avoid deadlocking vehicles
2033 || (myLane->getEdge().isWalkingArea() && obs[current].vehicle != nullptr && obs[current].vehicle->getWaitingTime() > jamTimeCrossing
2034 && myWalkingAreaFoes.find(&myLane->getEdge()) != myWalkingAreaFoes.end())) ? jamTimeCrossing : jamTime)
2035 || (sMax == 0 && obs[0].speed * myDir < 0 && myWaitingTime > jamTimeNarrow)
2036 || myAmJammed) {
2037 // squeeze slowly through the crowd ignoring others
2038 if (!myAmJammed) {
2039 MSNet::getInstance()->getPersonControl().registerJammed();
2040 WRITE_WARNINGF(TL("Person '%' is jammed on edge '%', time=%."),
2041 myPerson->getID(), myStage->getEdge()->getID(), time2string(SIMSTEP));
2042 myAmJammed = true;
2043 }
2044 xSpeed = vMax * jamFactor;
2045 }
2046 } else if (myAmJammed && stripe(myPosLat) >= 0 && stripe(myPosLat) <= sMax && xDist >= MIN_STARTUP_DIST) {
2047 myAmJammed = false;
2048 }
2049 // dawdling
2050 const double dawdle = MIN2(xSpeed, RandHelper::rand() * vMax * dawdling);
2051 xSpeed -= dawdle;
2052
2053 // XXX ensure that diagonal speed <= vMax
2054 // avoid deadlocks on narrow sidewalks
2055 //if (oncoming && xSpeed == 0 && myStage->getWaitingTime(currentTime) > TIME2STEPS(ONCOMIN_PATIENCE)) {
2056 // if DEBUGCOND(*this) std::cout << " stepping aside to resolve oncoming deadlock\n";
2057 // xSpeed = POSITION_EPS; // reset myWaitingTime
2058 // if (myDir == FORWARD && chosen < sMax) {
2059 // chosen += 1;
2060 // } else if (myDir == BACKWARD && chosen > 0) {
2061 // chosen -= 1;
2062 // }
2063 //}
2064 const double maxYSpeed = MIN2(MAX2(vMax * LATERAL_SPEED_FACTOR, vMax - xSpeed), stripeWidth);
2065 double ySpeed = 0;
2066 double yDist = 0;
2067 if (utility[next] > OBSTRUCTION_THRESHOLD && utility[chosen] > OBSTRUCTION_THRESHOLD) {
2068 // don't move laterally if the stripes are blocked
2069 yDist = (chosen * stripeWidth) - myPosLat;
2070 if (fabs(yDist) > NUMERICAL_EPS) {
2071 ySpeed = (yDist > 0 ?
2072 MIN2(maxYSpeed, DIST2SPEED(yDist)) :
2073 MAX2(-maxYSpeed, DIST2SPEED(yDist)));
2074 }
2075 } else if (utility[next] <= OBSTRUCTION_THRESHOLD && obs[next].type == OBSTACLE_VEHICLE
2076 // still on the road
2077 && stripe() == stripe(myPosLat)
2078 // only when the vehicle is moving on the same lane
2079 && !(myLane->getEdge().isCrossing() || myLane->getEdge().isWalkingArea())) {
2080 // step aside to let the vehicle pass
2081 int stepAsideDir = myDir;
2082 if (myLane->getEdge().getLanes().size() > 1 || current > sMax / 2) {
2083 // always step to the right on multi-lane edges or when closer to
2084 // the right side
2085 stepAsideDir = FORWARD;
2086 }
2087 myAmJammed = true; // ignore pedestrian-pedestrian collisions
2088 ySpeed = stepAsideDir * vMax;
2089 }
2090
2091 // DEBUG
2092 if DEBUGCOND(*this) {
2093 std::cout << SIMTIME
2094 << " ped=" << myPerson->getID()
2095 << " edge=" << myStage->getEdge()->getID()
2096 << " x=" << myEdgePos
2097 << " y=" << myPosLat
2098 << " d=" << myDir
2099 << " pvx=" << mySpeed
2100 << " cur=" << current
2101 << " cho=" << chosen
2102 << " oth=" << other
2103 << " nxt=" << next
2104 << " vx=" << xSpeed
2105 << " dawdle=" << dawdle
2106 << " vy=" << ySpeed
2107 << " xd=" << xDist
2108 << " yd=" << yDist
2109 << " vMax=" << vMax
2110 << " wTime=" << myStage->getWaitingTime(currentTime)
2111 << " jammed=" << myAmJammed
2112 << "\n";
2113 if (DEBUGCOND(*this)) {
2114 for (int i = 0; i < stripes; ++i) {
2115 const Obstacle& o = obs[i];
2116 std::cout << " util=" << utility[i] << " dist=" << distance[i] << " o=" << o.description;
2117 if (o.description != "") {
2118 std::cout << " xF=" << o.xFwd << " xB=" << o.xBack << " v=" << o.speed;
2119 }
2120 if (i == current) {
2121 std::cout << " current";
2122 }
2123 if (i == other && i != current) {
2124 std::cout << " other";
2125 }
2126 if (i == chosen) {
2127 std::cout << " chosen";
2128 }
2129 if (i == next) {
2130 std::cout << " next";
2131 }
2132 std::cout << "\n";
2133 }
2134 }
2135 }
2136 myEdgePos += SPEED2DIST(xSpeed * myDir);
2137 myPosLat += SPEED2DIST(ySpeed);
2138 mySpeedLat = ySpeed;
2139 mySpeed = xSpeed;
2140 if (xSpeed >= SUMO_const_haltingSpeed) {
2141 myWaitingToEnter = false;
2142 myWaitingTime = 0;
2143 } else {
2144 myWaitingTime += DELTA_T;
2145 }
2146 myAngle = std::numeric_limits<double>::max(); // set on first access or via remote control
2147}
2148
2149
2150double
2151MSPModel_Striping::PState::getImpatience(SUMOTime now) const {
2152 return MAX2(0., MIN2(1., myPerson->getVehicleType().getImpatience()
2153 + STEPS2TIME(myStage->getWaitingTime(now)) / MAX_WAIT_TOLERANCE));
2154}
2155
2156
2157Position
2158MSPModel_Striping::PState::getPosition(const MSStageMoving& stage, SUMOTime) const {
2159 if (myRemoteXYPos != Position::INVALID) {
2160 return myRemoteXYPos;
2161 }
2162 if (myLane == nullptr) {
2163 // pedestrian has already finished
2164 return Position::INVALID;
2165 }
2166 const double lateral_offset = -getLatOffset(); // the minus is hunting me in my dreams but seems to be here for historical reasons
2167 if (myWalkingAreaPath == nullptr) {
2168 return stage.getLanePosition(myLane, myEdgePos, lateral_offset);
2169 } else {
2170 //if DEBUGCOND(*this) {
2171 // std::cout << SIMTIME
2172 // << " getPosition (walkingArea)"
2173 // << " p=" << myPerson->getID()
2174 // << " x=" << myEdgePos
2175 // << " y=" << myPosLat
2176 // << " latOffset=" << lateral_offset
2177 // << " shape=" << myWalkingAreaPath->shape
2178 // << " pos=" << myWalkingAreaPath->shape.positionAtOffset(myEdgePos, lateral_offset)
2179 // << "\n";
2180 //}
2181 if (myWalkingAreaPath->angleOverride == INVALID_DOUBLE) {
2182 return myWalkingAreaPath->shape.positionAtOffset(myEdgePos, lateral_offset);
2183 } else {
2184 const double rotationOffset = myDir == FORWARD ? 0 : DEG2RAD(180);
2185 return myWalkingAreaPath->shape.sidePositionAtAngle(myEdgePos, lateral_offset, myWalkingAreaPath->angleOverride + rotationOffset);
2186 }
2187 }
2188}
2189
2190
2191double
2192MSPModel_Striping::PState::getAngle(const MSStageMoving&, SUMOTime) const {
2193 if (myAngle != std::numeric_limits<double>::max()) {
2194 return myAngle;
2195 }
2196 if (myLane == nullptr) {
2197 // pedestrian has already finished
2198 return 0;
2199 }
2200 if (myWalkingAreaPath != nullptr && myWalkingAreaPath->angleOverride != INVALID_DOUBLE) {
2201 return myWalkingAreaPath->angleOverride;
2202 }
2203 const PositionVector& shp = myWalkingAreaPath == nullptr ? myLane->getShape() : myWalkingAreaPath->shape;
2204 double geomX = myWalkingAreaPath == nullptr ? myLane->interpolateLanePosToGeometryPos(myEdgePos) : myEdgePos;
2205 double angle = shp.rotationAtOffset(geomX) + (myDir == MSPModel::BACKWARD ? M_PI : 0);
2206 if (myDir == MSPModel::BACKWARD) {
2207 angle += atan2(mySpeedLat, MAX2(mySpeed, NUMERICAL_EPS));
2208 } else { // myDir == MSPModel::FORWARD
2209 angle -= atan2(mySpeedLat, MAX2(mySpeed, NUMERICAL_EPS));
2210 }
2211 if (angle > M_PI) {
2212 angle -= 2 * M_PI;
2213 }
2214 myAngle = angle;
2215 return angle;
2216}
2217
2218
2219const MSEdge*
2220MSPModel_Striping::PState::getNextEdge(const MSStageMoving&) const {
2221 return myNLI.lane == nullptr ? nullptr : &myNLI.lane->getEdge();
2222}
2223
2224
2225const MSLane*
2226MSPModel_Striping::PState::getNextCrossing() const {
2227 return myNLI.lane != nullptr && myNLI.lane->isCrossing() ? myNLI.lane : nullptr;
2228}
2229
2230
2231void
2232MSPModel_Striping::PState::reverse(const double pathLength, const double usableWidth) {
2233 myEdgePos = pathLength - myEdgePos;
2234 myPosLat = usableWidth - myPosLat;
2235 myDir = -myWalkingAreaPath->dir;
2236 mySpeedLat = -mySpeedLat;
2237}
2238
2239
2240void
2241MSPModel_Striping::PState::reset(const double edgePos, const double latPos) {
2242 myEdgePos = edgePos;
2243 myPosLat = latPos;
2244 myDir = UNDEFINED_DIRECTION; // only an obstacle, speed may be orthogonal to dir
2245 mySpeed = 0.;
2246 mySpeedLat = 0.;
2247}
2248
2249
2250void
2251MSPModel_Striping::PState::moveTo(MSPerson* p, MSLane* lane, double lanePos, double lanePosLat, SUMOTime t) {
2252 ConstMSEdgeVector newEdges; // keep route
2253 int routeOffset = 0;
2254 bool laneOnRoute = false;
2255 const MSJunction* laneOnJunction = lane->isNormal() ? nullptr : lane->getEdge().getToJunction();
2256 for (const MSEdge* edge : myStage->getRoute()) {
2257 if (edge == &lane->getEdge()
2258 || edge->getToJunction() == laneOnJunction
2259 || edge->getFromJunction() == laneOnJunction) {
2260 laneOnRoute = true;
2261 break;
2262 }
2263 routeOffset++;
2264 }
2265 if (!laneOnRoute) {
2266 throw ProcessError("Lane '" + lane->getID() + "' is not on the route of person '" + getID() + "'.");
2267 }
2268 Position pos = lane->geometryPositionAtOffset(lanePos, lanePosLat);
2269 if (lane->getEdge().isWalkingArea() && (myWalkingAreaPath == nullptr || myWalkingAreaPath->lane != lane)) {
2270 // entered new walkingarea. Determine path to guess position
2271 const MSEdge* prevEdge = myStage->getRoute()[routeOffset];
2272 const MSEdge* nextEdge = routeOffset + 1 < (int)myStage->getRoute().size() ? myStage->getRoute()[routeOffset + 1] : nullptr;
2273 const WalkingAreaPath* guessed = guessPath(&lane->getEdge(), prevEdge, nextEdge);
2274 const double maxPos = guessed->shape.length() - NUMERICAL_EPS;
2275 if (lanePos > maxPos + POSITION_EPS || lanePos < -POSITION_EPS) {
2276 throw ProcessError("Lane position " + toString(lanePos) + " cannot be mapped onto walkingarea '" + lane->getID()
2277 + "' (fromLane='" + guessed->from->getID()
2278 + "' toLane='" + guessed->to->getID() + "') for person '" + getID() + "' time=" + time2string(t) + ".");
2279 }
2280 // give some slack
2281 lanePos = MIN2(maxPos, MAX2(NUMERICAL_EPS, lanePos));
2282 pos = guessed->shape.positionAtOffset(lanePos, lanePosLat);
2283 }
2284 const double angle = GeomHelper::naviDegree(p->getPosition().angleTo2D(pos));
2285 moveToXY(p, pos, lane, lanePos, lanePosLat, angle, routeOffset, newEdges, t);
2286}
2287
2288
2289void
2290MSPModel_Striping::PState::moveToXY(MSPerson* p, Position pos, MSLane* lane, double lanePos,
2291 double lanePosLat, double angle, int routeOffset,
2292 const ConstMSEdgeVector& edges, SUMOTime t) {
2293 MSPModel_Striping* pm = dynamic_cast<MSPModel_Striping*>(MSNet::getInstance()->getPersonControl().getMovementModel());
2294 assert(p == myPerson);
2295 assert(pm != nullptr);
2296 const double oldAngle = GeomHelper::naviDegree(getAngle(*myStage, t));
2297 // person already walking in this step. undo this to obtain the previous position
2298 const double oldX = myEdgePos - SPEED2DIST(mySpeed * myDir);
2299 const double tmp = myEdgePos;
2300 myEdgePos = oldX;
2301 Position oldPos = getPosition(*myStage, t);
2302 myEdgePos = tmp;
2303 //if (oldPos == Position::INVALID) {
2304 // oldPos = pos
2305 //}
2306 myAngle = GeomHelper::fromNaviDegree(angle);
2307#ifdef DEBUG_MOVETOXY
2308 std::cout << SIMTIME << " ped=" << p->getID()
2309 << " moveToXY"
2310 << " pos=" << pos
2311 << " lane=" << lane->getID()
2312 << " lanePos=" << lanePos
2313 << " lanePosLat=" << lanePosLat
2314 << " angle=" << angle
2315 << " routeOffset=" << routeOffset
2316 << " edges=" << toString(edges)
2317 << " oldLane=" << Named::getIDSecure(myLane)
2318 << " path=" << (myWalkingAreaPath == nullptr ? "null" : (myWalkingAreaPath->from->getID() + "->" + myWalkingAreaPath->to->getID())) << "\n";
2319#endif
2320
2321 if (lane != myLane && myLane != nullptr) {
2322 pm->remove(this);
2323 pm->registerActive();
2324 }
2325 if (lane != nullptr &&
2326 fabs(lanePosLat) < (0.5 * (lane->getWidth() + p->getVehicleType().getWidth()) + SIDEWALK_OFFSET)) {
2327 myRemoteXYPos = Position::INVALID;
2328 const MSEdge* old = myStage->getEdge();
2329 const MSLane* oldLane = myLane;
2330 if (lane != myLane) {
2331 // implicitly adds new active lane if necessary
2332 pm->myActiveLanes[lane].push_back(this);
2333 }
2334 if (edges.empty()) {
2335 // map within route
2336 myStage->setRouteIndex(myPerson, routeOffset);
2337 } else {
2338 myStage->replaceRoute(myPerson, edges, routeOffset);
2339 }
2340 if (!lane->getEdge().isNormal()) {
2341 myStage->moveToNextEdge(myPerson, t, myDir, &lane->getEdge());
2342 }
2343
2344 myLane = lane;
2345 const double lateral_offset = (lane->getWidth() - stripeWidth) * 0.5;
2346 if (lane->getEdge().isWalkingArea()) {
2347 if (myWalkingAreaPath == nullptr || myWalkingAreaPath->lane != lane) {
2348 // entered new walkingarea. Determine path
2349 myWalkingAreaPath = guessPath(&lane->getEdge(), old, myStage->getNextRouteEdge());
2350#ifdef DEBUG_MOVETOXY
2351 std::cout << " guessPath old=" << old->getID() << " next=" << Named::getIDSecure(myStage->getNextRouteEdge())
2352 << " path=" << myWalkingAreaPath->from->getID() << "->" << myWalkingAreaPath->to->getID() << "\n";
2353#endif
2354 }
2355 // lanePos and lanePosLat are matched onto the circumference of the
2356 // walkingarea. Use pos instead
2357 const Position relPos = myWalkingAreaPath->shape.transformToVectorCoordinates(pos);
2358 if (relPos == Position::INVALID) {
2359 WRITE_WARNING("Could not map position " + toString(pos) + " onto lane '" + myLane->getID()
2360 + "' (fromLane='" + myWalkingAreaPath->from->getID()
2361 + "' toLane='" + myWalkingAreaPath->to->getID() + "') for person '" + getID() + "' time=" + time2string(t) + ".");
2362 myRemoteXYPos = pos;
2363 } else {
2364 myEdgePos = relPos.x();
2365 myPosLat = lateral_offset + relPos.y();
2366 }
2367 } else {
2368 myWalkingAreaPath = nullptr;
2369 myEdgePos = lanePos;
2370 myPosLat = lateral_offset - lanePosLat;
2371 }
2372 // guess direction
2373 const double angleDiff = GeomHelper::getMinAngleDiff(angle, oldAngle);
2374 if (myStage->getNextRouteEdge() != nullptr) {
2375 if (myStage->getEdge()->getToJunction() == myStage->getNextRouteEdge()->getFromJunction() ||
2376 myStage->getEdge()->getToJunction() == myStage->getNextRouteEdge()->getToJunction()) {
2377 myDir = FORWARD;
2378 } else {
2379 myDir = BACKWARD;
2380 }
2381 } else {
2382 // guess from angle
2383 if (angleDiff <= 90) {
2384 // keep direction
2385 if (myDir == UNDEFINED_DIRECTION) {
2386 myDir = FORWARD;
2387 }
2388 } else {
2389 // change direction
2390 myDir = (myDir == BACKWARD) ? FORWARD : BACKWARD;
2391 }
2392 }
2393 // update next lane info (after guessing direction)
2394 if (oldLane == nullptr || &oldLane->getEdge() != &myLane->getEdge()) {
2395 const MSLane* sidewalk = getSidewalk<MSEdge, MSLane>(&myLane->getEdge(), p->getVClass());
2396 // assume that we will eventually move back onto the sidewalk if
2397 // there is one
2398 myNLI = getNextLane(*this, sidewalk == nullptr ? myLane : sidewalk, nullptr);
2399 myStage->activateEntryReminders(myPerson);
2400#ifdef DEBUG_MOVETOXY
2401 std::cout << " myNLI=" << Named::getIDSecure(myNLI.lane) << " link=" << (myNLI.link == nullptr ? "NULL" : myNLI.link->getDescription()) << " dir=" << myNLI.dir << "\n";
2402#endif
2403 }
2404#ifdef DEBUG_MOVETOXY
2405 std::cout << " newRelPos=" << Position(myEdgePos, myPosLat) << " edge=" << myPerson->getEdge()->getID() << " newPos=" << myPerson->getPosition()
2406 << " oldAngle=" << oldAngle << " angleDiff=" << angleDiff << " newDir=" << myDir << "\n";
2407#endif
2408 if (oldLane == myLane) {
2409 mySpeed = DIST2SPEED(fabs(oldX - myEdgePos));
2410 } else {
2411 //std::cout << SIMTIME << " oldX=" << oldX << " oldSpeed=" << mySpeed << " oldPos=" << oldPos << " pos=" << pos << " dist=" << oldPos.distanceTo2D(pos) << " oldLane=" << Named::getIDSecure(oldLane) << " lane=" << lane->getID() << "\n";
2412 mySpeed = DIST2SPEED(oldPos.distanceTo2D(pos));
2413 }
2414 } else {
2415 // map outside the network
2416 myRemoteXYPos = pos;
2417 mySpeed = DIST2SPEED(oldPos.distanceTo2D(pos));
2418 }
2419
2420}
2421
2422
2423double
2424MSPModel_Striping::PState::getPathLength() const {
2425 if (myWalkingAreaPath != nullptr) {
2426 return myWalkingAreaPath->length;
2427 } else {
2428 return 0;
2429 }
2430}
2431
2432double
2433MSPModel_Striping::PState::distanceTo(const Obstacle& obs, const bool includeMinGap) const {
2434 // check for overlap
2435 const double maxX = getMaxX(includeMinGap);
2436 const double minX = getMinX(includeMinGap);
2437 //if (DEBUGCOND(*this)) {
2438 // std::cout << std::setprecision(2) << " distanceTo=" << obs.description << " maxX=" << maxX << " minX=" << minX << " obs.xFwd=" << obs.xFwd << " obs.xBack=" << obs.xBack << "\n";
2439 //}
2440 if ((obs.xFwd >= maxX && obs.xBack <= maxX) || (obs.xFwd <= maxX && obs.xFwd >= minX)) {
2441 // avoid blocking by itself on looped route
2442 return (obs.type == OBSTACLE_PED && obs.description == myPerson->getID()) ? DIST_FAR_AWAY : DIST_OVERLAP;
2443 }
2444 if (myDir == FORWARD) {
2445 return obs.xFwd < minX ? DIST_BEHIND : obs.xBack - maxX;
2446 } else {
2447 return obs.xBack > maxX ? DIST_BEHIND : minX - obs.xFwd;
2448 }
2449}
2450
2451
2452void
2453MSPModel_Striping::PState::mergeObstacles(Obstacles& into, const Obstacles& obs2) {
2454 for (int i = 0; i < (int)into.size(); ++i) {
2455 if (gDebugFlag1) {
2456 std::cout << " i=" << i << " maxX=" << getMaxX(true) << " minX=" << getMinX(true)
2457 << " into=" << into[i].description << " iDist=" << distanceTo(into[i], into[i].type == OBSTACLE_PED)
2458 << " obs2=" << obs2[i].description << " oDist=" << distanceTo(obs2[i], obs2[i].type == OBSTACLE_PED) << "\n";
2459 }
2460 const double dO = distanceTo(obs2[i], obs2[i].type == OBSTACLE_PED);
2461 const double dI = distanceTo(into[i], into[i].type == OBSTACLE_PED);
2462 if (dO < dI) {
2463 into[i] = obs2[i];
2464 } else if (dO == dI
2465 && into[i].type != OBSTACLE_PED
2466 && into[i].type != OBSTACLE_VEHICLE
2467 && (obs2[i].type == OBSTACLE_PED ||
2468 obs2[i].type == OBSTACLE_VEHICLE)) {
2469 into[i] = obs2[i];
2470 }
2471 }
2472}
2473
2474void
2475MSPModel_Striping::PState::mergeObstacles(Obstacles& into, const Obstacles& obs2, int dir, int offset) {
2476 for (int i = 0; i < (int)into.size(); ++i) {
2477 int i2 = i + offset;
2478 if (i2 >= 0 && i2 < (int)obs2.size()) {
2479 if (dir == FORWARD) {
2480 if (obs2[i2].xBack < into[i].xBack) {
2481 into[i] = obs2[i2];
2482 }
2483 } else {
2484 if (obs2[i2].xFwd > into[i].xFwd) {
2485 into[i] = obs2[i2];
2486 }
2487 }
2488 }
2489 }
2490}
2491
2492
2493bool
2494MSPModel_Striping::PState::ignoreRed(const MSLink* link) const {
2495 if (link->haveRed()) {
2496 const double ignoreRedTime = myPerson->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_DRIVE_AFTER_RED_TIME, -1);
2497 if (ignoreRedTime >= 0) {
2498 const double redDuration = STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - link->getLastStateChange());
2499 if (DEBUGCOND(*this)) {
2500 std::cout << SIMTIME << " ignoreRedTime=" << ignoreRedTime << " redDuration=" << redDuration << "\n";
2501 }
2502 return ignoreRedTime > redDuration;
2503 } else {
2504 return false;
2505 }
2506 } else {
2507 return false;
2508 }
2509}
2510
2511double
2512MSPModel_Striping::PState::getWidth() const {
2513 return myPerson->getVehicleType().getWidth();
2514}
2515
2516
2517bool
2518MSPModel_Striping::PState::isRemoteControlled() const {
2519 return myPerson->hasInfluencer() && myPerson->getInfluencer().isRemoteControlled();
2520}
2521
2522// ===========================================================================
2523// MSPModel_Striping::PStateVehicle method definitions
2524// ===========================================================================
2525
2526MSPModel_Striping::PStateVehicle::PStateVehicle(const MSVehicle* veh, const MSLane* walkingarea, double relX, double relY, double xWidth, double yWidth):
2527 myVehicle(veh), myXWidth(xWidth), myYWidth(yWidth) {
2528 myLane = walkingarea; // to ensure correct limits when calling otherStripe()
2529 // relX is the center but we want it to be the max value if the movement direction is forward
2530 // and the min value otherwise (indicated by xWidth sign)
2531 myEdgePos = relX + xWidth / 2;
2532 myPosLat = relY;
2533}
2534
2535const std::string&
2536MSPModel_Striping::PStateVehicle::getID() const {
2537 return myVehicle->getID();
2538}
2539
2540double
2541MSPModel_Striping::PStateVehicle::getWidth() const {
2542 return myYWidth;
2543}
2544
2545double
2546MSPModel_Striping::PStateVehicle::getMinX(const bool /*includeMinGap*/) const {
2547 return myXWidth > 0 ? myEdgePos - myXWidth : myEdgePos;
2548}
2549
2550double
2551MSPModel_Striping::PStateVehicle::getMaxX(const bool /*includeMinGap*/) const {
2552 return myXWidth > 0 ? myEdgePos : myEdgePos - myXWidth;
2553}
2554
2555// ===========================================================================
2556// MSPModel_Striping::MovePedestrians method definitions
2557// ===========================================================================
2558
2559SUMOTime
2560MSPModel_Striping::MovePedestrians::execute(SUMOTime currentTime) {
2561 std::set<MSPerson*> changedLane;
2562 myModel->moveInDirection(currentTime, changedLane, FORWARD);
2563 myModel->moveInDirection(currentTime, changedLane, BACKWARD);
2564 // DEBUG
2565#ifdef LOG_ALL
2566 for (ActiveLanes::const_iterator it_lane = myModel->getActiveLanes().begin(); it_lane != myModel->getActiveLanes().end(); ++it_lane) {
2567 const MSLane* lane = it_lane->first;
2568 Pedestrians pedestrians = it_lane->second;
2569 if (pedestrians.size() == 0) {
2570 continue;
2571 }
2572 sort(pedestrians.begin(), pedestrians.end(), by_xpos_sorter(FORWARD));
2573 std::cout << SIMTIME << " lane=" << lane->getID();
2574 for (int ii = 0; ii < (int)pedestrians.size(); ++ii) {
2575 const PState& p = *pedestrians[ii];
2576 std::cout << " (" << p.getPerson()->getID() << " " << p.myEdgePos << "," << p.myPosLat << " " << p.getDirection() << ")";
2577 }
2578 std::cout << "\n";
2579 }
2580#endif
2581 return DELTA_T;
2582}
SUMOTime
long long int SUMOTime
Definition GUI.h:36
DEG2RAD
#define DEG2RAD(x)
Definition GeomHelper.h:35
ConstMSEdgeVector
std::vector< const MSEdge * > ConstMSEdgeVector
Definition MSEdge.h:74
MSEdgeVector
std::vector< MSEdge * > MSEdgeVector
Definition MSEdge.h:73
DEBUGCOND2
#define DEBUGCOND2(LANE)
Definition MSPModel_Striping.cpp:52
DEBUGCOND
#define DEBUGCOND(PED)
Definition MSPModel_Striping.cpp:51
MSPModel_Striping.h
WRITE_WARNINGF
#define WRITE_WARNINGF(...)
Definition MsgHandler.h:296
WRITE_WARNING
#define WRITE_WARNING(msg)
Definition MsgHandler.h:295
TL
#define TL(string)
Definition MsgHandler.h:315
TLF
#define TLF(string,...)
Definition MsgHandler.h:317
DELTA_T
SUMOTime DELTA_T
Definition SUMOTime.cpp:38
string2time
SUMOTime string2time(const std::string &r)
convert string to SUMOTime
Definition SUMOTime.cpp:46
time2string
std::string time2string(SUMOTime t, bool humanReadable)
convert SUMOTime to string (independently of global format setting)
Definition SUMOTime.cpp:69
STEPS2TIME
#define STEPS2TIME(x)
Definition SUMOTime.h:55
SPEED2DIST
#define SPEED2DIST(x)
Definition SUMOTime.h:45
SIMSTEP
#define SIMSTEP
Definition SUMOTime.h:61
SUMOTime_MAX
#define SUMOTime_MAX
Definition SUMOTime.h:34
SIMTIME
#define SIMTIME
Definition SUMOTime.h:62
TIME2STEPS
#define TIME2STEPS(x)
Definition SUMOTime.h:57
DIST2SPEED
#define DIST2SPEED(x)
Definition SUMOTime.h:47
DEFAULT_PEDTYPE_ID
const std::string DEFAULT_PEDTYPE_ID
SVC_PEDESTRIAN
@ SVC_PEDESTRIAN
pedestrian
Definition SUMOVehicleClass.h:163
SUMO_ATTR_JM_DRIVE_AFTER_RED_TIME
@ SUMO_ATTR_JM_DRIVE_AFTER_RED_TIME
Definition SUMOXMLDefinitions.h:1308
gDebugFlag1
bool gDebugFlag1
global utility flags for debugging
Definition StdDefs.cpp:37
INVALID_DOUBLE
const double INVALID_DOUBLE
invalid double
Definition StdDefs.h:64
UNUSED_PARAMETER
#define UNUSED_PARAMETER(x)
Definition StdDefs.h:30
MIN3
T MIN3(T a, T b, T c)
Definition StdDefs.h:89
MIN2
T MIN2(T a, T b)
Definition StdDefs.h:76
SUMO_const_haltingSpeed
const double SUMO_const_haltingSpeed
the speed threshold at which vehicles are considered as halting
Definition StdDefs.h:58
MAX2
T MAX2(T a, T b)
Definition StdDefs.h:82
toString
std::string toString(const T &t, std::streamsize accuracy=gPrecision)
Definition ToString.h:46
Boundary
A class that stores a 2D geometrical boundary.
Definition Boundary.h:39
Boundary::getCenter
Position getCenter() const
Returns the center of the boundary.
Definition Boundary.cpp:112
Boundary::add
void add(double x, double y, double z=0)
Makes the boundary include the given coordinate.
Definition Boundary.cpp:78
Boundary::ymin
double ymin() const
Returns minimum y-coordinate.
Definition Boundary.cpp:130
Boundary::getWidth
double getWidth() const
Returns the width of the boudary (x-axis)
Definition Boundary.cpp:154
Boundary::growWidth
void growWidth(double by)
Increases the width of the boundary (x-axis)
Definition Boundary.cpp:362
Boundary::ymax
double ymax() const
Returns maximum y-coordinate.
Definition Boundary.cpp:136
GeomHelper::naviDegree
static double naviDegree(const double angle)
Definition GeomHelper.cpp:191
GeomHelper::fromNaviDegree
static double fromNaviDegree(const double angle)
Definition GeomHelper.cpp:208
GeomHelper::getMinAngleDiff
static double getMinAngleDiff(double angle1, double angle2)
Returns the minimum distance (clockwise/counter-clockwise) between both angles.
Definition GeomHelper.cpp:172
MSBaseVehicle::getVehicleType
const MSVehicleType & getVehicleType() const
Returns the vehicle's type definition.
Definition MSBaseVehicle.h:153
MSCFModel::brakeGap
double brakeGap(const double speed) const
Returns the distance the vehicle needs to halt including driver's reaction time tau (i....
Definition MSCFModel.h:380
MSCFModel::getMaxDecel
double getMaxDecel() const
Get the vehicle type's maximal comfortable deceleration [m/s^2].
Definition MSCFModel.h:264
MSEdge
A road/street connecting two junctions.
Definition MSEdge.h:77
MSEdge::getAllEdges
static const MSEdgeVector & getAllEdges()
Returns all edges with a numerical id.
Definition MSEdge.cpp:1086
MSEdge::isCrossing
bool isCrossing() const
return whether this edge is a pedestrian crossing
Definition MSEdge.h:273
MSEdge::isWalkingArea
bool isWalkingArea() const
return whether this edge is walking area
Definition MSEdge.h:287
MSEdge::getLanes
const std::vector< MSLane * > & getLanes() const
Returns this edge's lanes.
Definition MSEdge.h:168
MSEdge::isNormal
bool isNormal() const
return whether this edge is an internal edge
Definition MSEdge.h:263
MSEdge::getToJunction
const MSJunction * getToJunction() const
Definition MSEdge.h:418
MSEdge::getLength
double getLength() const
return the length of the edge
Definition MSEdge.h:685
MSEdge::getFromJunction
const MSJunction * getFromJunction() const
Definition MSEdge.h:414
MSEdge::isInternal
bool isInternal() const
return whether this edge is an internal edge
Definition MSEdge.h:268
MSEdge::getPredecessors
const MSEdgeVector & getPredecessors() const
Definition MSEdge.h:409
MSEdge::getSuccessors
const MSEdgeVector & getSuccessors(SUMOVehicleClass vClass=SVC_IGNORING) const
Returns the following edges, restricted by vClass.
Definition MSEdge.cpp:1258
MSEventControl::addEvent
virtual void addEvent(Command *operation, SUMOTime execTimeStep=-1)
Adds an Event.
Definition MSEventControl.cpp:49
MSGlobals::gCheck4Accidents
static bool gCheck4Accidents
Definition MSGlobals.h:88
MSJunction
The base class for an intersection.
Definition MSJunction.h:58
MSLane::AnyVehicleIterator
AnyVehicleIterator is a structure, which manages the iteration through all vehicles on the lane,...
Definition MSLane.h:129
MSLane
Representation of a lane in the micro simulation.
Definition MSLane.h:84
MSLane::anyVehiclesEnd
AnyVehicleIterator anyVehiclesEnd() const
end iterator for iterating over all vehicles touching this lane in downstream direction
Definition MSLane.h:495
MSLane::getVehicleNumberWithPartials
int getVehicleNumberWithPartials() const
Returns the number of vehicles on this lane (including partial occupators)
Definition MSLane.h:464
MSLane::getLinkTo
const MSLink * getLinkTo(const MSLane *const) const
returns the link to the given lane or nullptr, if it is not connected
Definition MSLane.cpp:2668
MSLane::isWalkingArea
bool isWalkingArea() const
Definition MSLane.cpp:2562
MSLane::getPermissions
SVCPermissions getPermissions() const
Returns the vehicle class permissions for this lane.
Definition MSLane.h:614
MSLane::getIncomingLanes
const std::vector< IncomingLaneInfo > & getIncomingLanes() const
Definition MSLane.h:950
MSLane::getLength
double getLength() const
Returns the lane's length.
Definition MSLane.h:606
MSLane::getInternalFollowingLane
const MSLane * getInternalFollowingLane(const MSLane *const) const
returns the internal lane leading to the given lane or nullptr, if there is none
Definition MSLane.cpp:2680
MSLane::getCanonicalSuccessorLane
MSLane * getCanonicalSuccessorLane() const
Definition MSLane.cpp:3215
MSLane::getLogicalPredecessorLane
MSLane * getLogicalPredecessorLane() const
get the most likely precedecessor lane (sorted using by_connections_to_sorter). The result is cached ...
Definition MSLane.cpp:3135
MSLane::anyVehiclesUpstreamEnd
AnyVehicleIterator anyVehiclesUpstreamEnd() const
end iterator for iterating over all vehicles touching this lane in upstream direction
Definition MSLane.h:507
MSLane::isNormal
bool isNormal() const
Definition MSLane.cpp:2551
MSLane::isCrossing
bool isCrossing() const
Definition MSLane.cpp:2557
MSLane::dictionary
static bool dictionary(const std::string &id, MSLane *lane)
Static (sic!) container methods {.
Definition MSLane.cpp:2414
MSLane::anyVehiclesUpstreamBegin
AnyVehicleIterator anyVehiclesUpstreamBegin() const
begin iterator for iterating over all vehicles touching this lane in upstream direction
Definition MSLane.h:501
MSLane::anyVehiclesBegin
AnyVehicleIterator anyVehiclesBegin() const
begin iterator for iterating over all vehicles touching this lane in downstream direction
Definition MSLane.h:489
MSLane::getBidiLane
MSLane * getBidiLane() const
retrieve bidirectional lane or nullptr
Definition MSLane.cpp:4564
MSLane::getShape
virtual const PositionVector & getShape(bool) const
Definition MSLane.h:294
MSLane::getEdge
MSEdge & getEdge() const
Returns the lane's edge.
Definition MSLane.h:764
MSLane::getWidth
double getWidth() const
Returns the lane's width.
Definition MSLane.h:635
MSLane::getLinkCont
const std::vector< MSLink * > & getLinkCont() const
returns the container with all links !!!
Definition MSLane.h:724
MSLane::geometryPositionAtOffset
const Position geometryPositionAtOffset(double offset, double lateralOffset=0) const
Definition MSLane.h:560
MSNet
The simulated network and simulation perfomer.
Definition MSNet.h:89
MSNet::getPedestrianRouter
MSPedestrianRouter & getPedestrianRouter(const int rngIndex, const MSEdgeVector &prohibited=MSEdgeVector()) const
Definition MSNet.cpp:1535
MSNet::getInstance
static MSNet * getInstance()
Returns the pointer to the unique instance of MSNet (singleton).
Definition MSNet.cpp:185
MSNet::getBeginOfTimestepEvents
MSEventControl * getBeginOfTimestepEvents()
Returns the event control for events executed at the begin of a time step.
Definition MSNet.h:471
MSNet::getCurrentTimeStep
SUMOTime getCurrentTimeStep() const
Returns the current simulation step.
Definition MSNet.h:320
MSNet::getVehicleControl
MSVehicleControl & getVehicleControl()
Returns the vehicle control.
Definition MSNet.h:378
MSNet::getPersonControl
virtual MSTransportableControl & getPersonControl()
Returns the person control.
Definition MSNet.cpp:1189
MSPModel_Interacting::Pedestrians
std::vector< MSPModel_InteractingState * > Pedestrians
Definition MSPModel_Interacting.h:97
MSPModel_Interacting::getPedestrians
Pedestrians & getPedestrians(const MSLane *lane)
retrieves the pedestrian vector for the given lane (may be empty)
Definition MSPModel_Interacting.cpp:164
MSPModel_Interacting::myActiveLanes
ActiveLanes myActiveLanes
store of all lanes which have pedestrians on them
Definition MSPModel_Interacting.h:107
MSPModel_Interacting::myAmActive
bool myAmActive
whether an event for pedestrian processing was added
Definition MSPModel_Interacting.h:110
MSPModel_Interacting::usingInternalLanesStatic
static bool usingInternalLanesStatic()
Definition MSPModel_Interacting.cpp:120
MSPModel_Interacting::myNumActivePedestrians
int myNumActivePedestrians
the total number of active pedestrians
Definition MSPModel_Interacting.h:104
MSPModel_Interacting::registerActive
void registerActive()
increase the number of active pedestrians
Definition MSPModel_Interacting.h:89
MSPModel_Interacting::remove
virtual void remove(MSTransportableStateAdapter *state)
remove the specified person from the pedestrian simulation
Definition MSPModel_Interacting.cpp:55
MSPModel_Interacting::unregisterCrossingApproach
static void unregisterCrossingApproach(const MSPModel_InteractingState &ped, const MSLane *crossing)
unregister pedestrian approach with the junction model
Definition MSPModel_Interacting.cpp:175
MSPModel_InteractingState
Container for pedestrian state and individual position update function.
Definition MSPModel_Interacting.h:126
MSPModel_InteractingState::myWaitingTime
SUMOTime myWaitingTime
the consecutive time spent at speed 0
Definition MSPModel_Interacting.h:233
MSPModel_InteractingState::myPerson
MSPerson * myPerson
the person who is being represented
Definition MSPModel_Interacting.h:215
MSPModel_InteractingState::getStage
MSStageMoving * getStage() const
return the current stage
Definition MSPModel_Interacting.h:189
MSPModel_InteractingState::myDir
int myDir
the walking direction on the current lane (1 forward, -1 backward)
Definition MSPModel_Interacting.h:225
MSPModel_InteractingState::myEdgePos
double myEdgePos
the advancement along the current lane
Definition MSPModel_Interacting.h:221
MSPModel_InteractingState::getEdgePos
double getEdgePos(SUMOTime) const
abstract methods inherited from MSTransportableStateAdapter
Definition MSPModel_Interacting.h:143
MSPModel_InteractingState::getPerson
MSPerson * getPerson() const
return the represented person
Definition MSPModel_Interacting.h:184
MSPModel_InteractingState::getID
virtual const std::string & getID() const
return ID of the person (or sometimes vehicle) being represented
Definition MSPModel_Interacting.h:204
MSPModel_InteractingState::getRemotePosition
const Position & getRemotePosition() const
return the remote position if being controlled by TraCI or JuPedSim
Definition MSPModel_Interacting.h:199
MSPModel_InteractingState::myLane
const MSLane * myLane
the current lane of this pedestrian
Definition MSPModel_Interacting.h:219
MSPModel_InteractingState::mySpeed
double mySpeed
the current walking speed
Definition MSPModel_Interacting.h:227
MSPModel_InteractingState::myStage
MSStageMoving * myStage
the current stage of this pedestrian
Definition MSPModel_Interacting.h:217
MSPModel_InteractingState::myPosLat
double myPosLat
the orthogonal shift on the current lane
Definition MSPModel_Interacting.h:223
MSPModel_InteractingState::mySpeedLat
double mySpeedLat
the current lateral walking speed
Definition MSPModel_Interacting.h:229
MSPModel_InteractingState::isWaitingToEnter
bool isWaitingToEnter() const
whether the person still waits to entere the network
Definition MSPModel_Interacting.h:194
MSPModel_InteractingState::myWaitingToEnter
bool myWaitingToEnter
whether the pedestrian is waiting to start its walk
Definition MSPModel_Interacting.h:231
MSPModel_InteractingState::getLane
const MSLane * getLane() const
the current lane of the transportable
Definition MSPModel_Interacting.h:168
MSPModel_InteractingState::getDirection
int getDirection() const
return the walking direction (FORWARD, BACKWARD, UNDEFINED_DIRECTION)
Definition MSPModel_Interacting.h:148
MSPModel_InteractingState::myAmJammed
bool myAmJammed
whether the person is jammed
Definition MSPModel_Interacting.h:235
MSPModel_InteractingState::getSpeed
double getSpeed(const MSStageMoving &) const
return the current speed of the transportable
Definition MSPModel_Interacting.h:158
MSPModel_InteractingState::isJammed
bool isJammed() const
whether the transportable is jammed
Definition MSPModel_Interacting.h:163
MSPModel_Striping::MovePedestrians
Definition MSPModel_Striping.h:383
MSPModel_Striping::MovePedestrians::execute
SUMOTime execute(SUMOTime currentTime)
Executes the command.
Definition MSPModel_Striping.cpp:2560
MSPModel_Striping::PState
Container for pedestrian state and individual position update function.
Definition MSPModel_Striping.h:256
MSPModel_Striping::PState::getMaxX
virtual double getMaxX(const bool includeMinGap=true) const
return the maximum position on the lane
Definition MSPModel_Striping.cpp:1681
MSPModel_Striping::PState::myWalkingAreaPath
const WalkingAreaPath * myWalkingAreaPath
the current walkingAreaPath or 0
Definition MSPModel_Striping.h:275
MSPModel_Striping::PState::PState
PState()
constructor for PStateVehicle
Definition MSPModel_Striping.cpp:1631
MSPModel_Striping::PState::distToLaneEnd
double distToLaneEnd() const
the absolute distance to the end of the lane in walking direction (or to the arrivalPos)
Definition MSPModel_Striping.cpp:1740
MSPModel_Striping::PState::mergeObstacles
void mergeObstacles(Obstacles &into, const Obstacles &obs2)
replace obstacles in the first vector with obstacles from the second if they are closer to me
Definition MSPModel_Striping.cpp:2453
MSPModel_Striping::PState::isRemoteControlled
bool isRemoteControlled() const
whether the person is currently being controlled via TraCI
Definition MSPModel_Striping.cpp:2518
MSPModel_Striping::PState::getNextEdge
const MSEdge * getNextEdge(const MSStageMoving &stage) const
return the list of internal edges if the transportable is on an intersection
Definition MSPModel_Striping.cpp:2220
MSPModel_Striping::PState::getNextCrossing
const MSLane * getNextCrossing() const
placeholder function for the accessing the next crossing
Definition MSPModel_Striping.cpp:2226
MSPModel_Striping::PState::walk
void walk(const Obstacles &obs, SUMOTime currentTime)
perform position update
Definition MSPModel_Striping.cpp:1893
MSPModel_Striping::PState::getWidth
virtual double getWidth() const
return the person width
Definition MSPModel_Striping.cpp:2512
MSPModel_Striping::PState::saveState
void saveState(std::ostringstream &out)
Saves the current state into the given stream.
Definition MSPModel_Striping.cpp:1636
MSPModel_Striping::PState::ignoreRed
bool ignoreRed(const MSLink *link) const
whether the pedestrian may ignore a red light
Definition MSPModel_Striping.cpp:2494
MSPModel_Striping::PState::getMinX
virtual double getMinX(const bool includeMinGap=true) const
return the minimum position on the lane
Definition MSPModel_Striping.cpp:1671
MSPModel_Striping::PState::moveToNextLane
bool moveToNextLane(SUMOTime currentTime)
return whether this pedestrian has passed the end of the current lane and update myRelX if so
Definition MSPModel_Striping.cpp:1754
MSPModel_Striping::PState::reverse
void reverse(const double pathLength, const double usableWidth)
Definition MSPModel_Striping.cpp:2232
MSPModel_Striping::PState::getMinGap
double getMinGap() const
return the minimum gap of the pedestrian
Definition MSPModel_Striping.cpp:1697
MSPModel_Striping::PState::moveToXY
void moveToXY(MSPerson *p, Position pos, MSLane *lane, double lanePos, double lanePosLat, double angle, int routeOffset, const ConstMSEdgeVector &edges, SUMOTime t)
try to move transportable to the given position
Definition MSPModel_Striping.cpp:2290
MSPModel_Striping::PState::moveTo
void moveTo(MSPerson *p, MSLane *lane, double lanePos, double lanePosLat, SUMOTime t)
try to move transportable to the given position
Definition MSPModel_Striping.cpp:2251
MSPModel_Striping::PState::getPosLat
double getPosLat() const
Definition MSPModel_Striping.h:345
MSPModel_Striping::PState::getPosition
Position getPosition(const MSStageMoving &stage, SUMOTime now) const
return the network coordinate of the transportable
Definition MSPModel_Striping.cpp:2158
MSPModel_Striping::PState::myNLI
NextLaneInfo myNLI
information about the upcoming lane
Definition MSPModel_Striping.h:273
MSPModel_Striping::PState::getAngle
double getAngle(const MSStageMoving &stage, SUMOTime now) const
return the current orientation in degrees
Definition MSPModel_Striping.cpp:2192
MSPModel_Striping::PState::otherStripe
int otherStripe() const
Definition MSPModel_Striping.cpp:1734
MSPModel_Striping::PState::getImpatience
double getImpatience(SUMOTime now) const
returns the impatience
Definition MSPModel_Striping.cpp:2151
MSPModel_Striping::PState::reset
void reset(const double edgePos, const double latPos)
Definition MSPModel_Striping.cpp:2241
MSPModel_Striping::PState::stripe
int stripe() const
Definition MSPModel_Striping.cpp:1728
MSPModel_Striping::PState::distanceTo
double distanceTo(const Obstacle &obs, const bool includeMinGap=true) const
Definition MSPModel_Striping.cpp:2433
MSPModel_Striping::PState::getLength
double getLength() const
return the length of the pedestrian
Definition MSPModel_Striping.cpp:1691
MSPModel_Striping::PState::getPathLength
double getPathLength() const
return the total length of the current lane (in particular for on a walkingarea)
Definition MSPModel_Striping.cpp:2424
MSPModel_Striping::PStateVehicle
Definition MSPModel_Striping.h:361
MSPModel_Striping::PStateVehicle::getWidth
double getWidth() const
return the person width
Definition MSPModel_Striping.cpp:2541
MSPModel_Striping::PStateVehicle::getMaxX
double getMaxX(const bool includeMinGap=true) const
return the maximum position on the lane
Definition MSPModel_Striping.cpp:2551
MSPModel_Striping::PStateVehicle::getMinX
double getMinX(const bool includeMinGap=true) const
return the minimum position on the lane
Definition MSPModel_Striping.cpp:2546
MSPModel_Striping::PStateVehicle::getID
const std::string & getID() const
return ID of the person (or sometimes vehicle) being represented
Definition MSPModel_Striping.cpp:2536
MSPModel_Striping::PStateVehicle::PStateVehicle
PStateVehicle(const MSVehicle *veh, const MSLane *walkingarea, double relX, double relY, double xWidth, double yWidth)
Definition MSPModel_Striping.cpp:2526
MSPModel_Striping::by_xpos_sorter
sorts the persons by position on the lane. If dir is forward, higher x positions come first.
Definition MSPModel_Striping.h:396
MSPModel_Striping
The pedestrian movement model using stripes on sidewalks.
Definition MSPModel_Striping.h:49
MSPModel_Striping::MIN_STARTUP_DIST
static const double MIN_STARTUP_DIST
the minimum distance to the next obstacle in order to start walking after stopped
Definition MSPModel_Striping.h:153
MSPModel_Striping::registerCrossingApproach
static void registerCrossingApproach(const PState &ped, const MSLane *crossing, const MSLane *beforeWA)
register pedestrian approach with the junction model
Definition MSPModel_Striping.cpp:1205
MSPModel_Striping::RESERVE_FOR_ONCOMING_FACTOR
static double RESERVE_FOR_ONCOMING_FACTOR
fraction of the leftmost lanes to reserve for oncoming traffic
Definition MSPModel_Striping.h:142
MSPModel_Striping::myMinNextLengths
static MinNextLengths myMinNextLengths
Definition MSPModel_Striping.h:492
MSPModel_Striping::addVehicleFoe
static bool addVehicleFoe(const MSVehicle *veh, const MSLane *walkingarea, const Position &relPos, double xWidth, double yWidth, double lateral_offset, double minY, double maxY, Pedestrians &toDelete, Pedestrians &transformedPeds)
Definition MSPModel_Striping.cpp:994
MSPModel_Striping::loadState
MSTransportableStateAdapter * loadState(MSTransportable *transportable, MSStageMoving *stage, std::istringstream &in)
load the state of the given transportable
Definition MSPModel_Striping.cpp:188
MSPModel_Striping::posLatConversion
static double posLatConversion(const double posLat, const double laneWidth)
Convert the striping to the vehicle lateral position and vice versa.
Definition MSPModel_Striping.h:162
MSPModel_Striping::jamTimeCrossing
static SUMOTime jamTimeCrossing
Definition MSPModel_Striping.h:106
MSPModel_Striping::moveInDirection
void moveInDirection(SUMOTime currentTime, std::set< MSPerson * > &changedLane, int dir)
move all pedestrians forward and advance to the next lane if applicable
Definition MSPModel_Striping.cpp:841
MSPModel_Striping::transformToCurrentLanePositions
static void transformToCurrentLanePositions(Obstacles &o, int currentDir, int nextDir, double currentLength, double nextLength)
Definition MSPModel_Striping.cpp:806
MSPModel_Striping::myWalkingAreaDetail
static int myWalkingAreaDetail
intermediate points to smooth out lanes within the walkingarea
Definition MSPModel_Striping.h:102
MSPModel_Striping::LOOKAHEAD_SAMEDIR
static const double LOOKAHEAD_SAMEDIR
the distance (in seconds) to look ahead for changing stripes
Definition MSPModel_Striping.h:115
MSPModel_Striping::RESERVE_FOR_ONCOMING_MAX
static double RESERVE_FOR_ONCOMING_MAX
Definition MSPModel_Striping.h:144
MSPModel_Striping::NextLanesObstacles
std::map< const MSLane *, Obstacles, ComparatorNumericalIdLess > NextLanesObstacles
Definition MSPModel_Striping.h:175
MSPModel_Striping::minGapToVehicle
static double minGapToVehicle
the safety buffer to vehicles
Definition MSPModel_Striping.h:99
MSPModel_Striping::getNextLane
static NextLaneInfo getNextLane(const PState &ped, const MSLane *currentLane, const MSLane *prevLane)
computes the successor lane for the given pedestrian and sets the link as well as the direction to us...
Definition MSPModel_Striping.cpp:401
MSPModel_Striping::ObstacleType
ObstacleType
Definition MSPModel_Striping.h:199
MSPModel_Striping::OBSTACLE_NEXTEND
@ OBSTACLE_NEXTEND
Definition MSPModel_Striping.h:204
MSPModel_Striping::OBSTACLE_ARRIVALPOS
@ OBSTACLE_ARRIVALPOS
Definition MSPModel_Striping.h:206
MSPModel_Striping::OBSTACLE_LINKCLOSED
@ OBSTACLE_LINKCLOSED
Definition MSPModel_Striping.h:205
MSPModel_Striping::OBSTACLE_PED
@ OBSTACLE_PED
Definition MSPModel_Striping.h:201
MSPModel_Striping::OBSTACLE_VEHICLE
@ OBSTACLE_VEHICLE
Definition MSPModel_Striping.h:202
MSPModel_Striping::OBSTACLE_END
@ OBSTACLE_END
Definition MSPModel_Striping.h:203
MSPModel_Striping::LOOKAHEAD_ONCOMING_DIST
static const double LOOKAHEAD_ONCOMING_DIST
the distance (in m) to look ahead for obstacles on a subsequent edge
Definition MSPModel_Striping.h:121
MSPModel_Striping::initWalkingAreaPaths
static void initWalkingAreaPaths(const MSNet *net)
Definition MSPModel_Striping.cpp:223
MSPModel_Striping::LOOKAROUND_VEHICLES
static const double LOOKAROUND_VEHICLES
the distance (in m) to look around for vehicles
Definition MSPModel_Striping.h:119
MSPModel_Striping::SQUEEZE
static const double SQUEEZE
the factor by which pedestrian width is reduced when sqeezing past each other
Definition MSPModel_Striping.h:139
MSPModel_Striping::jamTimeNarrow
static SUMOTime jamTimeNarrow
Definition MSPModel_Striping.h:107
MSPModel_Striping::getWalkingAreaPath
static const WalkingAreaPath * getWalkingAreaPath(const MSEdge *walkingArea, const MSLane *before, const MSLane *after)
Definition MSPModel_Striping.cpp:379
MSPModel_Striping::arriveAndAdvance
void arriveAndAdvance(Pedestrians &pedestrians, SUMOTime currentTime, std::set< MSPerson * > &changedLane, int dir)
handle arrivals and lane advancement
Definition MSPModel_Striping.cpp:1011
MSPModel_Striping::MinNextLengths
std::map< const MSLane *, double > MinNextLengths
Definition MSPModel_Striping.h:176
MSPModel_Striping::RESERVE_FOR_ONCOMING_FACTOR_JUNCTIONS
static double RESERVE_FOR_ONCOMING_FACTOR_JUNCTIONS
Definition MSPModel_Striping.h:143
MSPModel_Striping::getStripeOffset
static int getStripeOffset(int origStripes, int destStripes, bool addRemainder)
Definition MSPModel_Striping.cpp:695
MSPModel_Striping::guessPath
static const WalkingAreaPath * guessPath(const MSEdge *walkingArea, const MSEdge *before, const MSEdge *after)
Definition MSPModel_Striping.cpp:351
MSPModel_Striping::getReserved
static int getReserved(int stripes, double factor)
Definition MSPModel_Striping.cpp:1886
MSPModel_Striping::jamTime
static SUMOTime jamTime
the time threshold before becoming jammed
Definition MSPModel_Striping.h:105
MSPModel_Striping::insertWalkArePaths
static void insertWalkArePaths(const MSEdge *edge, WalkingAreaPaths &into)
creates and inserts all paths into the given map
Definition MSPModel_Striping.cpp:256
MSPModel_Striping::moveInDirectionOnLane
void moveInDirectionOnLane(Pedestrians &pedestrians, const MSLane *lane, SUMOTime currentTime, std::set< MSPerson * > &changedLane, int dir, bool debug)
move pedestrians forward on one lane
Definition MSPModel_Striping.cpp:1040
MSPModel_Striping::jamFactor
static double jamFactor
the factor on speed when jammed
Definition MSPModel_Striping.h:109
MSPModel_Striping::stripeWidth
static double stripeWidth
model parameters
Definition MSPModel_Striping.h:93
MSPModel_Striping::MAX_WAIT_TOLERANCE
static const double MAX_WAIT_TOLERANCE
the time pedestrians take to reach maximum impatience
Definition MSPModel_Striping.h:147
MSPModel_Striping::getVehicleObstacles
static Obstacles getVehicleObstacles(const MSLane *lane, int dir, PState *ped=0)
retrieve vehicle obstacles on the given lane
Definition MSPModel_Striping.cpp:1326
MSPModel_Striping::OBSTRUCTED_PENALTY
static const double OBSTRUCTED_PENALTY
the utility penalty for obstructed (physically blocking me) stripes (corresponds to meters)
Definition MSPModel_Striping.h:127
MSPModel_Striping::getNextWalkingArea
static const MSLane * getNextWalkingArea(const MSLane *currentLane, const int dir, const MSLink *&link)
return the next walkingArea in the given direction
Definition MSPModel_Striping.cpp:622
MSPModel_Striping::add
MSTransportableStateAdapter * add(MSTransportable *transportable, MSStageMoving *stage, SUMOTime now)
register the given person as a pedestrian
Definition MSPModel_Striping.cpp:158
MSPModel_Striping::DIST_OVERLAP
static const double DIST_OVERLAP
Definition MSPModel_Striping.h:170
MSPModel_Striping::getArbitraryPath
static const WalkingAreaPath * getArbitraryPath(const MSEdge *walkingArea)
return an arbitrary path across the given walkingArea
Definition MSPModel_Striping.cpp:335
MSPModel_Striping::LATERAL_PENALTY
static const double LATERAL_PENALTY
the utility penalty for moving sideways (corresponds to meters)
Definition MSPModel_Striping.h:124
MSPModel_Striping::Obstacles
std::vector< Obstacle > Obstacles
Definition MSPModel_Striping.h:174
MSPModel_Striping::DIST_BEHIND
static const double DIST_BEHIND
Definition MSPModel_Striping.h:169
MSPModel_Striping::MSPModel_Striping
MSPModel_Striping(const OptionsCont &oc, MSNet *net)
Constructor (it should not be necessary to construct more than one instance)
Definition MSPModel_Striping.cpp:116
MSPModel_Striping::getNeighboringObstacles
static Obstacles getNeighboringObstacles(const Pedestrians &pedestrians, int egoIndex, int stripes)
Definition MSPModel_Striping.cpp:644
MSPModel_Striping::myLegacyPosLat
static bool myLegacyPosLat
use old style departPosLat interpretation
Definition MSPModel_Striping.h:112
MSPModel_Striping::addCloserObstacle
static void addCloserObstacle(Obstacles &obs, double x, int stripe, int numStripes, const std::string &id, double width, int dir, ObstacleType type)
Definition MSPModel_Striping.cpp:832
MSPModel_Striping::dawdling
static double dawdling
the factor for random slow-down
Definition MSPModel_Striping.h:96
MSPModel_Striping::~MSPModel_Striping
~MSPModel_Striping()
Definition MSPModel_Striping.cpp:150
MSPModel_Striping::numStripes
static int numStripes(const MSLane *lane)
return the maximum number of pedestrians walking side by side
Definition MSPModel_Striping.cpp:203
MSPModel_Striping::OBSTRUCTION_THRESHOLD
static const double OBSTRUCTION_THRESHOLD
the minimum utility that indicates obstruction
Definition MSPModel_Striping.h:136
MSPModel_Striping::addCrossingVehs
static bool addCrossingVehs(const MSLane *crossing, int stripes, double lateral_offset, int dir, Obstacles &crossingVehs, bool prio)
add vehicles driving across
Definition MSPModel_Striping.cpp:1221
MSPModel_Striping::connectedDirection
static int connectedDirection(const MSLane *from, const MSLane *to)
returns the direction in which these lanes are connectioned or 0 if they are not
Definition MSPModel_Striping.cpp:209
MSPModel_Striping::DEBUG_PRINT
static void DEBUG_PRINT(const Obstacles &obs)
Definition MSPModel_Striping.cpp:56
MSPModel_Striping::LATERAL_SPEED_FACTOR
static const double LATERAL_SPEED_FACTOR
the fraction of forward speed to be used for lateral movemenk
Definition MSPModel_Striping.h:150
MSPModel_Striping::INAPPROPRIATE_PENALTY
static const double INAPPROPRIATE_PENALTY
the utility penalty for inappropriate (reserved for oncoming traffic or may violate my min gap) strip...
Definition MSPModel_Striping.h:130
MSPModel_Striping::ONCOMING_CONFLICT_PENALTY
static const double ONCOMING_CONFLICT_PENALTY
the utility penalty for oncoming conflicts on stripes (corresponds to meters)
Definition MSPModel_Striping.h:133
MSPModel_Striping::LOOKAHEAD_ONCOMING
static const double LOOKAHEAD_ONCOMING
the distance (in seconds) to look ahead for changing stripes (regarding oncoming pedestrians)
Definition MSPModel_Striping.h:117
MSPModel_Striping::myWalkingAreaFoes
static std::map< const MSEdge *, std::vector< const MSLane * > > myWalkingAreaFoes
Definition MSPModel_Striping.h:491
MSPModel_Striping::getNextLaneObstacles
const Obstacles & getNextLaneObstacles(NextLanesObstacles &nextLanesObs, const MSLane *lane, const MSLane *nextLane, int stripes, int nextDir, double currentLength, int currentDir)
Definition MSPModel_Striping.cpp:705
MSPModel_Striping::DIST_FAR_AWAY
static const double DIST_FAR_AWAY
Definition MSPModel_Striping.h:168
MSPModel_Striping::WalkingAreaPaths
std::map< std::pair< const MSLane *, const MSLane * >, const WalkingAreaPath > WalkingAreaPaths
Definition MSPModel_Striping.h:76
MSPModel_Striping::myWalkingAreaPaths
static WalkingAreaPaths myWalkingAreaPaths
store for walkinArea elements
Definition MSPModel_Striping.h:490
MSPModel::BACKWARD
static const int BACKWARD
Definition MSPModel.h:55
MSPModel::canTraverse
static int canTraverse(int dir, const ConstMSEdgeVector &route, int &passedEdges)
Definition MSPModel.cpp:54
MSPModel::FORWARD
static const int FORWARD
Definition MSPModel.h:54
MSPModel::RANDOM_POS_LAT
static const double RANDOM_POS_LAT
magic value to encode randomized lateral offset for persons when starting a walk
Definition MSPModel.h:68
MSPModel::SIDEWALK_OFFSET
static const double SIDEWALK_OFFSET
the offset for computing person positions when walking on edges without a sidewalk
Definition MSPModel.h:62
MSPModel::UNDEFINED_DIRECTION
static const int UNDEFINED_DIRECTION
Definition MSPModel.h:56
MSPModel::UNSPECIFIED_POS_LAT
static const double UNSPECIFIED_POS_LAT
the default lateral offset for persons when starting a walk
Definition MSPModel.h:65
MSPModel::SAFETY_GAP
static const double SAFETY_GAP
Definition MSPModel.h:59
MSStage::getDestination
const MSEdge * getDestination() const
returns the destination edge
Definition MSStage.cpp:65
MSStage::getArrivalPos
virtual double getArrivalPos() const
Definition MSStage.h:94
MSStage::getDestinationStop
MSStoppingPlace * getDestinationStop() const
returns the destination stop (if any)
Definition MSStage.h:85
MSStage::getLanePosition
Position getLanePosition(const MSLane *lane, double at, double offset) const
get position on lane at length at with orthogonal offset
Definition MSStage.cpp:177
MSStage::getRoutePosition
virtual int getRoutePosition() const
return index of current edge within route
Definition MSStage.h:196
MSStageMoving::getNextRouteEdge
virtual const MSEdge * getNextRouteEdge() const =0
MSStageMoving::checkDepartLane
static const MSLane * checkDepartLane(const MSEdge *edge, SUMOVehicleClass svc, int laneIndex, const std::string &id)
interpret custom depart lane
Definition MSStageMoving.cpp:121
MSStageMoving::getRoute
const std::vector< const MSEdge * > & getRoute() const
Definition MSStageMoving.h:109
MSStageMoving::getDepartLane
int getDepartLane() const
Definition MSStageMoving.h:129
MSStageMoving::moveToNextEdge
virtual bool moveToNextEdge(MSTransportable *transportable, SUMOTime currentTime, int prevDir, MSEdge *nextInternal=nullptr, const bool isReplay=false)=0
move forward and return whether the transportable arrived
MSStageMoving::getMaxSpeed
virtual double getMaxSpeed(const MSTransportable *const transportable=nullptr) const =0
the maximum speed of the transportable
MSStoppingPlace::getNumWaitingPersons
int getNumWaitingPersons() const
get number of persons waiting at this stop
Definition MSStoppingPlace.h:236
MSStoppingPlace::getWaitingCapacity
int getWaitingCapacity() const
get number of persons that can wait at this stop
Definition MSStoppingPlace.h:241
MSTransportableControl::getMovementModel
MSPModel * getMovementModel()
Returns the default movement model for this kind of transportables.
Definition MSTransportableControl.h:267
MSTransportableControl::registerJammed
void registerJammed()
register a jammed transportable
Definition MSTransportableControl.h:170
MSTransportable::getVClass
SUMOVehicleClass getVClass() const
Returns the object's access class.
Definition MSTransportable.cpp:640
MSTransportable::isPerson
bool isPerson() const
Whether it is a person.
Definition MSTransportable.h:63
MSTransportable::getPosition
Position getPosition(const double) const
Return current position (x/y, cartesian)
Definition MSTransportable.h:113
MSTransportable::getVehicleType
const MSVehicleType & getVehicleType() const
Returns the object's "vehicle" type.
Definition MSTransportable.h:144
MSTransportable::getCurrentStageType
MSStageType getCurrentStageType() const
the current stage type of the transportable
Definition MSTransportable.h:223
MSTransportable::getEdge
const MSEdge * getEdge() const
Returns the current edge.
Definition MSTransportable.h:181
MSTransportableStateAdapter
abstract base class for managing callbacks to retrieve various state information from the model
Definition MSPModel.h:154
MSVehicleControl::getVType
MSVehicleType * getVType(const std::string &id=DEFAULT_VTYPE_ID, SumoRNG *rng=nullptr, bool readOnly=false)
Returns the named vehicle type or a sample from the named distribution.
Definition MSVehicleControl.cpp:434
MSVehicle
Representation of a vehicle in the micro simulation.
Definition MSVehicle.h:77
MSVehicle::getWaitingTime
SUMOTime getWaitingTime(const bool accumulated=false) const
Returns the SUMOTime waited (speed was lesser than 0.1m/s)
Definition MSVehicle.h:670
MSVehicle::getPosition
Position getPosition(const double offset=0) const
Return current position (x/y, cartesian)
Definition MSVehicle.cpp:1251
MSVehicle::getBackPositionOnLane
double getBackPositionOnLane(const MSLane *lane) const
Get the vehicle's position relative to the given lane.
Definition MSVehicle.h:398
MSVehicle::getLane
const MSLane * getLane() const
Returns the lane the vehicle is on.
Definition MSVehicle.h:581
MSVehicle::getLateralPositionOnLane
double getLateralPositionOnLane() const
Get the vehicle's lateral position on the lane.
Definition MSVehicle.h:413
MSVehicle::getBackPosition
const Position getBackPosition() const
Definition MSVehicle.cpp:1543
MSVehicle::getSpeed
double getSpeed() const
Returns the vehicle's current speed.
Definition MSVehicle.h:490
MSVehicle::getCarFollowModel
const MSCFModel & getCarFollowModel() const
Returns the vehicle's car following model definition.
Definition MSVehicle.h:969
MSVehicleType
The car-following model and parameter.
Definition MSVehicleType.h:63
MSVehicleType::getWidth
double getWidth() const
Get the width which vehicles of this class shall have when being drawn.
Definition MSVehicleType.h:267
MSVehicleType::getLength
double getLength() const
Get vehicle's length [m].
Definition MSVehicleType.h:107
Named::getIDSecure
static std::string getIDSecure(const T *obj, const std::string &fallBack="NULL")
get an identifier for Named-like object which may be Null
Definition Named.h:67
Named::getID
const std::string & getID() const
Returns the id.
Definition Named.h:74
OptionsCont
A storage for options typed value containers)
Definition OptionsCont.h:89
OptionsCont::getFloat
double getFloat(const std::string &name) const
Returns the double-value of the named option (only for Option_Float)
Definition OptionsCont.cpp:214
OptionsCont::getInt
int getInt(const std::string &name) const
Returns the int-value of the named option (only for Option_Integer)
Definition OptionsCont.cpp:221
OptionsCont::getString
std::string getString(const std::string &name) const
Returns the string-value of the named option (only for Option_String)
Definition OptionsCont.cpp:207
OptionsCont::getBool
bool getBool(const std::string &name) const
Returns the boolean-value of the named option (only for Option_Bool)
Definition OptionsCont.cpp:228
OptionsCont::getOptions
static OptionsCont & getOptions()
Retrieves the options.
Definition OptionsCont.cpp:60
PedestrianRouter::compute
double compute(const E *from, const E *to, double departPos, double arrivalPos, double speed, SUMOTime msTime, const N *onlyNode, std::vector< const E * > &into, bool allEdges=false)
Builds the route between the given edges using the minimum effort at the given time The definition of...
Definition PedestrianRouter.h:84
Position
A point in 2D or 3D with translation and scaling methods.
Definition Position.h:37
Position::INVALID
static const Position INVALID
used to indicate that a position is valid
Definition Position.h:322
Position::distanceTo2D
double distanceTo2D(const Position &p2) const
returns the euclidean distance in the x-y-plane
Definition Position.h:276
Position::x
double x() const
Returns the x-position.
Definition Position.h:55
Position::angleTo2D
double angleTo2D(const Position &other) const
returns the angle in the plane of the vector pointing from here to the other position (in radians bet...
Definition Position.h:286
Position::y
double y() const
Returns the y-position.
Definition Position.h:60
PositionVector
A list of positions.
Definition PositionVector.h:43
PositionVector::length
double length() const
Returns the length.
Definition PositionVector.cpp:531
PositionVector::rotationAtOffset
double rotationAtOffset(double pos) const
Returns the rotation at the given length.
Definition PositionVector.cpp:317
PositionVector::positionAtOffset
Position positionAtOffset(double pos, double lateralOffset=0) const
Returns the position at the given length.
Definition PositionVector.cpp:250
PositionVector::move2side
void move2side(double amount, double maxExtension=100)
move position vector to side using certain amount
Definition PositionVector.cpp:1178
PositionVector::angleAt2D
double angleAt2D(int pos) const
get angle in certain position of position vector (in radians between -M_PI and M_PI)
Definition PositionVector.cpp:1349
PositionVector::extrapolate
void extrapolate(const double val, const bool onlyFirst=false, const bool onlyLast=false)
extrapolate position vector
Definition PositionVector.cpp:1117
PositionVector::bezier
PositionVector bezier(int numPoints)
return a bezier interpolation
Definition PositionVector.cpp:1949
PositionVector::push_back_noDoublePos
void push_back_noDoublePos(const Position &p)
insert in back a non double position
Definition PositionVector.cpp:1422
PositionVector::reverse
PositionVector reverse() const
reverse position vector
Definition PositionVector.cpp:1161
PositionVector::transformToVectorCoordinates
Position transformToVectorCoordinates(const Position &p, bool extend=false) const
return position p within the length-wise coordinate system defined by this position vector....
Definition PositionVector.cpp:964
RandHelper::rand
static double rand(SumoRNG *rng=nullptr)
Returns a random real number in [0, 1)
Definition RandHelper.cpp:94
SUMOTrafficObject::getFloatParam
double getFloatParam(const std::string &paramName, const bool required=false, const double deflt=INVALID_DOUBLE) const
Retrieve a floating point parameter for the traffic object.
Definition SUMOTrafficObject.cpp:58
M_PI
#define M_PI
Definition odrSpiral.cpp:45
MSPModel_Striping::NextLaneInfo
Definition MSPModel_Striping.h:178
MSPModel_Striping::NextLaneInfo::dir
int dir
the direction on the next lane
Definition MSPModel_Striping.h:196
MSPModel_Striping::NextLaneInfo::link
const MSLink * link
the link from the current lane to the next lane
Definition MSPModel_Striping.h:194
MSPModel_Striping::NextLaneInfo::lane
const MSLane * lane
the next lane to be used
Definition MSPModel_Striping.h:192
MSPModel_Striping::Obstacle
information regarding surround Pedestrians (and potentially other things)
Definition MSPModel_Striping.h:210
MSPModel_Striping::Obstacle::speed
double speed
speed relative to lane direction (positive means in the same direction)
Definition MSPModel_Striping.h:224
MSPModel_Striping::Obstacle::xFwd
double xFwd
maximal position on the current lane in forward direction
Definition MSPModel_Striping.h:220
MSPModel_Striping::Obstacle::Obstacle
Obstacle(int dir, double dist=DIST_FAR_AWAY)
create No-Obstacle
Definition MSPModel_Striping.cpp:1452
MSPModel_Striping::Obstacle::closer
bool closer(const Obstacle &o, int dir)
Definition MSPModel_Striping.cpp:1475
MSPModel_Striping::Obstacle::description
std::string description
the id / description of the obstacle
Definition MSPModel_Striping.h:228
MSPModel_Striping::Obstacle::vehicle
const SUMOVehicle * vehicle
a pointer to the vehicle if this obstacle is one
Definition MSPModel_Striping.h:230
MSPModel_Striping::Obstacle::type
ObstacleType type
whether this obstacle denotes a border, a vehicle or a pedestrian
Definition MSPModel_Striping.h:226
MSPModel_Striping::Obstacle::xBack
double xBack
maximal position on the current lane in backward direction
Definition MSPModel_Striping.h:222
MSPModel_Striping::WalkingAreaPath
Definition MSPModel_Striping.h:55
MSPModel_Striping::WalkingAreaPath::to
const MSLane *const to
Definition MSPModel_Striping.h:67
MSPModel_Striping::WalkingAreaPath::length
const double length
Definition MSPModel_Striping.h:72
MSPModel_Striping::WalkingAreaPath::from
const MSLane *const from
Definition MSPModel_Striping.h:66
MSPModel_Striping::WalkingAreaPath::shape
const PositionVector shape
Definition MSPModel_Striping.h:69
MSPModel_Striping::WalkingAreaPath::dir
const int dir
Definition MSPModel_Striping.h:70