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Midplan plugin added, a mid-term collision avoidance system #164

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14 changes: 14 additions & 0 deletions Ejemplo.bat
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cd Exe
menge.exe -p ../examples/sergio/ejemplo5.xml
menge.exe -p ../examples/sergio/defrente.xml
menge.exe -p ../examples/sergio/Obstaculo.xml
menge.exe -p ../examples/sergio/seguimiento.xml
menge.exe -p ../examples/sergio/puerta.xml
menge.exe -p ../examples/sergio/Ejemplo8.xml
menge.exe -p ../examples/sergio/Ejemplo10.xml
menge.exe -p ../examples/sergio/dosgrupos.xml
menge.exe -p ../examples/sergio/circle.xml
menge.exe -p ../examples/sergio/peqgrupo.xml
menge.exe -p ../examples/sergio/pruebaMid.xml

cmd /k
9 changes: 9 additions & 0 deletions examples/sergio/Ejemplo10.xml
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<?xml version="1.0"?>

<Project
scene="Ejemplo10/S.xml"
behavior="Ejemplo10/B.xml"
view="Ejemplo10/V.xml"
model="orca"
dumpPath="images/test"
/>
32 changes: 32 additions & 0 deletions examples/sergio/Ejemplo10/B.xml
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<?xml version="1.0"?>

<BFSM>
<GoalSet id="0">
<Goal capacity="1000000" id="0" type="point" weight="1.00" x="11.27" y="0"/>
<Goal capacity="1000000" id="1" max_x="-20" max_y="-20" min_x="-40" min_y="-40" type="AABB" weight="1.00"/>
<Goal id="2" type="point" x="-77.57" y="11.03"/>
<Goal id="3" type="point" x="-84.76" y="6.50"/>
</GoalSet>
<State name="WalkOut1" final="0" >
<GoalSelector type="explicit" goal_set="0" goal="0" per_agent="0" />
<VelComponent type="goal" />
</State>
<State name="WalkOut2" final="0" >
<GoalSelector type="explicit" goal_set="0" goal="1" per_agent="0" />
<VelComponent type="goal" />
</State>

<State name="Stop" final="1" >
<GoalSelector type="explicit" goal_set="0" goal="0" per_agent="0" />
<VelComponent type="zero" />
</State>

<Transition from="WalkOut1" to="Stop" >
<Condition type="goal_reached" distance="1.5" />
</Transition>

<Transition from="WalkOut2" to="Stop" >
<Condition type="goal_reached" distance="1.5" />
</Transition>

</BFSM>
288 changes: 288 additions & 0 deletions examples/sergio/Ejemplo10/S.xml
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9 changes: 9 additions & 0 deletions examples/sergio/Ejemplo10/V.xml
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<?xml version="1.0"?>

<View width="640" height="480" z_up="1" >
<Camera xpos="-30.233413" ypos="5.235707" zpos="19.1301" xtgt="-30.233413" ytgt="5.245707" ztgt="0.00012844" far="500" near="0.01" fov="0" orthoScale="0.2"/>
<Light x="1" y="0" z="-1" type="directional" space="camera" diffR="1" diffG="0.8" diffB="0.8"/>
<Light x="-1" y="0" z="-1" type="directional" space="camera" diffR="0.8" diffG="0.8" diffB="1"/>
<Light x="0" y="0" z="1" type="directional" space="world" diffR="0.8" diffG="0.8" diffB="0.8"/>
<Watermark file_name="../../../mengeLogo.png" alignment="bottom_right" scale="0.5" opacity="0.25"/>
</View>
9 changes: 9 additions & 0 deletions examples/sergio/Ejemplo5.xml
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<?xml version="1.0"?>

<Project
scene="Ejemplo5/Ejemplo5S.xml"
behavior="Ejemplo5/Ejemplo5B.xml"
view="Ejemplo5/Ejemplo5V.xml"
model="orca"
dumpPath="images/test"
/>
55 changes: 55 additions & 0 deletions examples/sergio/Ejemplo5/Ejemplo5B.xml
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<?xml version="1.0"?>

<BFSM>
<GoalSet id="0">
<Goal id="0" type="point" x="-63.59" y="6.37"/>
<Goal id="1" type="point" x="-81.65" y="1.33"/>
<Goal id="2" type="point" x="-77.57" y="11.03"/>
<Goal id="3" type="point" x="-84.76" y="6.50"/>
</GoalSet>
<State name="WalkOut1" final="0" >
<GoalSelector type="explicit" goal_set="0" goal="0" per_agent="0" />
<VelComponent type="goal" />
</State>
<State name="WalkOut2" final="0" >
<GoalSelector type="explicit" goal_set="0" goal="1" per_agent="0" />
<VelComponent type="goal" />
</State>
<State name="WalkOut3" final="0" >
<GoalSelector type="explicit" goal_set="0" goal="2" per_agent="0" />
<VelComponent type="goal" />
</State>
<State name="WalkOut4" final="0" >
<GoalSelector type="explicit" goal_set="0" goal="3" per_agent="0" />
<VelComponent type="goal" />
</State>
<State name="Stop1" final="1" >
<GoalSelector type="explicit" goal_set="0" goal="0" per_agent="0" />
<VelComponent type="zero" />
</State>
<State name="Stop2" final="1" >
<GoalSelector type="explicit" goal_set="0" goal="1" per_agent="0" />
<VelComponent type="zero" />
</State>
<State name="Stop3" final="1" >
<GoalSelector type="explicit" goal_set="0" goal="2" per_agent="0" />
<VelComponent type="zero" />
</State>
<State name="Stop4" final="1" >
<GoalSelector type="explicit" goal_set="0" goal="3" per_agent="0" />
<VelComponent type="zero" />
</State>

<Transition from="WalkOut1" to="Stop1" >
<Condition type="goal_reached" distance="1.5" />
</Transition>
<Transition from="WalkOut2" to="Stop2" >
<Condition type="goal_reached" distance="1.5" />
</Transition>
<Transition from="WalkOut3" to="Stop3" >
<Condition type="goal_reached" distance="1.5" />
</Transition>
<Transition from="WalkOut4" to="Stop4" >
<Condition type="goal_reached" distance="1.5" />
</Transition>
</BFSM>
73 changes: 73 additions & 0 deletions examples/sergio/Ejemplo5/Ejemplo5S.xml
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<?xml version="1.0"?>
<Experiment version="2.0">
<SpatialQuery type="kd-tree" test_visibility="true" />

<OpenSteer max_force="8" leak_through="0.1" reaction_time="0.5" />
<Common time_step="0.1" />
<GCF reaction_time="0.5" max_agent_dist="2" max_agent_force="3" agent_interp_width="0.1" agent_force_strength="0.35" />
<Helbing agent_scale="2000" obstacle_scale="4000" reaction_time="0.5" body_force="1200" friction="2400" force_distance="0.015" />
<Johansson agent_scale="25" obstacle_scale="35" reaction_time="0.5" force_distance="0.15" stride_time="0.5" />
<Karamouzas orient_weight="0.8" fov="200" reaction_time="0.4" wall_steepness="2" wall_distance="2" colliding_count="5" d_min="1" d_mid="8" d_max="10" agent_force="4" />
<Zanlungo agent_scale="2000" obstacle_scale="4000" reaction_time="0.5" force_distance="0.005" />
<Dummy stddev="1.0" />

<AgentProfile name="group1">
<OpenSteer tau="3" tauObst="6" />
<Common max_angle_vel="360" max_neighbors="20" obstacleSet="1" neighbor_dist="10" r="0.3" class="1" pref_speed="1.04" max_speed="2" max_accel="5" />
<PedVO factor="1.57" buffer="0.9" tau="3" tauObst="0.1" turningBias="1.0" />
<GCF stand_depth="0.18" move_scale="0.53" slow_width="0.25" sway_change="0.05" />
<Helbing mass="80" />
<Johansson fov_weight="0.16" />
<Karamouzas personal_space="0.69" anticipation="8" />
<ORCA tau="3" tauObst="0.1" />
<Zanlungo mass="80" orient_weight="0.75" />

<VelModifier type="midterm_planning"
trace="0"
/>
</AgentProfile>

<AgentProfile name="group2" inherits="group1" >
<Common class="2" priority="1" />
<Helbing mass="320"/>
</AgentProfile>
<AgentProfile name="group3" inherits="group1" >
<Common class="3" priority="1" />
<Helbing mass="320"/>
</AgentProfile>
<AgentProfile name="group4" inherits="group1" >
<Common class="4" priority="1" />
<Helbing mass="320"/>
</AgentProfile>

<AgentGroup>
<ProfileSelector type="const" name="group1" />
<StateSelector type="const" name="WalkOut1" />
<Generator type="explicit" >
<Agent p_x="-85.75" p_y="6.5" />
</Generator>
</AgentGroup>

<AgentGroup>
<ProfileSelector type="const" name="group2" />
<StateSelector type="const" name="WalkOut2" />
<Generator type="explicit" >
<Agent p_x="-79.9988880304" p_y="10.8579894965" />
</Generator>
</AgentGroup>
<AgentGroup>
<ProfileSelector type="const" name="group3" />
<StateSelector type="const" name="WalkOut3" />
<Generator type="explicit" >
<Agent p_x="-77.6348975244" p_y="1.26694230105" />
</Generator>
</AgentGroup>
<AgentGroup>
<ProfileSelector type="const" name="group4" />
<StateSelector type="const" name="WalkOut4" />
<Generator type="explicit" >
<Agent p_x="-62.6066721653" p_y="6.50149270704" />
</Generator>
</AgentGroup>

</Experiment>
9 changes: 9 additions & 0 deletions examples/sergio/Ejemplo5/Ejemplo5V.xml
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<?xml version="1.0"?>

<View width="640" height="480" z_up="1" >
<Camera xpos="-75.233413" ypos="5.235707" zpos="19.1301" xtgt="-75.233413" ytgt="5.245707" ztgt="0.00012844" far="500" near="0.01" fov="0" orthoScale="0.6"/>
<Light x="1" y="0" z="-1" type="directional" space="camera" diffR="1" diffG="0.8" diffB="0.8"/>
<Light x="-1" y="0" z="-1" type="directional" space="camera" diffR="0.8" diffG="0.8" diffB="1"/>
<Light x="0" y="0" z="1" type="directional" space="world" diffR="0.8" diffG="0.8" diffB="0.8"/>
<Watermark file_name="../../../mengeLogo.png" alignment="bottom_right" scale="0.5" opacity="0.25"/>
</View>
9 changes: 9 additions & 0 deletions examples/sergio/Ejemplo8.xml
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<?xml version="1.0"?>

<Project
scene="Ejemplo8/Ejemplo8S.xml"
behavior="Ejemplo8/Ejemplo8B.xml"
view="Ejemplo8/Ejemplo8V.xml"
model="orca"
dumpPath="images/test"
/>
28 changes: 28 additions & 0 deletions examples/sergio/Ejemplo8/Ejemplo8B.xml
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<?xml version="1.0"?>

<BFSM>
<GoalSet id="0">
<Goal capacity="1000000" id="0" type="point" weight="1.00" x="11.27" y="0.10"/>
<Goal capacity="1000000" id="1" max_x="-13.92" max_y="7.61" min_x="-15.12" min_y="-3.36" type="AABB" weight="1.00"/>
<Goal id="2" type="point" x="-77.57" y="11.03"/>
<Goal id="3" type="point" x="-84.76" y="6.50"/>
</GoalSet>
<State name="WalkOut1" final="0" >
<GoalSelector type="explicit" goal_set="0" goal="0" per_agent="0" />
<VelComponent type="goal" />
</State>
<State name="WalkOut2" final="0" >
<GoalSelector type="explicit" goal_set="0" goal="1" per_agent="0" />
<VelComponent type="zero" />
</State>

<State name="Stop" final="1" >
<GoalSelector type="explicit" goal_set="0" goal="0" per_agent="0" />
<VelComponent type="zero" />
</State>

<Transition from="WalkOut1" to="Stop" >
<Condition type="goal_reached" distance="1.5" />
</Transition>

</BFSM>
100 changes: 100 additions & 0 deletions examples/sergio/Ejemplo8/Ejemplo8S.xml
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<?xml version="1.0"?>
<Experiment version="2.0">
<SpatialQuery type="kd-tree" test_visibility="true" />

<OpenSteer max_force="8" leak_through="0.1" reaction_time="0.5" />
<Common time_step="0.1" />
<GCF reaction_time="0.5" max_agent_dist="2" max_agent_force="3" agent_interp_width="0.1" agent_force_strength="0.35" />
<Helbing agent_scale="2000" obstacle_scale="4000" reaction_time="0.5" body_force="1200" friction="2400" force_distance="0.015" />
<Johansson agent_scale="25" obstacle_scale="35" reaction_time="0.5" force_distance="0.15" stride_time="0.5" />
<Karamouzas orient_weight="0.8" fov="200" reaction_time="0.4" wall_steepness="2" wall_distance="2" colliding_count="5" d_min="1" d_mid="8" d_max="10" agent_force="4" />
<Zanlungo agent_scale="2000" obstacle_scale="4000" reaction_time="0.5" force_distance="0.005" />
<Dummy stddev="1.0" />

<AgentProfile name="group1">
<OpenSteer tau="3" tauObst="6" />
<Common max_angle_vel="360" max_neighbors="10" obstacleSet="1" neighbor_dist="10" r="0.3" class="1" pref_speed="1.04" max_speed="2" max_accel="5" />
<PedVO factor="1.57" buffer="0.9" tau="3" tauObst="0.1" turningBias="1.0" />
<GCF stand_depth="0.18" move_scale="0.53" slow_width="0.25" sway_change="0.05" />
<Helbing mass="80" />
<Johansson fov_weight="0.16" />
<Karamouzas personal_space="0.69" anticipation="8" />
<ORCA tau="3" tauObst="0.1" />
<Zanlungo mass="80" orient_weight="0.75" />

<VelModifier type="midterm_planning"
trace="0"
/>


</AgentProfile>

<AgentProfile name="group2" inherits="group1" >
<Common class="2" priority="1" />
<Helbing mass="320"/>
</AgentProfile>
<AgentProfile name="group3" inherits="group1" >
<Common class="3" priority="1" />
<Helbing mass="320"/>
</AgentProfile>
<AgentProfile name="group4" inherits="group1" >
<Common class="4" priority="1" />
<Helbing mass="320"/>
</AgentProfile>

<AgentGroup>
<ProfileSelector type="const" name="group1" />
<StateSelector type="const" name="WalkOut1" />
<Generator type="explicit" >
<Agent p_x="-12.9" p_y="0.05" />
</Generator>
</AgentGroup>

<AgentGroup>
<ProfileSelector type="const" name="group2" />
<StateSelector type="const" name="WalkOut2" />
<Generator type="explicit" >
<Agent p_x="0.3" p_y="5.55" />
<Agent p_x="1.5" p_y="5.05" />
<Agent p_x="2.7" p_y="5.45" />
<Agent p_x="3.85" p_y="5.25" />
<Agent p_x="4.85" p_y="4.9" />
<Agent p_x="5.85" p_y="5.4" />
<Agent p_x="6.75" p_y="4.95" />
<Agent p_x="7.25" p_y="4.3" />
<Agent p_x="7.6" p_y="3.6" />
<Agent p_x="6.55" p_y="2.95" />
<Agent p_x="7.55" p_y="2.4" />
<Agent p_x="5.2172" p_y="1.92615" />
<Agent p_x="6.7481" p_y="1.5981" />
<Agent p_x="7.22195" p_y="0.68685" />
<Agent p_x="6.2378" p_y="0.83265" />
<Agent p_x="6.49295" p_y="-0.2973" />
<Agent p_x="5.2172" p_y="0.83265" />
<Agent p_x="5.6546" p_y="-0.1515" />
<Agent p_x="4.4153" p_y="0.1401" />
<Agent p_x="5.1443" p_y="-1.245" />
<Agent p_x="3.7592" p_y="-0.39175" />
<Agent p_x="2.8844" p_y="-1.06275" />
<Agent p_x="1.718" p_y="-1.35435" />
<Agent p_x="0.9161" p_y="-2.0469" />
<Agent p_x="0.58805" p_y="-1.13565" />
<Agent p_x="0.7703" p_y="1.19715" />
<Agent p_x="0.7703" p_y="2.43645" />
<Agent p_x="1.60865" p_y="1.70745" />
<Agent p_x="1.7909" p_y="3.129" />
<Agent p_x="2.41055" p_y="0.83265" />
</Generator>
</AgentGroup>
<!---
<ObstacleSet type="explicit" class="1">
<Obstacle closed="1" >
<Vertex p_x="-76.790615" p_y="-0.286537" />
<Vertex p_x="-76.858158" p_y="5.994923" />
<Vertex p_x="-76.081418" p_y="5.994923" />
<Vertex p_x="-76.115189" p_y="-0.218995" />
</Obstacle>
</ObstacleSet>
--->

</Experiment>
9 changes: 9 additions & 0 deletions examples/sergio/Ejemplo8/Ejemplo8V.xml
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<?xml version="1.0"?>

<View width="640" height="480" z_up="1" >
<Camera xpos="-0.233413" ypos="5.235707" zpos="19.1301" xtgt="-0.233413" ytgt="5.245707" ztgt="0.00012844" far="500" near="0.01" fov="0" orthoScale="0.6"/>
<Light x="1" y="0" z="-1" type="directional" space="camera" diffR="1" diffG="0.8" diffB="0.8"/>
<Light x="-1" y="0" z="-1" type="directional" space="camera" diffR="0.8" diffG="0.8" diffB="1"/>
<Light x="0" y="0" z="1" type="directional" space="world" diffR="0.8" diffG="0.8" diffB="0.8"/>
<Watermark file_name="../../../mengeLogo.png" alignment="bottom_right" scale="0.5" opacity="0.25"/>
</View>
9 changes: 9 additions & 0 deletions examples/sergio/MidPlan.xml
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<?xml version="1.0"?>

<Project
scene="MidPlan/MidPlanS.xml"
behavior="MidPlan/MidPlanB.xml"
view="MidPlan/MidPlanV.xml"
model="orca"
dumpPath="images/test"
/>
9 changes: 9 additions & 0 deletions examples/sergio/Obstaculo.xml
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<?xml version="1.0"?>

<Project
scene="Obstaculo/ObstaculoS.xml"
behavior="Obstaculo/ObstaculoB.xml"
view="Obstaculo/ObstaculoV.xml"
model="orca"
dumpPath="puerta/imagenes"
/>
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