AgentsSourcesManager.cpp 17.4 KB
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/**
 * \file        AgentsSourcesManager.cpp
 * \date        Apr 14, 2015
 * \version     v0.7
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 * \copyright   <2009-2015> Forschungszentrum Jülich GmbH. All rights reserved.
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 *
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 * \section License
 * This file is part of JuPedSim.
 *
 * JuPedSim is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * any later version.
 *
 * JuPedSim is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with JuPedSim. If not, see <http://www.gnu.org/licenses/>.
 *
 * \section Description
 * This class is responsible for materialising agent in a given location at a given frequency up to a maximum number.
 * The optimal position where to put the agents is given by various algorithms, for instance
 * the Voronoi algorithm or the Mitchell Best candidate algorithm.
 *
 **/
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#include "AgentsSourcesManager.h"
#include "Pedestrian.h"
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#include "StartDistribution.h"
#include "PedDistributor.h"
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#include "AgentsSource.h"
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#include "../geometry/Building.h"
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#include "../geometry/Point.h"

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#include "../mpi/LCGrid.h"
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#include <iostream>
#include <thread>
#include <chrono>
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#include "AgentsQueue.h"
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#include "../voronoi-boost/VoronoiPositionGenerator.h"
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#define UNUSED(x) [&x]{}()  // c++11 silence warnings
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using namespace std;

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bool AgentsSourcesManager::_isCompleted=true;
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AgentsSourcesManager::AgentsSourcesManager()
{
}

AgentsSourcesManager::~AgentsSourcesManager()
{
}

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void AgentsSourcesManager::operator()()
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{
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     Run();
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}
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void AgentsSourcesManager::Run()
{
     Log->Write("INFO:\tStarting agent manager thread");

     //Generate all agents required for the complete simulation
     //It might be more efficient to generate at each frequency step
     for (const auto& src : _sources)
     {
          src->GenerateAgentsAndAddToPool(src->GetMaxAgents(), _building);
     }

     //first call ignoring the return value
     ProcessAllSources();

     //the loop is updated each x second.
     //it might be better to use a timer
     _isCompleted = false;
     bool finished = false;
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     long updateFrequency = 1; //TODO parse this from inifile
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     do
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     { //@todo: break if max simulation time is reached.
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          int current_time = (int)Pedestrian::GetGlobalTime();
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          if ((current_time != _lastUpdateTime)
                    && ((current_time % updateFrequency) == 0))
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          {   
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               finished=ProcessAllSources();
               _lastUpdateTime = current_time;
          }
          //wait some time
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          // std::this_thread::sleep_for(std::chrono::milliseconds(1));
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     } while (!finished);
     Log->Write("INFO:\tTerminating agent manager thread");
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     _isCompleted = true;
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}

bool AgentsSourcesManager::ProcessAllSources() const
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{
     bool empty=true;
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     double current_time = Pedestrian::GetGlobalTime();
     std::cout << "\n -- current time: " << current_time << std::endl;
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     for (const auto& src : _sources)
     {
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          if (src->GetPoolSize() && (src->GetPlanTime() <= current_time) )// maybe diff<eps
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          {
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               vector<Pedestrian*> peds;
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               src->RemoveAgentsFromPool(peds,src->GetFrequency());
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               Log->Write("INFO:\tSource %d generating %d agents (%d remaining)",src->GetId(),peds.size(),src->GetPoolSize());
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               //ComputeBestPositionRandom(src.get(), peds);
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               //todo: here every pedestrian needs an exitline
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               if( !ComputeBestPositionVoronoiBoost(src.get(), peds, _building) )
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                    Log->Write("WARNING:\tThere was no place for some pedestrians");
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               AgentsQueueIn::Add(peds);
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               empty = false;
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               src->Dump();
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          }
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          if (src->GetPlanTime() > current_time) // for the case we still expect
                                                 // agents coming
               empty = false;
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          //src->Dump();//exit(0);
     }
     return empty;
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}
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//4 agents frequency, just for an example
void AgentsSourcesManager::ComputeBestPositionDummy(AgentsSource* src,
          vector<Pedestrian*>& peds)const
{
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     UNUSED(src); 
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     peds[0]->SetPos( Point(10,5.5) );
     peds[1]->SetPos( Point(10,4.9) );
     peds[2]->SetPos( Point(10,4.3) );
     peds[3]->SetPos( Point(10,3.7) );

     /*peds[0]->SetPos( Point(10,5.4) );
	peds[1]->SetPos( Point(10,4.6) );
	peds[2]->SetPos( Point(10,3.8) );*/

     for(auto&& ped : peds)
     {
          Point v = (ped->GetExitLine()->ShortestPoint(ped->GetPos())- ped->GetPos()).Normalized();
          double speed=ped->GetV0Norm();
          v=v*speed;
          ped->SetV(v);
     }
}

void AgentsSourcesManager::ComputeBestPositionCompleteRandom(AgentsSource* src,
          vector<Pedestrian*>& peds)const
{
     auto dist = src->GetStartDistribution();
     auto subroom = _building->GetRoom(dist->GetRoomId())->GetSubRoom(dist->GetSubroomID());
     vector<Point> positions = PedDistributor::PossiblePositions(*subroom);

     //TODO: get the seed from the simulation
     srand (time(NULL));

     for (auto& ped : peds)
     {
          if( positions.size() )
          {
               int index = rand()%positions.size();
               Point new_pos = positions[index];
               positions.erase(positions.begin() + index);
               ped->SetPos(new_pos, true);
               AdjustVelocityByNeighbour(ped);
          }
          else
          {
               Log->Write("\t No place for a pedestrian");
               break;
          }
     }

}

/*
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void AgentsSourcesManager::ComputeBestPositionVoronoi(AgentsSource* src,
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          Pedestrian* agent) const
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{
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     auto dist = src->GetStartDistribution();
     double bounds[4];
     dist->Getbounds(bounds);
     int roomID = dist->GetRoomId();
     int subroomID = dist->GetSubroomID();
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     //Get all pedestrians in that location
     vector<Pedestrian*> peds;
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     _building->GetPedestrians(roomID, subroomID, peds);
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     //filter the points that are not within the boundaries
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     for (auto&& iter = peds.begin(); iter != peds.end();)
     {
          const Point& pos = (*iter)->GetPos();
          if ((bounds[0] <= pos._x && pos._x <= bounds[1])
                    && (bounds[1] <= pos._y && pos._y <= bounds[2]))
          {
               iter = peds.erase(iter);
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               cout << "removing (testing only)..." << endl;
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               exit(0);
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          } else
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          {
               ++iter;
          }
     }

     //special case with 1, 2 or only three pedestrians in the area
     if (peds.size() < 3)
     {
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          //TODO/random position in the area
          return;
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     }
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     // compute the cells and cut with the bounds
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     const int count = peds.size();
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     float* xValues = new float[count];
     float* yValues = new float[count];
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     //float xValues[count];
     //float yValues[count];
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     for (int i = 0; i < count; i++)
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     {
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          xValues[i] = peds[i]->GetPos()._x;
          yValues[i] = peds[i]->GetPos()._y;
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     }

     VoronoiDiagramGenerator vdg;
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     vdg.generateVoronoi(xValues, yValues, count, bounds[0], bounds[1],
               bounds[2], bounds[3], 3);
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     vdg.resetIterator();
     vdg.resetVerticesIterator();

     printf("\n------vertices---------\n");
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     //collect the positions
     vector<Point> positions;
     float x1, y1;
     while (vdg.getNextVertex(x1, y1))
     {
          printf("GOT Point (%f,%f)\n", x1, y1);
          positions.push_back(Point(x1, y1));
     }

     //look for the biggest spot
     map<double, Point> map_dist_to_position;

     for (auto&& pos : positions)
     {
          double min_dist = FLT_MAX;

          for (auto&& ped : peds)
          {
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               double dist = (pos - ped->GetPos()).NormSquare();
               if (dist < min_dist)
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               {
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                    min_dist = dist;
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               }
          }
          map_dist_to_position[min_dist] = pos;
     }

     //list the result
     for (auto&& mp : map_dist_to_position)
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     {
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          cout << "dist: " << mp.first << " pos: " << mp.second.toString()
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                                        << endl;
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          //agent->SetPos(mp.second, true);
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     }

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     //the elements are ordered.
     // so the last one has the largest distance
     if (!map_dist_to_position.empty())
     {
          agent->SetPos(map_dist_to_position.rbegin()->second, true);
          cout << "position:" << agent->GetPos().toString() << endl;
          //exit(0);
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     } else
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     {
          cout << "position not set:" << endl;
          cout << "size: " << map_dist_to_position.size() << endl;
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          cout << " for " << peds.size() << " pedestrians" << endl;
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          exit(0);
     }
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     //exit(0);
     // float x1,y1,x2,y2;
     //while(vdg.getNext(x1,y1,x2,y2))
     //{
     //     printf("GOT Line (%f,%f)->(%f,%f)\n",x1,y1,x2, y2);
     //
     //}
     //compute the best position
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     //exit(0);
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}
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 */


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void AgentsSourcesManager::ComputeBestPositionRandom(AgentsSource* src,
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          std::vector<Pedestrian*>& peds) const
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{

     //generate the agents with default positions
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     auto dist = src->GetStartDistribution();
     auto subroom = _building->GetRoom(dist->GetRoomId())->GetSubRoom(
               dist->GetSubroomID());
     vector<Point> positions = PedDistributor::PossiblePositions(*subroom);
     double bounds[4] = { 0, 0, 0, 0 };
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     dist->Getbounds(bounds);

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     std::vector<Pedestrian*> peds_without_place;

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     vector<Point> extra_positions;

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     std::vector<Pedestrian*>::iterator iter_ped;
     for (iter_ped = peds.begin(); iter_ped != peds.end(); )
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     {
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          //need to be called at each iteration
          SortPositionByDensity(positions, extra_positions);

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          int index = -1;
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          double radius = ( (*iter_ped)->GetEllipse() ).GetBmax()   ;
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          //in the case a range was specified
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          //just take the first element
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          for (unsigned int a = 0; a < positions.size(); a++)
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          {
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               Point pos = positions[a];
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               //cout<<"checking: "<<pos.toString()<<endl;
               // for positions inside bounds, check it there is enough space
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               if ((bounds[0] <= pos._x) && (pos._x <= bounds[1])
                         && (bounds[2] <= pos._y) && (pos._y < bounds[3]))
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               {
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            	   bool enough_space = true;

            	   //checking enough space!!
            	   vector<Pedestrian*> neighbours;
            	   _building->GetGrid()->GetNeighbourhood(pos,neighbours);

				   for (const auto& ngh: neighbours)
					   if(  (ngh->GetPos() - pos).NormSquare() < 4*radius*radius )
					   {
							enough_space = false;
							break;
					   }


				   if( enough_space )
				   {
					   index = a;
					   break;
				   }

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               }
          }
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          if (index == -1)
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          {
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               if (positions.size())
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               {
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                    Log->Write(
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                              "ERROR:\t AgentSourceManager Cannot distribute pedestrians in the mentioned area [%0.2f,%0.2f,%0.2f,%0.2f]",
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                              bounds[0], bounds[1], bounds[2], bounds[3]);
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                    Log->Write("     \t Specifying a subroom_id might help");
                    Log->Write("     \t %d positions were available",positions.size());
                    //exit(EXIT_FAILURE);
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               }
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               //dump the pedestrian, move iterator
               peds_without_place.push_back(*iter_ped);
               iter_ped=peds.erase(iter_ped);
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          }
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          else //we found a position with enough space
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          {
               const Point& pos = positions[index];

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			   extra_positions.push_back(pos);
			   (*iter_ped)->SetPos(pos, true); //true for the initial position
			   positions.erase(positions.begin() + index);

			   //at this point we have a position
			   //so we can adjust the velocity
			   //AdjustVelocityUsingWeidmann(ped);
			   AdjustVelocityByNeighbour( (*iter_ped) );
			   //move iterator
			   iter_ped++;

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          }
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          //return the pedestrians without place
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     }
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     if(peds_without_place.size()>0)
         src->AddAgentsToPool(peds_without_place);
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}
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void AgentsSourcesManager::AdjustVelocityByNeighbour(Pedestrian* ped) const
{
     //get the density
     vector<Pedestrian*> neighbours;
     _building->GetGrid()->GetNeighbourhood(ped,neighbours);

     double speed=0.0;
     double radius_square=0.56*0.56;//corresponding to an area of 1m3
     int count=0;

     for(const auto& p: neighbours)
     {
          //only pedes in a sepcific rance
          if( (ped->GetPos()-p->GetPos()).NormSquare()<=radius_square)
          {
               //only peds with the same destination
               if(ped->GetExitIndex()==p->GetExitIndex())
               {
                    double dist1=ped->GetDistanceToNextTarget();
                    double dist2=p->GetDistanceToNextTarget();
                    //only peds in front of me
                    if(dist2<dist1)
                    {
                         speed+=p->GetV().Norm();
                         count++;
                    }
               }
          }

     }
     //mean speed
     if(count==0)
     {
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          speed=ped->GetEllipse().GetV0(); // FIXME:  bad fix for: peds without navline (ar.graf) 
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          //speed=ped->GetV0Norm();
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     }
     else
     {
          speed=speed/count;
     }

     if(ped->FindRoute()!=-1)
     {
          //get the next destination point
          Point v =(ped->GetExitLine()->ShortestPoint(ped->GetPos())- ped->GetPos()).Normalized();
          v=v*speed;
          ped->SetV(v);
     }
     else
     {
          Log->Write("ERROR:\t no route could be found for agent [%d] going to [%d]",ped->GetID(),ped->GetFinalDestination());
          //that will be most probably be fixed in the next computation step.
          // so do not abort
     }

}

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void AgentsSourcesManager::AdjustVelocityUsingWeidmann(Pedestrian* ped) const
{
     //get the density
     vector<Pedestrian*> neighbours;
     _building->GetGrid()->GetNeighbourhood(ped,neighbours);

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     //density in pers per m2
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     double density = 1.0;
     //radius corresponding to a surface of 1m2
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     //double radius_square=0.564*0.564;
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     double radius_square=1.0;
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     for(const auto& p: neighbours)
     {
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          if( (ped->GetPos()-p->GetPos()).NormSquare()<=radius_square)
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               density+=1.0;
     }
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     density=density/(radius_square*M_PI);

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     //get the velocity
     double density_max=5.4;
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     //speed from taken from weidmann FD
     double speed=1.34*(1-exp(-1.913*(1.0/density-1.0/density_max)));
     if(speed>=ped->GetV0Norm())
     {
          speed=ped->GetV0Norm();
     }
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     //set the velocity vector
     if(ped->FindRoute()!=-1)
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     {
          //get the next destination point
          Point v =(ped->GetExitLine()->ShortestPoint(ped->GetPos())- ped->GetPos()).Normalized();
          v=v*speed;
          ped->SetV(v);
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          //cout<<"density: "<<density<<endl;
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     }
     else
     {
          Log->Write("ERROR:\t no route could be found for agent [%d] going to [%d]",ped->GetID(),ped->GetFinalDestination());
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          //that will be most probably be fixed in the next computation step.
          // so do not abort
     }

}

void AgentsSourcesManager::SortPositionByDensity(std::vector<Point>& positions, std::vector<Point>& extra_positions) const
{
     std::multimap<double,Point> density2pt;
     //std::map<double,Point> density2pt;

     for(auto&& pt:positions)
     {
          vector<Pedestrian*> neighbours;
          _building->GetGrid()->GetNeighbourhood(pt,neighbours);
          //density in pers per m2
          double density = 0.0;
          double radius_square=0.40*0.40;

          for(const auto& p: neighbours)
          {
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              //FIXME: p  can be null, if deleted in the main simulation thread.
        	  if( p && (pt-p->GetPos()).NormSquare()<=radius_square)
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                    density+=1.0;
          }

          //consider the extra positions
          for(const auto& ptx: extra_positions)
          {
               if( (ptx-pt).NormSquare()<=radius_square)
                    density+=1.0;
          }
          density=density/(radius_square*M_PI);

          density2pt.insert(std::pair<double,Point>(density,pt));

     }

     //cout<<"------------------"<<positions.size()<<"-------"<<endl;
     positions.clear();
     for(auto&& d: density2pt)
     {
          positions.push_back(d.second);
          //     printf("density [%lf, %s]\n",d.first, d.second.toString().c_str());
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     }
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}
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void AgentsSourcesManager::GenerateAgents()
{

     for (const auto& src : _sources)
     {
          src->GenerateAgentsAndAddToPool(src->GetMaxAgents(), _building);
     }
}

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void AgentsSourcesManager::AddSource(std::shared_ptr<AgentsSource> src)
{
     _sources.push_back(src);
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     _isCompleted=false;//at least one source was provided
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}

const std::vector<std::shared_ptr<AgentsSource> >& AgentsSourcesManager::GetSources() const
{
     return _sources;
}
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void AgentsSourcesManager::SetBuilding(Building* building)
{
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     _building = building;
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}
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bool AgentsSourcesManager::IsCompleted() const
{
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     return _isCompleted;
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}
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Building* AgentsSourcesManager::GetBuilding() const
{
     return _building;
}
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long AgentsSourcesManager::GetMaxAgentNumber() const
{
     long pop=0;
     for (const auto& src : _sources)
     {
          pop+=src->GetMaxAgents();
     }
     return pop;
}