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srl-freiburg / pedsim_ros

Pedestrian simulator powered by the social force model
https://github.com/srl-freiburg/pedsim_ros
BSD 2-Clause "Simplified" License
460 stars 170 forks source link

Size of robot and pedestrians? #21

Closed pirobot closed 7 years ago

pirobot commented 7 years ago

Does anyone know if the pedsim simulator assigns a size (e.g. diameter) to the robot or the pedestrians? Or are they treated as points? I ask because I cannot tell by looking at the RViz animations if the pedestrians are actually avoiding the robot or even each other since the animations appear to pass by each other very closely.

Thanks! patrick

makokal commented 7 years ago

Hi @pirobot , yes the size is set, see Line 43 in the constructor.

This is used in the social force computation. But the weight of other forces may overwhelm this component depending on the context.

pirobot commented 7 years ago

Awesome--thanks @makokal!

RGring commented 5 years ago

Unfortunately I can't access the link. Could you refresh it? Me too, I would need to reconfigure the size of the robot. Thanks already! Ronja

makokal commented 5 years ago

@RGring Here it is: https://github.com/srl-freiburg/pedsim_ros/blob/master/3rdparty/libpedsim/src/ped_agent.cpp#L34