roundabout

carla_roundabout.xml

<?xml version="1.0"?>

<Project 
	scene="carla_roundabout/carla_roundaboutS.xml" 
	behavior="carla_roundabout/carla_roundaboutB.xml" 
	view="carla_roundabout/carla_roundaboutV.xml" 
	model="orca"
	dumpPath="images/carla_roundabout"
/>

carla_roundaboutB.xml

<?xml version="1.0"?>

<BFSM>
	<GoalSet id="0">
	    <Goal capacity="10000" id="0" type="AABB" weight="1.00" max_x="-19.90" min_x="-22.68" max_y="1.28" min_y="0.58"/>
        <Goal capacity="10000" id="1" type="AABB" weight="1.00" max_x="-17.10" min_x="-19.92" max_y="1.28" min_y="0.57"/>
        <Goal capacity="10000" id="2" type="AABB" weight="1.00" max_x="-15.00" min_x="-17.11" max_y="1.25" min_y="0.58"/>
        <Goal capacity="10000" id="3" type="AABB" weight="1.00" max_x="-12.70" min_x="-14.99" max_y="1.28" min_y="0.63"/>
        <Goal capacity="10000" id="4" type="AABB" weight="1.00" max_x="-21.44" min_x="-22.35" max_y="15.78" min_y="10.98"/>
        <Goal capacity="10000" id="6" type="AABB" weight="1.00" max_x="-11.50" min_x="-14.63" max_y="-8.82" min_y="-9.57"/>
        <Goal capacity="10000" id="7" type="AABB" weight="1.00" max_x="-16.70" min_x="-18.96" max_y="-18.27" min_y="-19.02"/>
        <Goal capacity="10000" id="8" type="AABB" weight="1.00" max_x="-16.70" min_x="-18.77" max_y="-21.25" min_y="-21.74"/>
        <Goal capacity="10000" id="9" type="AABB" weight="1.00" max_x="-19.10" min_x="-19.72" max_y="-18.83" min_y="-20.87"/>
        <Goal capacity="10000" id="10" type="AABB" weight="1.00" max_x="-10.40" min_x="-14.15" max_y="-24.43" min_y="-24.98"/>
        <Goal capacity="10000" id="11" type="AABB" weight="1.00" max_x="-17.20" min_x="-20.14" max_y="-29.16" min_y="-29.98"/>
        <Goal capacity="10000" id="12" type="AABB" weight="1.00" max_x="-12.50" min_x="-14.48" max_y="-29.23" min_y="-29.98"/>
        <Goal capacity="10000" id="13" type="AABB" weight="1.00" max_x="4.21" min_x="1.06" max_y="-27.13" min_y="-27.55"/>
        <Goal capacity="10000" id="14" type="AABB" weight="1.00" max_x="18.10" min_x="15.99" max_y="-27.93" min_y="-28.62"/>
        <Goal capacity="10000" id="15" type="AABB" weight="1.00" max_x="14.60" min_x="13.81" max_y="-24.41" min_y="-26.47"/>
        <Goal capacity="10000" id="16" type="AABB" weight="1.00" max_x="20.30" min_x="19.48" max_y="-23.11" min_y="-24.99"/>
        <Goal capacity="10000" id="17" type="AABB" weight="1.00" max_x="18.50" min_x="16.08" max_y="-22.01" min_y="-22.90"/>
        <Goal capacity="10000" id="18" type="AABB" weight="1.00" max_x="8.97" min_x="6.64" max_y="-13.60" min_y="-14.41"/>
        <Goal capacity="10000" id="19" type="AABB" weight="1.00" max_x="6.63" min_x="5.85" max_y="-11.45" min_y="-13.44"/>
        <Goal capacity="10000" id="21" type="AABB" weight="1.00" max_x="-3.24" min_x="-5.63" max_y="-7.21" min_y="-7.96"/>
        <Goal capacity="10000" id="22" type="AABB" weight="1.00" max_x="-6.82" min_x="-7.74" max_y="-8.45" min_y="-10.78"/>
        <Goal capacity="10000" id="23" type="AABB" weight="1.00" max_x="4.68" min_x="-1.38" max_y="8.84" min_y="8.24"/>
        <Goal capacity="10000" id="24" type="AABB" weight="1.00" max_x="18.20" min_x="15.80" max_y="16.89" min_y="15.96"/>
        <Goal capacity="10000" id="25" type="AABB" weight="1.00" max_x="19.30" min_x="18.41" max_y="19.23" min_y="17.09"/>
        <Goal capacity="10000" id="26" type="AABB" weight="1.00" max_x="18.10" min_x="15.87" max_y="20.24" min_y="19.52"/>
        <Goal capacity="10000" id="27" type="AABB" weight="1.00" max_x="2.78" min_x="-0.67" max_y="28.33" min_y="27.36"/>
        <Goal capacity="10000" id="28" type="AABB" weight="1.00" max_x="-6.06" min_x="-9.02" max_y="28.14" min_y="27.03"/>
        <Goal capacity="10000" id="29" type="AABB" weight="1.00" max_x="-2.97" min_x="-6.01" max_y="28.14" min_y="27.09"/>
        <Goal capacity="10000" id="30" type="AABB" weight="1.00" max_x="-19.30" min_x="-21.66" max_y="24.76" min_y="23.67"/>
        <Goal capacity="10000" id="31" type="AABB" weight="1.00" max_x="-17.00" min_x="-19.56" max_y="28.54" min_y="27.68"/>
        <Goal capacity="10000" id="32" type="AABB" weight="1.00" max_x="12.80" min_x="12.01" max_y="8.67" min_y="6.33"/>
        <Goal capacity="10000" id="33" type="AABB" weight="1.00" max_x="12.80" min_x="12.03" max_y="6.20" min_y="3.67"/>
        <Goal capacity="10000" id="34" type="AABB" weight="1.00" max_x="21.50" min_x="19.54" max_y="-3.46" min_y="-4.23"/>
        <Goal capacity="10000" id="35" type="AABB" weight="1.00" max_x="-13.20" min_x="-15.25" max_y="18.47" min_y="17.79"/>
        <Goal capacity="10000" id="36" type="AABB" weight="1.00" max_x="-10.70" min_x="-11.57" max_y="22.44" min_y="20.39"/>
        <Goal capacity="10000" id="37" type="AABB" weight="1.00" max_x="2.86" min_x="0.04" max_y="17.34" min_y="16.36"/>
        <Goal capacity="10000" id="38" type="AABB" weight="1.00" max_x="5.47" min_x="3.04" max_y="17.25" min_y="16.34"/>
        <Goal capacity="10000" id="39" type="AABB" weight="1.00" max_x="21.40" min_x="20.51" max_y="-13.89" min_y="-15.81"/>
        <Goal capacity="10000" id="40" type="AABB" weight="1.00" max_x="21.50" min_x="20.51" max_y="-15.91" min_y="-18.43"/>
        <Goal capacity="10000" id="41" type="AABB" weight="1.00" max_x="19.60" min_x="18.75" max_y="7.24" min_y="4.45"/>
	</GoalSet>


	
		<State name="Walk" final="0" >
			<GoalSelector type="random" goal_set="0" per_agent="1" />
			<VelComponent type="road_map" file_name="graph.txt"/>
		</State>

		<State name="Arrive" final="0">
			<VelComponent type="zero"/>
			<Action type="offset_property" property="priority" dist="c" value="1.0" exit_reset="0"/>
		</State>
		<State name="Decide" final="0">
			<VelComponent type="zero"/>
		</State>
		<State name="Happy" final="0">
			<VelComponent type="zero"/>
		</State>
		<State name="Angry" final="0">
			<VelComponent type="zero"/>
		</State>



		<Transition from="Walk" to="Arrive" >
			<Condition type="goal_reached" distance="0.4" />
		</Transition>

		<Transition from="Arrive" to="Decide" >
			<Condition type="timer" dist="u" min="2" max="4" seed="5" per_agent="1" />
		</Transition>

		<Transition from="Decide" >
			<Condition type="auto" />
			<Target type="prob">
				<State name="Happy" weight="1.0" />
				<State name="Angry" weight="1.0" />
			</Target>
		</Transition>

		<Transition from="Happy" to="Walk" >
			<Condition type="timer" dist="u" min="4" max="6" seed="6" per_agent="1" />
		</Transition>

		<Transition from="Angry" to="Walk" >
			<Condition type="timer" dist="u" min="1" max="2" seed="7" per_agent="1" />
		</Transition>

</BFSM>

carla_roundaboutS.xml

<?xml version="1.0"?>
<Experiment version="2.0">
	<SpatialQuery type="kd-tree" test_visibility="false" />
	
	<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" nu_agent="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="180" max_neighbors="10" obstacleSet="1" neighbor_dist="5" r="0.19" class="4" pref_speed="1.04" max_speed="2" max_accel="5" external="0" />
		<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" orient_weight="0.75" />
        <Helbing mass="80" />
        <Johansson fov_weight="0.16" />
        <Karamouzas personal_space="0.69" anticipation="8" />
        <ORCA tau="3" tauObst="0.15" />
        <Zanlungo mass="80" orient_weight="0.75" />
	</AgentProfile>

	<AgentProfile name="robot" inherits="group1" >
		<ORCA tau="3" tauObst="0.15" />
		<Common class="3" r="0.3" external="1"/>
		<Helbing mass="320"/>
	</AgentProfile>

	<AgentGroup>
                <ProfileSelector type="const" name="robot" />
		<StateSelector type="const" name="Walk" />
		<Generator type="explicit">
			<Agent p_x="22.00" p_y="-20.00"/>
		</Generator>
        </AgentGroup>


	<AgentGroup>
        <ProfileSelector type="const" name="group1" />
		<StateSelector type="const" name="Walk" />
		<Generator type="explicit">
			<Agent p_x="22.3" p_y="-12.375" />
 			<Agent p_x="22.6625" p_y="-16.98125" />
		</Generator>
	</AgentGroup>
	
	<ObstacleSet type="explicit" class="1">

		<Obstacle closed="1" >
			<Vertex p_x="-0.180494" p_y="-4.075476" />
			<Vertex p_x="-0.180495" p_y="-2.075475" />
			<Vertex p_x="1.819505" p_y="-2.075475" />
			<Vertex p_x="1.819505" p_y="-4.075475" />
		</Obstacle>


	</ObstacleSet>
</Experiment>

carla_roundaboutV.xml

<?xml version="1.0"?>

<View width="640" height="480" >
    <!-- Multiple cameras are mapped to a key from 1-9 in the order they are defined here -->
	<Camera xpos="0" ypos="19.13" zpos="0.01" xtgt="0" ytgt="0" ztgt="0" far="500" near="0.01" fov="0.0" orthoScale="0.148687" />
	<Camera xpos="-50.4039" ypos="42.0134" zpos="-1.68529" xtgt="-2.92525" ytgt="-3.08614" ztgt="-1.48571" far="500" near="0.01" fov="45" />
	<Camera xpos="9.66527" ypos="19.1216" zpos="16.1774" xtgt="9.66527" ytgt="-0.00845144" ztgt="16.1674" far="500" near="0.01" fov="0.0" orthoScale="0.143958" />
	<Camera xpos="9.83013" ypos="25.4353" zpos="49.3125" xtgt="-1.6328" ytgt="-0.234482" ztgt="9.07047" far="500" near="0.01" fov="45" />
	<Camera xpos="0" ypos="19.13" zpos="0.01" xtgt="0" ytgt="0" ztgt="0" far="500" near="0.01" fov="0.0" orthoScale="1" />
	<Camera xpos="-4.69053" ypos="19.1347" zpos="-8.93903" xtgt="-4.69053" ytgt="0.00467801" ztgt="-8.94903" far="500" near="0.01" fov="0.0" orthoScale="0.774902" />
	<!-- Comment out lights for a constant-illuminated visualization -->
	<Light x="1" y="0" z="-1" type="directional" diffR="1.0" diffG="0.8" diffB="0.8" space="camera"/>
	<Light x="-1" y="0" z="-1" type="directional" diffR="0.8" diffG="0.8" diffB="1.0" space="camera"/>
	<Light x="0" y="1" z="0" type="directional" diffR="0.8" diffG="0.8" diffB="0.8" space="world"/> 
</View>

graph.txt

4
1 -0.573941 -1.665726
2 2.013104 -1.654334
2 2.192536 -4.192012
1 0.141887 -4.653408
3
0 1
2 1
3 2