src.utils.get_force_map module

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src.utils.get_force_map module#

src.utils.get_force_map.get_force_map(r=10, A=3.0, B=0.6, device='cpu')[source]#

Generate a local repulsive force-field template for the Social Force Model.

Compute a radial repulsive force field centered at the origin, used to model repulsion between obstacles or pedestrians. The result is cached with LRU Cache to avoid repeated computation.

Parameters:

  • r (int, optional) – Radius (half side length) of the force field. The grid size is (2r+1)x(2r+1). Default is 10.

  • A (float, optional) – Strength coefficient of the repulsive force. Default is 3.0.

  • B (float, optional) – Decay range coefficient of the repulsive force. Default is 0.6.

  • device (str, optional) – Device on which the tensor is stored. Default is ‘cpu’.

Returns:

Generated force-field vector map.

Shape: (2r+1, 2r+1, 2), where the last dimension is (fx, fy).

Return type:

torch.Tensor

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