interactions.py.bak

import numpy as np 
from dynamics_utils import Phase


class interactions:

    def RepulsionLin(self,OutputVelocity,Phase,V_Rep_l,p_l,R_0_l,WhichAgent,Dim_l,normlize):

       OutputVelocity = np.zeros((1,3),dtype = float)
       AgentsCoordinates = Phase.Coordinates[WhichAgent]

       DifferenceVector = np.zeros((1,3),dtype = float) 

       for i in range(Phase.NumberOfAgents):
           if (i == WhichAgent):
               continue
            
            NeighbourCoordinates = Phase.Coordinate[i]
            DifferenceVector = AgentsCoordinates - NeighbourCoordinates





    def SigmoidLin(self,x,p,v_max,r0) 
        '''
        对应文章中的斥力部分的计算公式
        v_rep = p_rep*(r_0_rep-r_ij)
        '''
        self.vel = (r0-x) * p
        if (p<=0 || vel<=0)
            return 0
        if (vel >= v_max)
            return v_max
        return vel