Merge pull request #96 from jerryz123/v2

Fixed pedestrian planning

fluids/assets/pedestrian.py

@@ -3,8 +3,10 @@
 import shapely
 import pygame
 from fluids.assets.shape import Shape
-
+from fluids.assets.car import Car
+from fluids.assets.crosswalk_light import CrossWalkLight
 class Pedestrian(Shape):
+    collideables = [Car, CrossWalkLight]
     def __init__(self, max_vel=2, vel=0, planning_depth=2, **kwargs):
         Shape.__init__(self, color=(255, 250, 150), xdim=20, ydim=20, **kwargs)
         self.max_vel        = max_vel

fluids/sim.py

@@ -307,6 +307,7 @@ def multiagent_plan(self):
                     solver.Add(k1v == 0)
         for k1x in range(len(ped_keys)):
             k1 = ped_keys[k1x]
+            k1v = var_map[k1]
             ped1 = self.state.objects[k1]
             for fl, flc in futures_crosswalks:
                 if abs(ped1.angle - fl.angle) < np.pi / 2: