GUIDE TO THE DRIVING SIMULATION

Run the simulation ---------------------------------------------------------------------
Step 1: Go to main.py
Step 2: Use default values (that match Salvucci & Gray's parameter values), or modify them...

	Agent features
	  > start_position
	  > size, color, velocity 

	Parameter values
	  > gain values
	  > delta-time, number of frames
	  > initial values of phi, alpha, and delta-alpha

	Animation window
	  > select size of window:
		- window that zooms up to the agent to observe its movements (since the agent is not moving, the window limits don't need to change :( )
		- window that shows the entirety of the road

Step 2: Run the model!
	Window will pop up with the agent, along with near-point and far points and corresponding vectors.

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Look at each step to calculate control adjustment over each time step -------------------------

Step 1: Go to main.py

Step 2: Scroll down to initialize_simulation.init_nearPoint_farPoint_values()
	Initializes nearPoint and farPoint values, and corresponding visual angles before simulation begins
	
Step 3: Scroll down to the animate()
	A function that loops and updates the agent's x and y position per frame.

Step 4: Observe files used for each function
	   > two_point_steering_model.py : calculates x,y displacement using agent's current location and visual angles
	   > calculate_nearpoint_farpoint.py: calculates x,y location of nearPoint and farPoints based on agent's x,y position in the next frame [x(f+1),y(f+1)]
	   > calculate_visual_angles.py : calculates angle between heading vector and the nearPoint and farPoint
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Validate each step ------------------------------------------------------------------------------

Step 1: Go to validate_results.py

Step 2: Observe structure of the file
	A file where you can get a freeze frame from the simulation and observe if the nearPoint and farPoints are correctly placed, and if the visual angles
	are correctly calculated. 

	Simulation agent and objects
	   > current_pos : position of agent 
	   > the rest of the variable values don't matter as much, since you're only simulating a single frame and not using the control law





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