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annotate python/extrapolation.py @ 268:0c0b92f621f6

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reorganized to compute evasive action for multiple positions
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sat, 28 Jul 2012 02:58:47 -0400
parents 32e88b513f5c
children a9988971aac8
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1 #! /usr/bin/env python
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2 '''Library for moving object extrapolation hypotheses'''
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3
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4 import moving
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5 import math
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6 import random
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7
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8 class ExtrapolatedTrajectory:
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9 '''Class for extrapolated trajectories with lazy evaluation
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10 if the predicted position has not been already computed, compute it
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11
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12 it should also have a probability'''
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13
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14 def __init__(self):
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15 self.probability = 0.
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16 self.predictedPositions = {}
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17 self.predictedSpeedOrientations = {}
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18 self.collisionPoints = {}
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19 self.crossingZones = {}
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20
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21 def predictPosition(self, nTimeSteps):
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22 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
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23 self.predictPosition(nTimeSteps-1)
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24 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.getControl(), self.maxSpeed)
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25 return self.predictedPositions[nTimeSteps]
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26
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27 def getPredictedTrajectory(self):
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28 return moving.Trajectory.fromPointList(self.predictedPositions.values())
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29
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30 def getPredictedSpeeds(self):
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31 return [so.norm for so in self.predictedSpeedOrientations.values()]
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32
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33 def draw(self, options = '', withOrigin = False, **kwargs):
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34 self.getPredictedTrajectory().draw(options, withOrigin, **kwargs)
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35
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36 class ExtrapolatedTrajectoryConstant(ExtrapolatedTrajectory):
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37 '''Extrapolated trajectory at constant speed or acceleration
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38 TODO generalize by passing a series of velocities/accelerations'''
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39
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40 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1, maxSpeed = None):
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41 self.control = control
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42 self.maxSpeed = maxSpeed
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43 self.probability = probability
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44 self.predictedPositions = {0: initialPosition}
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45 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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46
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47 def getControl(self):
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48 return self.control
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49
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50 class ExtrapolatedTrajectoryNormalAdaptation(ExtrapolatedTrajectory):
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51 '''Random small adaptation of vehicle control '''
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52 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1, maxSpeed = None):
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53 '''Constructor
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54 accelerationDistribution and steeringDistribution are distributions
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55 that return random numbers drawn from them'''
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56 self.accelerationDistribution = accelerationDistribution
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57 self.steeringDistribution = steeringDistribution
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58 self.maxSpeed = maxSpeed
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59 self.probability = probability
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60 self.predictedPositions = {0: initialPosition}
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61 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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62
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63 def getControl(self):
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64 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
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65
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66 class ExtrapolationParameters:
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67 def __init__(self, name, maxSpeed):
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68 self.name = name
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69 self.maxSpeed = maxSpeed
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70
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71 def __str__(self):
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72 return '{0} {1}'.format(self.name, self.maxSpeed)
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73
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74 class ConstantExtrapolationParameters(ExtrapolationParameters):
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75 def __init__(self, maxSpeed):
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76 ExtrapolationParameters.__init__(self, 'constant velocity', maxSpeed)
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77
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78 def generateExtrapolatedTrajectories(self, obj, instant):
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79 return [ExtrapolatedTrajectoryConstant(obj.getPositionAtInstant(instant), obj.getVelocityAtInstant(instant),
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80 maxSpeed = self.maxSpeed)]
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81
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82 class NormalAdaptationExtrapolationParameters(ExtrapolationParameters):
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83 def __init__(self, maxSpeed, nExtrapolatedTrajectories, maxAcceleration, maxSteering):
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84 ExtrapolationParameters.__init__(self, 'normal adaptation', maxSpeed)
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85 self.nExtrapolatedTrajectories = nExtrapolatedTrajectories
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86 self.maxAcceleration = maxAcceleration
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87 self.maxSteering = maxSteering
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88 self.accelerationDistribution = lambda: random.triangular(-self.maxAcceleration,
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89 self.maxAcceleration, 0.)
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90 self.steeringDistribution = lambda: random.triangular(-self.maxSteering,
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91 self.maxSteering, 0.)
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92
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93 def __str__(self):
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94 return ExtrapolationParameters.__str__(self)+' {0} {1} {2}'.format(self.nExtrapolatedTrajectories,
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95 self.maxAcceleration,
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96 self.maxSteering)
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97
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98 def generateExtrapolatedTrajectories(self, obj, instant):
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99 extrapolatedTrajectories = []
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100 for i in xrange(self.nExtrapolatedTrajectories):
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101 extrapolatedTrajectories.append(ExtrapolatedTrajectoryNormalAdaptation(obj.getPositionAtInstant(instant),
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102 obj.getVelocityAtInstant(instant),
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103 self.accelerationDistribution,
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104 self.steeringDistribution,
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105 maxSpeed = self.maxSpeed))
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106 return extrapolatedTrajectories
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107
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108 class PointSetExtrapolationParameters(ExtrapolationParameters):
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109 def __init__(self, maxSpeed):
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110 ExtrapolationParameters.__init__(self, 'point set', maxSpeed)
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111
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112 def generateExtrapolatedTrajectories(self, obj, instant):
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113 extrapolatedTrajectories = []
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114 features = [f for f in obj.features if f.existsAtInstant(instant)]
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115 positions = [f.getPositionAtInstant(instant) for f in features]
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116 velocities = [f.getVelocityAtInstant(instant) for f in features]
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117 for initialPosition,initialVelocity in zip(positions, velocities):
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118 extrapolatedTrajectories.append(ExtrapolatedTrajectoryConstant(initialPosition, initialVelocity,
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119 maxSpeed = self.maxSpeed))
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120 return extrapolatedTrajectories
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121
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122 class EvasiveActionExtrapolationParameters(ExtrapolationParameters):
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123 def __init__(self, maxSpeed, nExtrapolatedTrajectories, minAcceleration, maxAcceleration, maxSteering, useFeatures = False):
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124 if useFeatures:
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diff changeset
125 name = 'point set evasive action'
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diff changeset
126 else:
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diff changeset
127 name = 'evasive action'
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diff changeset
128 ExtrapolationParameters.__init__(self, name, maxSpeed)
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diff changeset
129 self.nExtrapolatedTrajectories = nExtrapolatedTrajectories
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diff changeset
130 self.minAcceleration = minAcceleration
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diff changeset
131 self.maxAcceleration = maxAcceleration
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diff changeset
132 self.maxSteering = maxSteering
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diff changeset
133 self.useFeatures = useFeatures
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diff changeset
134 self.accelerationDistribution = lambda: random.triangular(self.minAcceleration,
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diff changeset
135 self.maxAcceleration, 0.)
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diff changeset
136 self.steeringDistribution = lambda: random.triangular(-self.maxSteering,
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diff changeset
137 self.maxSteering, 0.)
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diff changeset
138
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diff changeset
139 def __str__(self):
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140 return ExtrapolationParameters.__str__(self)+' {0} {1} {2} {3}'.format(self.nExtrapolatedTrajectories, self.minAcceleration, self.maxAcceleration, self.maxSteering)
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141
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diff changeset
142 def generateExtrapolatedTrajectories(self, obj, instant):
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143 extrapolatedTrajectories = []
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diff changeset
144 if self.useFeatures:
267
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diff changeset
145 features = [f for f in obj.features if f.existsAtInstant(instant)]
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146 positions = [f.getPositionAtInstant(instant) for f in features]
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147 velocities = [f.getVelocityAtInstant(instant) for f in features]
268
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148 else:
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149 positions = [obj.getPositionAtInstant(instant)]
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150 velocities = [obj.getVelocityAtInstant(instant)]
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151 for i in xrange(self.nExtrapolatedTrajectories):
267
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152 for initialPosition,initialVelocity in zip(positions, velocities):
268
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153 extrapolatedTrajectories.append(ExtrapolatedTrajectoryConstant(initialPosition,
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154 initialVelocity,
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diff changeset
155 moving.NormAngle(self.accelerationDistribution(),
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156 self.steeringDistribution()),
267
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diff changeset
157 maxSpeed = self.maxSpeed))
260
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158 return extrapolatedTrajectories
257
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diff changeset
159
259
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diff changeset
160 class SafetyPoint(moving.Point):
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161 '''Can represent a collision point or crossing zone
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162 with respective safety indicator, TTC or pPET'''
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diff changeset
163 def __init__(self, p, probability = 1., indicator = -1):
258
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diff changeset
164 self.x = p.x
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165 self.y = p.y
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166 self.probability = probability
259
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167 self.indicator = indicator
258
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168
266
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diff changeset
169 @staticmethod
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170 def save(out, points, objNum1, objNum2, instant):
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171 for p in points:
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diff changeset
172 out.write('{0} {1} {2} {3} {4} {5} {6}\n'.format(objNum1, objNum2, instant, p.x, p.y, p.probability, p.indicator))
260
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173
259
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diff changeset
174 def computeExpectedIndicator(points):
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diff changeset
175 from numpy import sum
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176 return sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points])
258
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177
267
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178 def computeCollisionTime(extrapolatedTrajectory1, extrapolatedTrajectory2, collisionDistanceThreshold, timeHorizon):
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diff changeset
179 t = 1
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180 p1 = extrapolatedTrajectory1.predictPosition(t)
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181 p2 = extrapolatedTrajectory2.predictPosition(t)
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diff changeset
182 while t <= timeHorizon and (p1-p2).norm2() > collisionDistanceThreshold:
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diff changeset
183 p1 = extrapolatedTrajectory1.predictPosition(t)
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diff changeset
184 p2 = extrapolatedTrajectory2.predictPosition(t)
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diff changeset
185 t += 1
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186 return t, p1, p2
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187
266
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188 def computeCrossingsCollisionsAtInstant(i, obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon):
257
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189 '''returns the lists of collision points and crossing zones '''
268
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diff changeset
190 extrapolatedTrajectories1 = extrapolationParameters.generateExtrapolatedTrajectories(obj1, i)
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diff changeset
191 extrapolatedTrajectories2 = extrapolationParameters.generateExtrapolatedTrajectories(obj2, i)
266
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diff changeset
192
257
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diff changeset
193 collisionPoints = []
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194 crossingZones = []
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195 for et1 in extrapolatedTrajectories1:
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diff changeset
196 for et2 in extrapolatedTrajectories2:
267
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diff changeset
197 t, p1, p2 = computeCollisionTime(et1, et2, collisionDistanceThreshold, timeHorizon)
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diff changeset
198
257
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diff changeset
199 if t <= timeHorizon:
259
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diff changeset
200 collisionPoints.append(SafetyPoint((p1+p2).multiply(0.5), et1.probability*et2.probability, t))
257
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diff changeset
201 else: # check if there is a crossing zone
258
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diff changeset
202 # TODO? zone should be around the points at which the traj are the closest
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diff changeset
203 # look for CZ at different times, otherwise it would be a collision
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diff changeset
204 # an approximation would be to look for close points at different times, ie the complementary of collision points
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diff changeset
205 cz = None
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diff changeset
206 t1 = 0
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diff changeset
207 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
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diff changeset
208 t2 = 0
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diff changeset
209 while not cz and t2 < timeHorizon:
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diff changeset
210 #if (et1.predictPosition(t1)-et2.predictPosition(t2)).norm2() < collisionDistanceThreshold:
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diff changeset
211 # cz = (et1.predictPosition(t1)+et2.predictPosition(t2)).multiply(0.5)
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diff changeset
212 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
257
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diff changeset
213 if cz:
259
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diff changeset
214 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)))
258
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diff changeset
215 t2 += 1
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diff changeset
216 t1 += 1
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diff changeset
217 return collisionPoints, crossingZones
257
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diff changeset
218
264
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diff changeset
219 def computeCrossingsCollisions(obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon, outCP, outCZ, debug = False, timeInterval = None):
260
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diff changeset
220 collisionPoints={}
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diff changeset
221 crossingZones={}
264
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diff changeset
222 if timeInterval:
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diff changeset
223 commonTimeInterval = timeInterval
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diff changeset
224 else:
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diff changeset
225 commonTimeInterval = obj1.commonTimeInterval(obj2)
260
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diff changeset
226 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
264
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diff changeset
227 print(obj1.num, obj2.num, i)
266
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diff changeset
228 collisionPoints[i], crossingZones[i] = computeCrossingsCollisionsAtInstant(i, obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon)
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diff changeset
229 SafetyPoint.save(outCP, collisionPoints[i], obj1.num, obj2.num, i)
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diff changeset
230 SafetyPoint.save(outCZ, crossingZones[i], obj1.num, obj2.num, i)
260
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diff changeset
231
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diff changeset
232 if debug:
265
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diff changeset
233 from matplotlib.pyplot import figure, axis, title
260
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diff changeset
234 figure()
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diff changeset
235 obj1.draw('r')
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diff changeset
236 obj2.draw('b')
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diff changeset
237 for et in extrapolatedTrajectories1:
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diff changeset
238 et.predictPosition(timeHorizon)
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diff changeset
239 et.draw('rx')
265
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diff changeset
240
260
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diff changeset
241 for et in extrapolatedTrajectories2:
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diff changeset
242 et.predictPosition(timeHorizon)
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diff changeset
243 et.draw('bx')
265
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diff changeset
244 title('instant {0}'.format(i))
260
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diff changeset
245 axis('equal')
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diff changeset
246
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diff changeset
247 return collisionPoints, crossingZones
267
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diff changeset
248
268
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
249 def computeCollisionProbability(obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon, out, debug = False, timeInterval = None):
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
250 collisionProbabilities = {}
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
251 if timeInterval:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
252 commonTimeInterval = timeInterval
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
253 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
254 commonTimeInterval = obj1.commonTimeInterval(obj2)
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
255 for i in list(commonTimeInterval)[:-1]:
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
256 nCollisions = 0
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
257 print(obj1.num, obj2.num, i)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
258 extrapolatedTrajectories1 = extrapolationParameters.generateExtrapolatedTrajectories(obj1, i)
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
259 extrapolatedTrajectories2 = extrapolationParameters.generateExtrapolatedTrajectories(obj2, i)
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
260 for et1 in extrapolatedTrajectories1:
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
261 for et2 in extrapolatedTrajectories2:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
262 t, p1, p2 = computeCollisionTime(et1, et2, collisionDistanceThreshold, timeHorizon)
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
263 if t <= timeHorizon:
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
264 nCollisions += 1
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
265 # take into account probabilities ??
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
266 nSamples = float(len(extrapolatedTrajectories1)*len(extrapolatedTrajectories2))
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
267 collisionProbabilities[i] = float(nCollisions)/nSamples
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
268 out.write('{0} {1} {2} {3} {4}\n'.format(obj1.num, obj2.num, nSamples, i, collisionProbabilities[i]))
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
269
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
270 if debug:
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
271 from matplotlib.pyplot import figure, axis, title
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
272 figure()
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
273 obj1.draw('r')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
274 obj2.draw('b')
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
275 for et in extrapolatedTrajectories1:
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
276 et.predictPosition(timeHorizon)
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
277 et.draw('rx')
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
278
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
279 for et in extrapolatedTrajectories2:
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
280 et.predictPosition(timeHorizon)
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
281 et.draw('bx')
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
282 title('instant {0}'.format(i))
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
283 axis('equal')
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
284
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
285 return collisionProbabilities
260
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
286
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
287 ###############
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
288
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
289 # Default values: to remove because we cannot tweak that from a script where the value may be different
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
290 FPS= 25 # No. of frame per second (FPS)
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
291 vLimit= 25/FPS #assume limit speed is 90km/hr = 25 m/sec
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
292 deltaT= FPS*5 # extrapolatation time Horizon = 5 second
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
293
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
294 def motion (position, velocity, acceleration):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
295 ''' extrapolation hypothesis: constant acceleration'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
296 from math import atan2,cos,sin
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
297 vInit= velocity
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
298 vInitial= velocity.norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
299 theta= atan2(velocity.y,velocity.x)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
300 vFinal= vInitial+acceleration
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
301
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
302 if acceleration<= 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
303 v= max(0,vFinal)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
304 velocity= moving.Point(v* cos(theta),v* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
305 position= position+ (velocity+vInit). multiply(0.5)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
306 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
307 v= min(vLimit,vFinal)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
308 velocity= moving.Point(v* cos(theta),v* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
309 position= position+ (velocity+vInit). multiply(0.5)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
310 return(position,velocity)
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
311
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
312 def motionPET (position, velocity, acceleration, deltaT):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
313 ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
314 from math import atan2,cos,sin,fabs
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
315 vInit= velocity
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
316 vInitial= velocity.norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
317 theta= atan2(velocity.y,velocity.x)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
318 vFinal= vInitial+acceleration * deltaT
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
319 if acceleration< 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
320 if vFinal> 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
321 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
322 position= position+ (vInit+ velocity). multiply(0.5*deltaT)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
323 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
324 T= fabs(vInitial/acceleration)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
325 position= position + vInit. multiply(0.5*T)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
326 elif acceleration> 0 :
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
327 if vFinal<= vLimit:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
328 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
329 position= position+ (vInit+ velocity). multiply(0.5*deltaT)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
330 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
331 time1= fabs((vLimit-vInitial)/acceleration)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
332 velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
333 position= (position+ (velocity+vInit). multiply(0.5*time1)) + (velocity.multiply (deltaT-time1))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
334 elif acceleration == 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
335 position= position + velocity. multiply(deltaT)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
336
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
337 return position
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
338
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
339 def timePET (position, velocity, acceleration, intersectedPoint ):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
340 ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
341 from math import atan2,cos,sin,fabs
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
342 vInit= velocity
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
343 vInitial= velocity.norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
344 theta= atan2(velocity.y,velocity.x)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
345 vFinal= vInitial+acceleration * deltaT
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
346 if acceleration< 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
347 if vFinal> 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
348 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
349 time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
350 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
351 time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x)))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
352 elif acceleration> 0 :
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
353 if vFinal<= vLimit:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
354 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
355 time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
356 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
357 time1= fabs((vLimit-vInitial)/acceleration)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
358 velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
359 time2= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
360 if time2<=time1:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
361 time= time2
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
362 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
363 position2= (position+ (velocity+vInit). multiply(0.5*time1))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
364 time= time1+fabs((intersectedPoint.x-position2.x)/( velocity.x))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
365 elif acceleration == 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
366 time= fabs((intersectedPoint.x-position.x)/(velocity.x))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
367
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
368 return time
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
369
243
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parents: 240
diff changeset
370 def motionSteering (position, velocity, deltaTheta, deltaT ):
244
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parents: 243
diff changeset
371 ''' extrapolation hypothesis: steering with deltaTheta'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
372 from math import atan2,cos,sin
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
373 vInitial= velocity.norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
374 theta= atan2(velocity.y,velocity.x)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
375 newTheta= theta + deltaTheta
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
376 velocity= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
377 position= position+ (velocity). multiply(deltaT)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
378 return position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
379
243
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diff changeset
380 def MonteCarlo(movingObject1,movingObject2, instant):
244
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
381 ''' Monte Carlo Simulation : estimate the probability of collision'''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
382 from random import uniform
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
383 from math import pow, sqrt, sin, cos,atan2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
384 N=1000
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
385 ProbOfCollision = 0
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
386 for n in range (1, N):
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
387 # acceleration limit
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
388 acc1 = uniform(-0.040444,0)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
389 acc2 = uniform(-0.040444,0)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
390 p1= movingObject1.getPositionAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
391 p2= movingObject2.getPositionAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
392 v1= movingObject1.getVelocityAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
393 v2= movingObject2.getVelocityAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
394 distance= (p1-p2).norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
395 distanceThreshold= 1.8
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
396 t=1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
397 while distance > distanceThreshold and t <= deltaT:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
398 # Extrapolation position
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
399 (p1,v1) = motion(p1,v1,acc1)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
400 (p2,v2) = motion(p2,v2,acc2)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
401 distance= (p1-p2).norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
402 if distance <=distanceThreshold:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
403 ProbOfCollision= ProbOfCollision+1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
404 t+=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
405 POC= float(ProbOfCollision)/N
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
406 return POC
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
407
243
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parents: 240
diff changeset
408 def velocitySteering(velocity,steering):
244
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
409 from math import atan2,cos,sin
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
410 vInitial= velocity.norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
411 theta= atan2(velocity.y,velocity.x)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
412 newTheta= theta + steering
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
413 v= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
414 return v
243
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
415
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
416 def MonteCarloSteering(movingObject1,movingObject2, instant,steering1,steering2):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
417 ''' Monte Carlo Simulation : estimate the probability of collision in case of steering'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
418 from random import uniform
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
419 from math import pow, sqrt, sin, cos,atan2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
420 N=1000
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
421 L= 2.4
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
422 ProbOfCollision = 0
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
423 for n in range (1, N):
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
424 # acceleration limit
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
425 acc1 = uniform(-0.040444,0)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
426 acc2 = uniform(-0.040444,0)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
427 p1= movingObject1.getPositionAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
428 p2= movingObject2.getPositionAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
429 vInit1= movingObject1.getVelocityAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
430 v1= velocitySteering (vInit1,steering1)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
431 vInit2= movingObject2.getVelocityAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
432 v2= velocitySteering (vInit2,steering2)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
433 distance= (p1-p2).norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
434 distanceThreshold= 1.8
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
435 t=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
436 while distance > distanceThreshold and t <= deltaT:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
437 # Extrapolation position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
438 (p1,v1) = motion(p1,v1,acc1)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
439 (p2,v2) = motion(p2,v2,acc2)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
440 distance= (p1-p2).norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
441 if distance <=distanceThreshold:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
442 ProbOfCollision= ProbOfCollision+1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
443 t+=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
444 POC= float(ProbOfCollision)/N
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
445 return POC
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
446
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
447
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
448 if __name__ == "__main__":
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
449 import doctest
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
450 import unittest
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
451 suite = doctest.DocFileSuite('tests/extrapolation.txt')
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
452 #suite = doctest.DocTestSuite()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
453 unittest.TextTestRunner().run(suite)
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
454 #doctest.testmod()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
455 #doctest.testfile("example.txt")
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
456