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added functions to use trajectories as alignments
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 28 Aug 2014 16:42:13 -0400
parents cae4e5f3fe9f
children d0abd2ee17b9
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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43
6d11d9e7ad4e methods for trajectories and objects
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1 >>> from moving import *
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2 >>> import numpy as np
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3
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4 >>> Interval().empty()
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5 True
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6 >>> Interval(0,1).empty()
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7 False
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8 >>> Interval(0,1)
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9 [0, 1]
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10 >>> Interval(0,1).length()
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11 1.0
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12 >>> Interval(23.2,24.9).length()
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13 1.6999999999999993
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14 >>> Interval(10,8).length()
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15 0.0
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16
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17 >>> TimeInterval(0,1).length()
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18 2.0
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19 >>> TimeInterval(10,8).length()
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20 0.0
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21
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916678481896 corrected bug for TimeInterval interation and added corresponding test
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22 >>> [i for i in TimeInterval(9,13)]
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23 [9, 10, 11, 12, 13]
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25 >>> TimeInterval(2,5).equal(TimeInterval(2,5))
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26 True
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27 >>> TimeInterval(2,5).equal(TimeInterval(2,4))
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28 False
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29 >>> TimeInterval(2,5).equal(TimeInterval(5,2))
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30 False
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31
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32 >>> TimeInterval(3,6).distance(TimeInterval(4,6))
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33 0
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34 >>> TimeInterval(3,6).distance(TimeInterval(6,10))
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35 0
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36 >>> TimeInterval(3,6).distance(TimeInterval(8,10))
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37 2
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38 >>> TimeInterval(20,30).distance(TimeInterval(3,15))
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39 5
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40 >>> unionIntervals([TimeInterval(3,6), TimeInterval(8,10),TimeInterval(11,15)])
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41 [3, 15]
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42
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43 >>> Point(3,4)-Point(1,7)
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44 (2.000000,-3.000000)
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cd342a774806 Point/CurvilinearTrajectory/Interaction utiles
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45 >>> -Point(1,2)
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46 (-1.000000,-2.000000)
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47 >>> Point(1,2).multiply(0.5)
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48 (0.500000,1.000000)
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49
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50 >>> Point(3,2).norm2Squared()
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51 13
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52
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53 >>> Point.distanceNorm2(Point(3,4),Point(1,7))
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54 3.605551275463989
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55
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56 >>> Point(3,2).inPolygonNoShapely(np.array([[0,0],[1,0],[1,1],[0,1]]))
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57 False
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58 >>> Point(3,2).inPolygonNoShapely(np.array([[0,0],[4,0],[4,3],[0,3]]))
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59 True
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60
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61 >>> predictPositionNoLimit(10, Point(0,0), Point(1,1)) # doctest:+ELLIPSIS
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62 ((1.0...,1.0...), (10.0...,10.0...))
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63
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64 >>> segmentIntersection(Point(0,0), Point(0,1), Point(1,1), Point(2,3))
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65 >>> segmentIntersection(Point(0,1), Point(0,3), Point(1,0), Point(3,1))
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66 >>> segmentIntersection(Point(0.,0.), Point(2.,2.), Point(0.,2.), Point(2.,0.))
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67 (1.000000,1.000000)
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68 >>> segmentIntersection(Point(0,1), Point(1,2), Point(2,0), Point(3,2))
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69
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70 >>> left = [(92.291666666666686, 102.99239033124439), (56.774193548387103, 69.688898836168306)]
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71 >>> middle = [(87.211021505376351, 93.390778871978512), (59.032258064516128, 67.540286481647257)]
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72 >>> right = [(118.82392473118281, 115.68263205013426), (63.172043010752688, 66.600268576544309)]
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73 >>> alignments = [left, middle, right]
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74 >>> getSYfromXY(73, 82, alignments)
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75 [1, 0, 73.81997726720346, 81.10617000672484, 18.172277808821125, 18.172277808821125, 1.2129694042343868]
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76 >>> getSYfromXY(78, 83, alignments, 0.5)
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77 [1, 0, 77.03318826883, 84.05388936710071, 13.811799123113715, 13.811799123113715, -1.4301775140225983]
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78
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79 >>> Trajectory().length()
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80 0
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81 >>> t1 = Trajectory([[0.5,1.5,2.5],[0.5,3.5,6.5]])
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82 >>> t1.length() == 3.
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83 True
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84 >>> t1[1]
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85 (1.500000,3.500000)
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86 >>> t1.getTrajectoryInPolygonNoShapely(np.array([[0,0],[4,0],[4,3],[0,3]]))
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87 (0.500000,0.500000)
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88 >>> t1.getTrajectoryInPolygonNoShapely(np.array([[10,10],[14,10],[14,13],[10,13]])).length()
113
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89 0
284
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90
542
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91 >>> t1.differentiate()
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92 (1.000000,3.000000) (1.000000,3.000000)
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93 >>> t1.differentiate(True)
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94 (1.000000,3.000000) (1.000000,3.000000) (1.000000,3.000000)
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95 >>> t1 = Trajectory([[0.5,1.5,3.5],[0.5,2.5,7.5]])
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96 >>> t1.differentiate()
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97 (1.000000,2.000000) (2.000000,5.000000)
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98
576
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99 >>> t1.computeCumulativeDistances()
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100 >>> t1.getDistance(0)
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101 2.23606797749979
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102 >>> t1.getDistance(1)
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103 5.385164807134504
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104 >>> t1.getCumulativeDistance(1)
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105 7.6212327846342935
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106 >>> t1.getCumulativeDistance(2)
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107 Index 2 beyond trajectory length 3-1
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108
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109
369
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110 >>> from utils import LCSS
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111 >>> lcss = LCSS(lambda x,y: Point.distanceNorm2(x,y) <= 0.1)
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112 >>> Trajectory.lcss(t1, t1, lcss)
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113 3
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114 >>> lcss = LCSS(lambda p1, p2: (p1-p2).normMax() <= 0.1)
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115 >>> Trajectory.lcss(t1, t1, lcss)
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116 3
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117
504
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118 >>> p1=Point(0,0)
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119 >>> p2=Point(1,0)
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120 >>> v1 = Point(0.1,0.1)
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121 >>> v2 = Point(-0.1, 0.1)
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122 >>> abs(Point.timeToCollision(p1, p2, v1, v2, 0.)-5.0) < 0.00001
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123 True
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124 >>> abs(Point.timeToCollision(p1, p2, v1, v2, 0.1)-4.5) < 0.00001
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125 True
531
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126 >>> p1=Point(0,1)
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127 >>> p2=Point(1,0)
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128 >>> v1 = Point(0,0.1)
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parents: 524
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129 >>> v2 = Point(0.1, 0)
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parents: 524
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130 >>> Point.timeToCollision(p1, p2, v1, v2, 0.) == None
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
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parents: 524
diff changeset
131 True
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parents: 524
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132 >>> Point.timeToCollision(p2, p1, v2, v1, 0.) == None
f012a8ad7a0e corrected bug in Point.timeToCollision that might result in negative TTCs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 524
diff changeset
133 True
504
a40c75f04903 optimized direct time to collision computation and added tests
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parents: 451
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134
542
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
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135 >>> t = CurvilinearTrajectory(S = [1., 2., 3., 5.], Y = [0.5, 0.5, 0.6, 0.7], lanes = ['1']*4)
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parents: 531
diff changeset
136 >>> t.differentiate() # doctest:+ELLIPSIS
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parents: 531
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137 [1.0, 0.0, '1'] [1.0, 0.099..., '1'] [2.0, 0.099..., '1']
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parents: 531
diff changeset
138 >>> t.differentiate(True) # doctest:+ELLIPSIS
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
139 [1.0, 0.0, '1'] [1.0, 0.099..., '1'] [2.0, 0.099..., '1'] [2.0, 0.099..., '1']
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 531
diff changeset
140
345
fa64b2e3a64f added simple classification based on speed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 284
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141 >>> o1 = MovingObject(positions = Trajectory([[0]*3,[2]*3]), velocities = Trajectory([[0]*3,[1]*3]))
524
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parents: 504
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142 >>> o1.classifyUserTypeSpeedMotorized(0.5, np.median)
345
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diff changeset
143 >>> userTypeNames[o1.getUserType()]
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parents: 284
diff changeset
144 'car'
524
1dced8932b08 corrected bugs
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parents: 504
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145 >>> o1.classifyUserTypeSpeedMotorized(0.5, np.mean)
345
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diff changeset
146 >>> userTypeNames[o1.getUserType()]
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parents: 284
diff changeset
147 'car'
524
1dced8932b08 corrected bugs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 504
diff changeset
148 >>> o1.classifyUserTypeSpeedMotorized(1.5, np.median)
345
fa64b2e3a64f added simple classification based on speed
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parents: 284
diff changeset
149 >>> userTypeNames[o1.getUserType()]
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parents: 284
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150 'pedestrian'