Mercurial Hosting > traffic-intelligence
annotate python/events.py @ 505:35c99776e593
added new lines for README
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 04 Jun 2014 10:56:12 -0400 |
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children | 21bdeb29f855 |
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1 #! /usr/bin/env python |
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2 '''Libraries for events |
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3 Interactions, pedestrian crossing...''' |
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4 |
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5 import numpy as np |
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6 from numpy import arccos |
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7 |
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8 import multiprocessing |
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9 import itertools |
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10 |
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11 import moving, prediction, indicators, utils |
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12 |
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13 __metaclass__ = type |
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14 |
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15 class Interaction(moving.STObject): |
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16 '''Class for an interaction between two road users |
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17 or a road user and an obstacle |
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18 |
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19 link to the moving objects |
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20 contains the indicators in a dictionary with the names as keys |
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21 ''' |
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22 |
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23 categories = {'Head On': 0, |
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24 'rearend': 1, |
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25 'side': 2, |
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26 'parallel': 3} |
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27 |
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28 indicatorNames = ['Collision Course Dot Product', |
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29 'Collision Course Angle', |
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30 'Distance', |
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31 'Minimum Distance', |
341
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32 'Velocity Angle', |
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33 'Speed Differential', |
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34 'Collision Probability', |
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35 'Time to Collision', |
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36 'Probability of Successful Evasive Action', |
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37 'predicted Post Encroachment Time'] |
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38 |
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39 indicatorNameToIndices = utils.inverseEnumeration(indicatorNames) |
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40 |
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41 indicatorShortNames = ['CCDP', |
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42 'CCA', |
341
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43 'Dist', |
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44 'MinDist', |
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45 'VA', |
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46 'SD', |
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47 'PoC', |
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48 'TTC', |
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49 'P(SEA)', |
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50 'pPET'] |
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51 |
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52 indicatorUnits = ['', |
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53 'rad', |
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54 'm', |
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55 'm', |
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56 'rad', |
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57 'm/s', |
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58 '', |
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59 's', |
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60 '', |
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61 ''] |
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62 |
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63 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, roadUser1 = None, roadUser2 = None, categoryNum = None): |
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64 moving.STObject.__init__(self, num, timeInterval) |
339 | 65 self.roadUserNumbers = set([roaduserNum1, roaduserNum2]) |
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66 self.roadUser1 = roadUser1 |
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67 self.roadUser2 = roadUser2 |
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68 self.categoryNum = categoryNum |
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69 self.indicators = {} |
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70 self.interactionInterval = None |
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71 |
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72 def getRoadUserNumbers(self): |
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73 return self.roadUserNumbers |
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74 |
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75 def getIndicator(self, indicatorName): |
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76 return self.indicators.get(indicatorName, None) |
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77 |
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78 def addIndicator(self, indicator): |
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79 if indicator: |
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80 self.indicators[indicator.name] = indicator |
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81 |
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82 def computeIndicators(self): |
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83 '''Computes the collision course cosine only if the cosine is positive''' |
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84 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length()) |
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85 collisionCourseAngles = {} |
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86 velocityAngles = {} |
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87 distances = {}#[0]*int(self.timeInterval.length()) |
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88 speedDifferentials = {} |
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89 interactionInstants = [] |
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90 for instant in self.timeInterval: |
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91 deltap = self.roadUser1.getPositionAtInstant(instant)-self.roadUser2.getPositionAtInstant(instant) |
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92 v1 = self.roadUser1.getVelocityAtInstant(instant) |
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93 v2 = self.roadUser2.getVelocityAtInstant(instant) |
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94 deltav = v2-v1 |
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95 velocityAngles[instant] = arccos(moving.Point.dot(v1, v2)/(v1.norm2()*v2.norm2())) |
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96 collisionCourseDotProducts[instant] = moving.Point.dot(deltap, deltav) |
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97 distances[instant] = deltap.norm2() |
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98 speedDifferentials[instant] = deltav.norm2() |
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99 if collisionCourseDotProducts[instant] > 0: |
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100 interactionInstants.append(instant) |
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101 collisionCourseAngles[instant] = arccos(collisionCourseDotProducts[instant]/(distances[instant]*speedDifferentials[instant])) |
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102 |
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103 if len(interactionInstants) >= 2: |
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104 self.interactionInterval = moving.TimeInterval(interactionInstants[0], interactionInstants[-1]) |
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105 else: |
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106 self.interactionInterval = moving.TimeInterval() |
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107 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[0], collisionCourseDotProducts)) |
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108 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[1], collisionCourseAngles)) |
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109 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[2], distances)) |
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110 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[4], velocityAngles)) |
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111 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[5], speedDifferentials)) |
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112 |
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113 # if we have features, compute other indicators |
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114 if self.roadUser1.features != None and self.roadUser2.features != None: |
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115 minDistance={} |
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116 for instant in self.timeInterval: |
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117 minDistance[instant] = moving.MovingObject.minDistance(self.roadUser1, self.roadUser2, instant) |
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118 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[3], minDistance)) |
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119 |
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120 def computeCrossingsCollisions(self, predictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None): |
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121 '''Computes all crossing and collision points at each common instant for two road users. ''' |
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122 self.collisionPoints={} |
339 | 123 self.crossingZones={} |
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124 TTCs = {} |
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125 |
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126 if timeInterval: |
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127 commonTimeInterval = timeInterval |
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128 else: |
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129 commonTimeInterval = self.timeInterval |
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130 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors |
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131 self.collisionPoints[i], self.crossingZones[i] = predictionParameters.computeCrossingsCollisionsAtInstant(i, self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug) |
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132 if len(self.collisionPoints[i]) > 0: |
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133 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.collisionPoints[i]) |
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134 # add probability of collision, and probability of successful evasive action |
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135 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs)) |
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136 |
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137 if computeCZ: |
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138 pPETs = {} |
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139 for i in list(commonTimeInterval)[:-1]: |
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140 if len(self.crossingZones[i]) > 0: |
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141 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(self.crossingZones[i]) |
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142 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs)) |
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143 |
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144 def addVideoFilename(self,videoFilename): |
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145 self.videoFilename= videoFilename |
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146 |
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147 def addInteractionType(self,interactionType): |
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148 ''' interaction types: conflict or collision if they are known''' |
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149 self.interactionType= interactionType |
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150 |
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151 def createInteractions(objects, _others = None): |
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152 '''Create all interactions of two co-existing road users''' |
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153 if _others != None: |
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154 others = _others |
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155 |
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156 interactions = [] |
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157 num = 0 |
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158 for i in xrange(len(objects)): |
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159 if _others == None: |
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160 others = objects[:i] |
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161 for j in xrange(len(others)): |
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162 commonTimeInterval = objects[i].commonTimeInterval(others[j]) |
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163 if not commonTimeInterval.empty(): |
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164 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, others[j].num, objects[i], others[j])) |
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165 num += 1 |
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166 return interactions |
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167 |
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168 def prototypeCluster(interactions, similarityMatrix, alignmentMatrix, indicatorName, minSimilarity): |
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169 '''Finds exemplar indicator time series for all interactions |
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170 Returns the prototype indices (in the interaction list) and the label of each indicator (interaction) |
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171 |
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172 if an indicator profile (time series) is different enough (<minSimilarity), |
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173 it will become a new prototype. |
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174 Non-prototype interactions will be assigned to an existing prototype''' |
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175 |
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176 # sort indicators based on length |
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177 indices = range(similarityMatrix.shape[0]) |
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178 def compare(i, j): |
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179 if len(interactions[i].getIndicator(indicatorName)) > len(interactions[j].getIndicator(indicatorName)): |
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180 return -1 |
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181 elif len(interactions[i].getIndicator(indicatorName)) == len(interactions[j].getIndicator(indicatorName)): |
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182 return 0 |
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183 else: |
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184 return 1 |
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185 indices.sort(compare) |
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186 # go through all indicators |
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187 prototypeIndices = [indices[0]] |
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188 for i in indices[1:]: |
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189 if similarityMatrix[i][prototypeIndices].max() < minSimilarity: |
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190 prototypeIndices.append(i) |
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191 |
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192 # assignment |
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193 labels = [-1]*similarityMatrix.shape[0] |
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194 indices = [i for i in range(similarityMatrix.shape[0]) if i not in prototypeIndices] |
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195 for i in prototypeIndices: |
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196 labels[i] = i |
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197 for i in indices: |
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198 prototypeIndex = similarityMatrix[i][prototypeIndices].argmax() |
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199 labels[i] = prototypeIndices[prototypeIndex] |
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200 |
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201 return prototypeIndices, labels |
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202 |
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203 def prototypeMultivariateCluster(interactions, similarityMatrics, indicatorNames, minSimilarities, minClusterSize): |
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204 '''Finds exmaple indicator time series (several indicators) for all interactions |
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205 |
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206 if any interaction indicator time series is different enough (<minSimilarity), |
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207 it will become a new prototype. |
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208 Non-prototype interactions will be assigned to an existing prototype if all indicators are similar enough''' |
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209 pass |
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210 |
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211 # TODO: |
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212 #http://stackoverflow.com/questions/3288595/multiprocessing-using-pool-map-on-a-function-defined-in-a-class |
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213 #http://www.rueckstiess.net/research/snippets/show/ca1d7d90 |
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214 def calculateIndicatorPipe(pairs, predParam, timeHorizon=75,collisionDistanceThreshold=1.8): |
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215 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(pairs.roadUser1, pairs.roadUser2, predParam, collisionDistanceThreshold, timeHorizon) |
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216 #print pairs.num |
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217 # Ignore empty collision points |
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218 empty = 1 |
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219 for i in collisionPoints: |
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220 if(collisionPoints[i] != []): |
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221 empty = 0 |
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222 if(empty == 1): |
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223 pairs.hasCP = 0 |
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224 else: |
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225 pairs.hasCP = 1 |
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226 pairs.CP = collisionPoints |
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227 |
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228 # Ignore empty crossing zones |
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229 empty = 1 |
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230 for i in crossingZones: |
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231 if(crossingZones[i] != []): |
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232 empty = 0 |
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233 if(empty == 1): |
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234 pairs.hasCZ = 0 |
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235 else: |
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236 pairs.hasCZ = 1 |
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237 pairs.CZ = crossingZones |
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238 return pairs |
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239 |
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240 def calculateIndicatorPipe_star(a_b): |
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241 """Convert `f([1,2])` to `f(1,2)` call.""" |
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242 return calculateIndicatorPipe(*a_b) |
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243 |
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244 class VehPairs(): |
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245 '''Create a veh-pairs object from objects list''' |
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246 def __init__(self,objects): |
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247 self.pairs = createInteractions(objects) |
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248 self.interactionCount = 0 |
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249 self.CPcount = 0 |
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250 self.CZcount = 0 |
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251 |
292
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252 # Process indicator calculation with support for multi-threading |
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253 def calculateIndicators(self,predParam,threads=1,timeHorizon=75,collisionDistanceThreshold=1.8): |
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254 if(threads > 1): |
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255 pool = multiprocessing.Pool(threads) |
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256 self.pairs = pool.map(calculateIndicatorPipe_star, itertools.izip(self.pairs, itertools.repeat(predParam))) |
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257 pool.close() |
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258 else: |
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259 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Removed in traffic-intelligenc port |
291
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260 for j in xrange(len(self.pairs)): |
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261 #prog.updateAmount(j) #Removed in traffic-intelligenc port |
320
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262 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].roadUser1, self.pairs[j].roadUser2, predParam, collisionDistanceThreshold, timeHorizon) |
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263 |
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264 # Ignore empty collision points |
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265 empty = 1 |
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266 for i in collisionPoints: |
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267 if(collisionPoints[i] != []): |
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268 empty = 0 |
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269 if(empty == 1): |
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270 self.pairs[j].hasCP = 0 |
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271 else: |
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272 self.pairs[j].hasCP = 1 |
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273 self.pairs[j].CP = collisionPoints |
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274 |
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275 # Ignore empty crossing zones |
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276 empty = 1 |
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277 for i in crossingZones: |
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278 if(crossingZones[i] != []): |
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279 empty = 0 |
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280 if(empty == 1): |
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281 self.pairs[j].hasCZ = 0 |
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282 else: |
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283 self.pairs[j].hasCZ = 1 |
292
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284 self.pairs[j].CZ = crossingZones |
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285 |
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286 for j in self.pairs: |
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287 self.interactionCount = self.interactionCount + len(j.CP) |
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288 self.CPcount = len(self.getCPlist()) |
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289 self.Czcount = len(self.getCZlist()) |
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290 |
292
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291 |
291
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292 def getPairsWCP(self): |
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293 lists = [] |
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294 for j in self.pairs: |
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295 if(j.hasCP): |
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296 lists.append(j.num) |
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297 return lists |
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298 |
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299 def getPairsWCZ(self): |
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300 lists = [] |
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301 for j in self.pairs: |
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302 if(j.hasCZ): |
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303 lists.append(j.num) |
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304 return lists |
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305 |
292
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306 def getCPlist(self,indicatorThreshold=99999): |
291
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307 lists = [] |
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308 for j in self.pairs: |
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309 if(j.hasCP): |
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310 for k in j.CP: |
292
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311 if(j.CP[k] != [] and j.CP[k][0].indicator < indicatorThreshold): |
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312 lists.append([k,j.CP[k][0]]) |
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313 return lists |
292
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314 |
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315 def getCZlist(self,indicatorThreshold=99999): |
291
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316 lists = [] |
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317 for j in self.pairs: |
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318 if(j.hasCZ): |
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319 for k in j.CZ: |
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320 if(j.CZ[k] != [] and j.CZ[k][0].indicator < indicatorThreshold): |
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321 lists.append([k,j.CZ[k][0]]) |
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322 return lists |
292
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323 |
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324 def genIndicatorHistogram(self, CPlist=False, bins=range(0,100,1)): |
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325 if(not CPlist): |
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326 CPlist = self.getCPlist() |
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327 if(not CPlist): |
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328 return False |
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329 TTC_list = [] |
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330 for i in CPlist: |
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331 TTC_list.append(i[1].indicator) |
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332 histo = np.histogram(TTC_list,bins=bins) |
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333 histo += (histo[0].astype(float)/np.sum(histo[0]),) |
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334 return histo |
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335 |
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336 class Crossing(moving.STObject): |
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337 '''Class for the event of a street crossing |
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338 |
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339 TODO: detecter passage sur la chaussee |
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340 identifier origines et destination (ou uniquement chaussee dans FOV) |
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341 carac traversee |
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342 detecter proximite veh (retirer si trop similaire simultanement |
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343 carac interaction''' |
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344 |
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345 def __init__(self, roaduserNum = None, num = None, timeInterval = None): |
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346 moving.STObject.__init__(self, num, timeInterval) |
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347 self.roaduserNum = roaduserNum |
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348 |
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349 |
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350 |
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351 if __name__ == "__main__": |
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parents:
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352 import doctest |
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353 import unittest |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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354 suite = doctest.DocFileSuite('tests/events.txt') |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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355 #suite = doctest.DocTestSuite() |
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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356 unittest.TextTestRunner().run(suite) |
61fe73df2d36
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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357 |