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annotate python/moving.py @ 83:41da2cdcd91c
re-arranged trajectory intersections
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 18 Mar 2011 15:06:16 -0400 |
parents | 5d487f183fe2 |
children | f88a19695bba |
rev | line source |
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1 #! /usr/bin/env python |
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2 '''Libraries for moving objects, trajectories...''' |
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3 |
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4 import utils; |
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5 |
16 | 6 from math import sqrt, hypot; |
7 | |
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8 #from shapely.geometry import Polygon |
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9 |
0
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10 __metaclass__ = type |
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11 |
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12 #class MovingObject: |
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13 |
26 | 14 class Interval: |
15 '''Generic Interval''' | |
16 def __init__(self, first=0, last=-1, revert = False): | |
17 'Warning, do not revert if last<first, it contradicts the definition of empty' | |
18 if revert and last<first: | |
19 self.first=last | |
20 self.last=first | |
21 else: | |
22 self.first=first | |
23 self.last=last | |
2
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24 |
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25 def __str__(self): |
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26 return '%d %d'%(self.first, self.last) |
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27 |
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28 def empty(self): |
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29 return self.first > self.last |
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30 |
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31 def length(self): |
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32 '''Returns the length of the interval''' |
26 | 33 return max(0,self.last-self.first) |
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34 |
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35 def getList(self): |
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36 return [self.first, self.last] |
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37 |
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38 def contains(self, instant): |
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39 return (self.first<=instant and self.last>=instant) |
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40 |
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41 def inside(self, interval2): |
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42 'indicates if the temporal interval of self is comprised in interval2' |
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43 return (self.first >= interval2.first) and (self.last <= interval2.last) |
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44 |
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45 def union(self, interval2): |
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46 '''Largest interval comprising self and interval2''' |
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47 return TimeInterval(min(self.first, interval2.first), max(self.last, interval2.last)) |
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48 |
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49 def intersection(self, interval2): |
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50 '''Largest interval comprising self and interval2''' |
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51 return TimeInterval(max(self.first, interval2.first), min(self.last, interval2.last)) |
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52 |
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53 |
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54 class TimeInterval(Interval): |
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55 '''Temporal interval |
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56 may be modified directly by setting first and last''' |
26 | 57 |
58 def __init__(self, first=0, last=-1): | |
59 Interval.__init__(self, first, last, False) | |
60 | |
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61 def __getitem__(self, i): |
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62 if not self.empty(): |
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63 return self.first+i |
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64 |
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65 def __iter__(self): |
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66 self.iterInstantNum = 0 |
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67 return self |
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68 |
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69 def next(self): |
67
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70 if self.iterInstantNum >= self.length()-1: |
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71 raise StopIteration |
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72 else: |
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73 self.iterInstantNum += 1 |
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74 return self[self.iterInstantNum] |
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75 |
26 | 76 def length(self): |
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77 '''Returns the length of the interval''' |
26 | 78 return max(0,self.last-self.first+1) |
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79 |
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80 # class BoundingPolygon: |
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81 # '''Class for a polygon bounding a set of points |
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82 # with methods to create intersection, unions... |
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83 # ''' |
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84 # We will use the polygon class of Shapely |
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85 |
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86 class STObject: |
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87 '''Class for spatio-temporal object |
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88 i.e. with temporal and spatial existence |
6 | 89 (time interval and bounding polygon for positions (e.g. rectangle)). |
90 It does not mean that the object is defined | |
91 for all time instants within the time interval''' | |
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92 |
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93 def __init__(self, num = None, timeInterval = None, boundingPolygon = None): |
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94 self.num = num |
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95 self.timeInterval = timeInterval |
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96 self.boundingPolygon = boundingPolygon |
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97 |
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98 def empty(self): |
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99 return self.timeInterval.empty() or not self.boudingPolygon |
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100 |
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101 def getFirstInstant(self): |
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102 return self.timeInterval.first |
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103 |
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104 def getLastInstant(self): |
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105 return self.timeInterval.last |
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106 |
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107 def getTimeInterval(self): |
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108 return self.timeInterval |
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109 |
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110 def commonTimeInterval(self, obj2): |
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111 return self.getTimeInterval().intersection(obj2.getTimeInterval()) |
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112 |
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113 class Point: |
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114 def __init__(self, x, y): |
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115 self.x = x |
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116 self.y = y |
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117 |
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118 def __str__(self): |
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119 return '(%f,%f)'%(self.x,self.y) |
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120 |
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121 def __repr__(self): |
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122 return str(self) |
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123 |
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124 def __sub__(self, other): |
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125 return Point(self.x-other.x, self.y-other.y) |
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126 |
41 | 127 def draw(self, options = ''): |
128 from matplotlib.pylab import plot | |
129 plot([self.x], [self.y], 'x'+options) | |
130 | |
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131 def norm2Squared(self): |
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132 '''2-norm distance (Euclidean distance)''' |
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133 return self.x*self.x+self.y*self.y |
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134 |
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135 def norm2(self): |
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136 '2-norm distance (Euclidean distance)' |
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137 return sqrt(self.norm2Squared()) |
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138 |
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139 def aslist(self): |
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140 return [self.x, self.y] |
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141 |
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142 def inPolygon(self, poly): |
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143 '''Returns if the point x, y is inside the polygon. |
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144 The polygon is defined by the ordered list of points in poly |
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145 |
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146 taken from http://www.ariel.com.au/a/python-point-int-poly.html''' |
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147 |
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148 n = len(poly); |
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149 counter = 0; |
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150 |
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151 p1 = poly[0]; |
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152 for i in range(n+1): |
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153 p2 = poly[i % n]; |
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154 if self.y > min(p1.y,p2.y): |
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155 if self.y <= max(p1.y,p2.y): |
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156 if self.x <= max(p1.x,p2.x): |
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157 if p1.y != p2.y: |
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158 xinters = (self.y-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+p1.x; |
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159 if p1.x == p2.x or self.x <= xinters: |
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160 counter+=1; |
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161 p1=p2 |
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162 return (counter%2 == 1); |
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163 |
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164 |
49 | 165 @staticmethod |
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166 def dot(p1, p2): |
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167 return p1.x*p2.x+p1.y*p2.y |
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168 |
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169 @staticmethod |
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170 def distanceNorm2(p1, p2): |
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171 return (p1-p2).norm2() |
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172 |
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173 @staticmethod |
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174 def plotAll(points, color='r'): |
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175 from matplotlib.pyplot import scatter |
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176 scatter([p.x for p in points],[p.y for p in points], c=color) |
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177 |
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178 class Trajectory: |
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179 '''Class for trajectories |
22 | 180 i.e. a temporal sequence of positions |
181 | |
182 the class is iterable.''' | |
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183 |
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184 def __init__(self, positions=None): |
43
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185 self.positions = positions |
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186 |
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187 @staticmethod |
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188 def load(line1, line2): |
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189 return Trajectory([[float(n) for n in line1.split(' ')], |
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190 [float(n) for n in line2.split(' ')]]) |
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191 |
16 | 192 def __str__(self): |
39 | 193 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())]) |
16 | 194 |
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195 def __repr__(self): |
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196 return str(self) |
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197 |
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198 def __getitem__(self, i): |
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199 return Point(self.positions[0][i], self.positions[1][i]) |
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200 |
22 | 201 def __iter__(self): |
202 self.iterInstantNum = 0 | |
203 return self | |
204 | |
205 def next(self): | |
206 if self.iterInstantNum >= self.length(): | |
207 raise StopIteration | |
208 else: | |
209 self.iterInstantNum += 1 | |
23
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210 return self[self.iterInstantNum-1] |
22 | 211 |
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212 def addPositionXY(self, x, y): |
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213 if not self.positions: |
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214 self.positions = [[x],[y]] |
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215 else: |
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216 self.positions[0].append(x) |
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217 self.positions[1].append(y) |
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218 |
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219 def addPosition(self, p): |
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220 self.addPositionXY(p.x, p.y) |
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221 |
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222 def draw(self, options = ''): |
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223 from matplotlib.pylab import plot |
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224 plot(self.positions[0], self.positions[1], options) |
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225 |
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226 def length(self): |
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227 return len(self.positions[0]) |
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228 |
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229 def getXCoordinates(self): |
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230 return self.positions[0] |
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231 |
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232 def getYCoordinates(self): |
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233 return self.positions[1] |
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234 |
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235 def xBounds(self): |
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236 # look for function that does min and max in one pass |
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237 return [min(self.getXCoordinates()), max(self.getXCoordinates())] |
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238 |
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239 def yBounds(self): |
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240 # look for function that does min and max in one pass |
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241 return [min(self.getYCoordinates()), max(self.getYCoordinates())] |
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242 |
43
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243 def add(self, traj2): |
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244 '''Returns a new trajectory of the same length''' |
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245 if self.length() != traj2.length(): |
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246 print 'Trajectories of different lengths' |
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247 return None |
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248 else: |
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249 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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250 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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251 |
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252 def subtract(self, traj2): |
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253 '''Returns a new trajectory of the same length''' |
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254 if self.length() != traj2.length(): |
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255 print 'Trajectories of different lengths' |
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256 return None |
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257 else: |
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258 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())], |
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259 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]]) |
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260 |
16 | 261 def norm(self): |
262 '''Returns the list of the norms at each instant''' | |
263 # def add(x, y): return x+y | |
264 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]]) | |
265 # return sqrt(sq) | |
266 return [hypot(x,y) for x,y in zip(self.positions[0], self.positions[1])] | |
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267 |
49 | 268 def cumulatedDisplacement(self): |
269 displacement = 0 | |
270 for i in xrange(self.length()-1): | |
271 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1)) | |
272 return displacement | |
273 | |
274 def wiggliness(self): | |
275 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1))) | |
276 | |
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277 def getIntersections(self, p1, p2): |
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278 '''Returns a list of the indices at which the trajectory |
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279 intersects with the segment of extremities p1 and p2 the list is empty if there is no crossing''' |
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280 indices = [] |
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281 |
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282 for i in xrange(self.length()-1): |
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283 q1=self.__getitem__(i) |
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284 q2=self.__getitem__(i+1) |
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285 p = utils.segmentIntersection(q1, q2, p1, p2) |
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286 if p: |
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287 if q1.x != q2.x: |
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288 ratio = (p.x-q1.x)/(q2.x-q1.x) |
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289 elif q1.y != q2.y: |
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290 ratio = (p.y-q1.y)/(q2.y-q1.y) |
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291 else: |
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292 ratio = 0 |
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293 indices.append(i+ratio) |
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294 return indices |
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295 |
43
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296 def getTrajectoryInInterval(self, inter): |
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297 if inter.first >=0 and inter.last<= self.length(): |
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298 return Trajectory([self.positions[0][inter.first:inter.last], |
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299 self.positions[1][inter.first:inter.last]]) |
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300 else: |
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301 return None |
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302 |
79
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303 def getTrajectoryInPolygon1(self, polygon): |
19 | 304 'Returns the set of points inside the polygon' |
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305 t = Trajectory() |
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306 for i in xrange(self.length()): |
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307 p = self.__getitem__(i) |
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308 if p.inPolygon(polygon): |
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309 t.addPosition(p) |
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310 if t.length()>0: |
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311 return t |
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312 else: |
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313 return None |
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314 |
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315 # version 2: use shapely polygon contains |
19 | 316 |
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317 ################## |
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318 # Moving Objects |
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319 ################## |
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320 |
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321 userTypeNames = ['car', |
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322 'pedestrian', |
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323 'twowheels', |
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324 'bus' |
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325 'truck'] |
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326 |
7
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327 class MovingObject(STObject): |
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328 '''Class for moving objects |
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329 i.e. with a trajectory and a geometry (volume) (constant) |
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330 and a usertype (e.g. road user) |
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331 ''' |
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332 |
54
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333 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, userType = None): |
7
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334 STObject.__init__(self, num, timeInterval) |
16 | 335 self.positions = positions |
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336 self.geometry = geometry |
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337 self.userType = userType |
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338 # compute bounding polygon from trajectory |
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339 |
43
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340 def getObjectInTimeInterval(self, inter): |
54
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341 '''Returns a new object extracted from self, |
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342 restricted to time interval inter''' |
43
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343 if inter.inside(self.timeInterval): |
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344 inter = TimeInterval(inter.first-self.getFirstInstant(), inter.last-self.getFirstInstant()) |
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345 obj = MovingObject(self.num, inter, self.positions.getTrajectoryInInterval(inter), self.geometry, self.userType) |
43
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346 if self.velocities: |
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347 obj.velocities = self.velocities.getTrajectoryInInterval(inter) |
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348 return obj |
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349 else: |
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350 print 'The object does not exist at '+str(inter) |
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351 return None |
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352 |
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353 def length(self): |
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354 return self.timeInterval.length() |
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355 |
38
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356 def getPositions(self): |
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357 return self.positions |
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358 |
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359 def getVelocities(self): |
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360 return self.velocities |
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361 |
49 | 362 def getSpeeds(self): |
363 return self.getVelocities().norm() | |
364 | |
38
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365 def getPositionAt(self, i): |
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366 return self.positions[i] |
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367 |
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368 def getVelocityAt(self, i): |
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369 return self.velocities[i] |
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370 |
67
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371 def getPositionAtInstant(self, i): |
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372 return self.positions[i-self.getFirstInstant()] |
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373 |
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374 def getVelocityAtInstant(self, i): |
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375 return self.velocities[i-self.getFirstInstant()] |
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376 |
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377 def getXCoordinates(self): |
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378 return self.positions.getXCoordinates() |
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379 |
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380 def getYCoordinates(self): |
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381 return self.positions.getYCoordinates() |
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382 |
25
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383 def draw(self, options = ''): |
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384 self.positions.draw(options) |
22 | 385 |
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386 def getInstantsCrossingLane(self, p1, p2): |
55
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387 '''Returns the instant(s) |
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388 at which the object passes from one side of the segment to the other |
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389 empty list if there is no crossing''' |
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390 indices = self.positions.getIntersections(p1, p2) |
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391 return [t+self.getFirstInstant() for t in indices] |
27
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392 |
67
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393 @staticmethod |
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394 def collisionCourseDotProduct(movingObject1, movingObject2, instant): |
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395 'A positive result indicates that the road users are getting closer' |
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396 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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397 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
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398 return moving.Point.dot(deltap, deltav) |
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399 |
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400 @staticmethod |
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401 def collisionCourseCosine(movingObject1, movingObject2, instant): |
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402 'A positive result indicates that the road users are getting closer' |
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403 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) |
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404 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant) |
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405 return moving.Point.dot(deltap, deltav)/(deltap.norm2()*deltav.norm2()) |
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406 |
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407 def plotRoadUsers(objects, colors): |
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408 '''Colors is a PlottingPropertyValues instance''' |
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409 from matplotlib.pyplot import figure, axis |
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410 figure() |
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411 for obj in objects: |
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412 obj.draw(colors.get(obj.userType)) |
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413 axis('equal') |
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414 |
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415 |
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416 # need for a class representing the indicators, their units, how to print them in graphs... |
6 | 417 class TemporalIndicator: |
418 '''Class for temporal indicators | |
30 | 419 i.e. indicators that take a value at specific instants |
420 | |
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421 values should be |
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422 * a dict, for the values at specific time instants |
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423 * or a list with a time interval object if continuous measurements |
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424 |
30 | 425 it should have more information like name, unit''' |
426 | |
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427 def __init__(self, name, values, timeInterval=None): |
30 | 428 self.name = name |
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429 self.isCosine = name.find('Cosine') |
30 | 430 self.values = values |
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431 self.timeInterval = timeInterval |
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432 if timeInterval: |
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433 assert len(values) == timeInterval.length() |
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434 |
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435 def empty(self): |
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436 return len(self.values) == 0 |
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437 |
69
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438 def __getitem__(self, i): |
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439 if self.timeInterval: |
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440 if self.timeInterval.contains(i): |
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441 return self.values[i-self.timeInterval.first] |
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442 else: |
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443 if i in self.values.keys(): |
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444 return self.values[i] |
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445 return None # default |
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446 |
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447 def __iter__(self): |
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448 self.iterInstantNum = 0 # index in the interval or keys of the dict |
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449 return self |
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450 |
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451 def next(self): |
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452 if self.iterInstantNum >= len(self.values):#(self.timeInterval and self.iterInstantNum>=self.timeInterval.length())\ |
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453 # or (self.iterInstantNum >= self.values) |
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454 raise StopIteration |
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455 else: |
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456 self.iterInstantNum += 1 |
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457 if self.timeInterval: |
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458 return self.values[self.iterInstantNum-1] |
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459 else: |
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460 return self.values.values()[self.iterInstantNum-1] |
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461 |
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462 def getValues(self): |
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463 if self.timeInterval: |
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464 return self.values |
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465 else: |
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466 return self.values.values() |
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467 |
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468 def getAngleValues(self): |
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469 '''if the indicator is a function of an angle, |
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470 transform it to an angle (eg cos) |
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471 (no transformation otherwise)''' |
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472 from numpy import arccos |
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473 values = self.getValues() |
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474 if self.isCosine >= 0: |
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475 return [arccos(c) for c in values] |
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476 else: |
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477 return values |
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478 |
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479 class SeverityIndicator(TemporalIndicator): |
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480 '''Class for severity indicators |
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481 field mostSevereIsMax is True |
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482 if the most severe value taken by the indicator is the maximum''' |
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483 |
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484 def __init__(self, name, values, timeInterval=None, mostSevereIsMax=True, ignoredValue = None): |
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485 TemporalIndicator.__init__(self, name, values, timeInterval) |
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486 self.mostSevereIsMax = mostSevereIsMax |
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487 self.ignoredValue = ignoredValue |
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488 |
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489 def getMostSevereValue(self, minNInstants=1): |
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490 from matplotlib.mlab import find |
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491 from numpy.core.multiarray import array |
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492 from numpy.core.fromnumeric import mean |
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493 values = array(self.values.values()) |
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494 if self.ignoredValue: |
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495 indices = find(values != self.ignoredValue) |
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496 else: |
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497 indices = range(len(values)) |
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498 if len(indices) >= minNInstants: |
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499 values = sorted(values[indices], reverse = self.mostSevereIsMax) # inverted if most severe is max -> take the first values |
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500 return mean(values[:minNInstants]) |
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501 else: |
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502 return None |
6 | 503 |
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504 def indicatorMap(indicatorValues, trajectory, squareSize): |
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505 '''Returns a dictionary |
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506 with keys for the indices of the cells (squares) |
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507 in which the trajectory positions are located |
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508 at which the indicator values are attached |
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509 |
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510 ex: speeds and trajectory''' |
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511 |
65
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512 from numpy import floor, mean |
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513 assert len(indicatorValues) == trajectory.length() |
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514 indicatorMap = {} |
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515 for k in xrange(trajectory.length()): |
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516 p = trajectory[k] |
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517 i = floor(p.x/squareSize) |
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518 j = floor(p.y/squareSize) |
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519 if indicatorMap.has_key((i,j)): |
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520 indicatorMap[(i,j)].append(indicatorValues[k]) |
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521 else: |
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522 indicatorMap[(i,j)] = [indicatorValues[k]] |
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523 for k in indicatorMap.keys(): |
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524 indicatorMap[k] = mean(indicatorMap[k]) |
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525 return indicatorMap |
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526 |
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527 def combineIndicatorMaps(maps, squareSize, combinationFunction): |
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528 '''Puts many indicator maps together |
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529 (averaging the values in each cell |
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530 if more than one maps has a value)''' |
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531 #from numpy import mean |
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532 indicatorMap = {} |
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533 for m in maps: |
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534 for k,v in m.iteritems(): |
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535 if indicatorMap.has_key(k): |
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536 indicatorMap[k].append(v) |
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537 else: |
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538 indicatorMap[k] = [v] |
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539 for k in indicatorMap.keys(): |
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540 indicatorMap[k] = combinationFunction(indicatorMap[k]) |
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541 return indicatorMap |
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542 |
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543 if __name__ == "__main__": |
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544 import doctest |
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545 import unittest |
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546 suite = doctest.DocFileSuite('tests/moving.txt') |
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547 #suite = doctest.DocTestSuite() |
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548 unittest.TextTestRunner().run(suite) |
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549 #doctest.testmod() |
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550 #doctest.testfile("example.txt") |
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551 |