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annotate python/moving.py @ 26:54d9cb0c902b

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generalized intervals
author Nicolas Saunier <nico@confins.net>
date Sat, 05 Dec 2009 12:31:28 -0500
parents 28e546861263
children 44689029a86f
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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
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6 from math import sqrt, hypot;
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7
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8 from shapely.geometry import Polygon
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9
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10 __metaclass__ = type
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11
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12 #class MovingObject:
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13
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14 class Interval:
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15 '''Generic Interval'''
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16 def __init__(self, first=0, last=-1, revert = False):
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17 'Warning, do not revert if last<first, it contradicts the definition of empty'
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18 if revert and last<first:
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19 self.first=last
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20 self.last=first
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21 else:
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22 self.first=first
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23 self.last=last
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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 __iter__(self):
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29 self.iterInstantNum = 0
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30 return self
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31
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32 def next(self):
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33 if self.iterInstantNum >= self.length():
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34 raise StopIteration
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35 else:
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36 self.iterInstantNum += 1
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37 return self.first+self.iterInstantNum
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38
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39 def empty(self):
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40 '''
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41 >>> Interval().empty()
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42 True
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43 >>> Interval(0,1).empty()
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44 False
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45 '''
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46 return self.first > self.last
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47
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48 def length(self):
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49 '''Returns the length of the interval
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50
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51 >>> Interval(0,1).length()
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52 1
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53 >>> Interval(23.2,24.9).length()
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54 1.6999999999999993
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55 >>> Interval(10,8).length()
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56 0
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57 '''
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58 return max(0,self.last-self.first)
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59
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60 def getList(self):
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61 return [self.first, self.last]
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62
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63 def contains(self, instant):
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64 return (self.first<=instant and self.last>=instant)
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65
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66 def inside(self, interval2):
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67 'indicates if the temporal interval of self is comprised in interval2'
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68 return (self.first >= interval2.first) and (self.last <= interval2.last)
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69
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70 def union(self, interval2):
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71 '''Largest interval comprising self and interval2'''
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72 return TimeInterval(min(self.first, interval2.first), max(self.last, interval2.last))
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73
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74 def intersection(self, interval2):
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75 '''Largest interval comprising self and interval2'''
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76 return TimeInterval(max(self.first, interval2.first), min(self.last, interval2.last))
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77
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78 def TimeInterval(Interval):
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79 '''Temporal interval'''
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80
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81 def __init__(self, first=0, last=-1):
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82 Interval.__init__(self, first, last, False)
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83
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84 def length(self):
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85 '''Returns the length of the interval
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86
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87 >>> TimeInterval(0,1).length()
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88 2
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89 >>> TimeInterval(10,8).length()
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90 0
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91 '''
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92 return max(0,self.last-self.first+1)
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93
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94 # class BoundingPolygon:
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95 # '''Class for a polygon bounding a set of points
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96 # with methods to create intersection, unions...
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97 # '''
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98 # We will use the polygon class of Shapely
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99
2
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100 class STObject:
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101 '''Class for spatio-temporal object
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102 i.e. with temporal and spatial existence
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103 (time interval and bounding polygon for positions (e.g. rectangle)).
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104 It does not mean that the object is defined
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105 for all time instants within the time interval'''
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106
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107 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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108 self.num = num
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109 self.timeInterval = timeInterval
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110 self.boundingPolygon = boundingPolygon
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111
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112 def empty(self):
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113 return self.timeInterval.empty() or not self.boudingPolygon
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114
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115 def getFirstInstant(self):
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116 return self.timeInterval.first()
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117
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118 def getLastInstant(self):
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119 return self.timeInterval.first()
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120
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121 class Point:
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122 def __init__(self, x, y):
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123 self.x = x
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124 self.y = y
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125
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126 def __str__(self):
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127 return '(%f,%f)'%(self.x,self.y)
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128
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129 def __repr__(self):
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130 return str(self)
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131
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132 def __sub__(self, other):
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133 '''
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134 >>> Point(3,4)-Point(1,7)
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135 (2.000000,-3.000000)
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136 '''
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137 return Point(self.x-other.x, self.y-other.y)
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138
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139 class Trajectory:
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140 '''Class for trajectories
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141 i.e. a temporal sequence of positions
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142
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143 the class is iterable.'''
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144
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145 def __init__(self, line1, line2):
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146 self.positions = [[float(n) for n in line1.split(' ')],
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147 [float(n) for n in line2.split(' ')]]
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148
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149 def __str__(self):
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150 return ' '.join(map(utils.printPoint, self.positions[0], self.positions[1]))
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151
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152 def __getitem__(self, i):
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153 return Point(self.positions[0][i], self.positions[1][i])
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154
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155 def __iter__(self):
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156 self.iterInstantNum = 0
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157 return self
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158
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159 def next(self):
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160 if self.iterInstantNum >= self.length():
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161 raise StopIteration
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162 else:
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163 self.iterInstantNum += 1
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164 return self[self.iterInstantNum-1]
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165
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166 def addPosition(self, p):
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167 if not self.positions:
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168 self.positions = [[p.x],[p.y]]
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169 else:
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170 self.positions[0].append(p.x)
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171 self.positions[1].append(p.y)
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172
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173 def draw(self, options = ''):
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174 from matplotlib.pylab import plot
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175 plot(self.positions[0], self.positions[1], options)
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176
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177 def length(self):
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178 return len(self.positions[0])
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179
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180 def getXCoordinates(self):
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181 return self.positions[0]
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182
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183 def getYCoordinates(self):
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184 return self.positions[1]
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185
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186 def xBounds(self):
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187 # look for function that does min and max in one pass
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188 return [min(self.getXCoordinates()), max(self.getXCoordinates())]
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189
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190 def yBounds(self):
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191 # look for function that does min and max in one pass
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192 return [min(self.getYCoordinates()), max(self.getYCoordinates())]
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193
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194 def norm(self):
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195 '''Returns the list of the norms at each instant'''
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196 # def add(x, y): return x+y
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197 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]])
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198 # return sqrt(sq)
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199 return [hypot(x,y) for x,y in zip(self.positions[0], self.positions[1])]
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200
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201 def getTrajectoryInPolygon(self, polygon):
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202 'Returns the set of points inside the polygon'
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203 # use shapely polygon contains
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204 pass
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205
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206 class MovingObject(STObject):
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207 '''Class for moving objects
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208 i.e. with a trajectory and a geometry (volume)
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209 and a type (e.g. road user)
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210 '''
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211
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212 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, type = None):
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213 STObject.__init__(self, num, timeInterval)
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214 self.positions = positions
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215 self.geometry = geometry
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216 self.type = type
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217 # compute bounding polygon from trajectory
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218
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219 def length(self):
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220 return self.timeInterval.length()
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221
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222 def getXCoordinates(self):
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223 return self.positions.getXCoordinates()
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224
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225 def getYCoordinates(self):
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226 return self.positions.getYCoordinates()
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227
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228 def draw(self, options = ''):
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229 self.positions.draw(options)
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230
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231 def getInstantPassingLane(self, p1, p2):
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232 '''Returns the instant(s) the object passes from one side of the segment to the other
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233 empty list if not'''
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234 instants = []
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235 lane = [[p1[0],p2[0]], [p1[1],p2[1]]]
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236
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237 # refaire tout en points, marche pas
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238 # self.positions[i] self.positions[i+1]
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239
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240 for i in xrange(self.length()-1):
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241 p = utils.segmentIntersection([self.positions[0][i:i+1],self.positions[1][i:i+1]], lane)
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242 if p: # interpolate the instant
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243 if self.positions[0][i] != self.positions[0][i+1]:
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244 ratio = (p[0]-self.positions[0][i])/(self.positions[0][i+1]-self.positions[0][i])
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245 elif self.positions[1][i] != self.positions[1][i+1]:
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246 ratio = (p[1]-self.positions[1][i])/(self.positions[1][i+1]-self.positions[1][i])
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247 else:
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248 ratio = 0
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249 instants.append(self.timeInterval[i]*(1-ratio)+ratio*self.timeInterval[i+1])
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250 return instants
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251 # def computeVelocities(self):
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252
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253 # need for a class representing the indicators, their units, how to print them in graphs...
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254 class TemporalIndicator:
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255 '''Class for temporal indicators
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256 i.e. indicators that take a value at specific instants'''
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257 pass
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258
2
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259 if __name__ == "__main__":
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260 import doctest
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261 import unittest
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262 #suite = doctest.DocFileSuite('tests/ubc_utils.txt')
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263 suite = doctest.DocTestSuite()
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264 unittest.TextTestRunner().run(suite)
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265 #doctest.testmod()
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266 #doctest.testfile("example.txt")