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methods for trajectories and objects to add and subtract trajectories and extract objects from existing objects, for sub-time intervals
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 14 Jul 2010 14:02:11 -0400
parents eb78c6edc0c8
children 1fb5606506ae
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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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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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25 def __str__(self):
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26 return '%d %d'%(self.first, self.last)
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28 def empty(self):
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29 return self.first > self.last
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31 def length(self):
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32 '''Returns the length of the interval'''
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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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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
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57 def __init__(self, first=0, last=-1):
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58 Interval.__init__(self, first, last, False)
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59
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60 def __getitem__(self, i):
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61 if not self.empty():
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62 return self.first+i
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63
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64 def __iter__(self):
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65 self.iterInstantNum = 0
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66 return self
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67
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68 def next(self):
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69 if self.iterInstantNum >= self.length():
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70 raise StopIteration
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71 else:
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72 self.iterInstantNum += 1
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73 return self[self.iterInstantNum]
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74
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75 def length(self):
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76 '''Returns the length of the interval'''
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77 return max(0,self.last-self.first+1)
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78
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79 # class BoundingPolygon:
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80 # '''Class for a polygon bounding a set of points
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81 # with methods to create intersection, unions...
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82 # '''
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83 # We will use the polygon class of Shapely
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84
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85 class STObject:
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86 '''Class for spatio-temporal object
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87 i.e. with temporal and spatial existence
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88 (time interval and bounding polygon for positions (e.g. rectangle)).
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89 It does not mean that the object is defined
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90 for all time instants within the time interval'''
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91
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92 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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93 self.num = num
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94 self.timeInterval = timeInterval
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95 self.boundingPolygon = boundingPolygon
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96
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97 def empty(self):
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98 return self.timeInterval.empty() or not self.boudingPolygon
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99
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100 def getFirstInstant(self):
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101 return self.timeInterval.first
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102
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103 def getLastInstant(self):
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104 return self.timeInterval.last
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105
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106 def getTimeInterval(self):
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107 return self.timeInterval
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108
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109 def commonTimeInterval(self, obj2):
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110 return self.getTimeInterval().intersection(obj2.getTimeInterval())
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111
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112 class Point:
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113 def __init__(self, x, y):
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114 self.x = x
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115 self.y = y
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116
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117 def __str__(self):
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118 return '(%f,%f)'%(self.x,self.y)
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119
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120 def __repr__(self):
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121 return str(self)
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122
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123 def __sub__(self, other):
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124 return Point(self.x-other.x, self.y-other.y)
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125
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126 def draw(self, options = ''):
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127 from matplotlib.pylab import plot
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128 plot([self.x], [self.y], 'x'+options)
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129
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130 def norm2Squared(self):
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131 '''2-norm distance (Euclidean distance)'''
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132 return self.x*self.x+self.y*self.y
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133
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134 def norm2(self):
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135 '2-norm distance (Euclidean distance)'
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136 return sqrt(self.norm2Squared())
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137
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138 def distanceNorm2(p1, p2):
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139 return (p1-p2).norm2()
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140
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141 def aslist(self):
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142 return [self.x, self.y]
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143
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144 class Trajectory:
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145 '''Class for trajectories
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146 i.e. a temporal sequence of positions
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147
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148 the class is iterable.'''
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149
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150 def __init__(self, positions):
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151 self.positions = positions
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152
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153 @staticmethod
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154 def load(line1, line2):
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155 return Trajectory([[float(n) for n in line1.split(' ')],
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156 [float(n) for n in line2.split(' ')]])
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157
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158 def __str__(self):
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159 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
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160
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161 def __getitem__(self, i):
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162 return Point(self.positions[0][i], self.positions[1][i])
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163
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164 def __iter__(self):
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165 self.iterInstantNum = 0
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166 return self
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167
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168 def next(self):
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169 if self.iterInstantNum >= self.length():
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170 raise StopIteration
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171 else:
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172 self.iterInstantNum += 1
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173 return self[self.iterInstantNum-1]
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174
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175 def addPosition(self, p):
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176 if not self.positions:
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177 self.positions = [[p.x],[p.y]]
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178 else:
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179 self.positions[0].append(p.x)
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180 self.positions[1].append(p.y)
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181
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182 def draw(self, options = ''):
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183 from matplotlib.pylab import plot
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184 plot(self.positions[0], self.positions[1], options)
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185
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186 def length(self):
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187 return len(self.positions[0])
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188
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189 def getXCoordinates(self):
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190 return self.positions[0]
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191
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192 def getYCoordinates(self):
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193 return self.positions[1]
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194
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195 def xBounds(self):
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196 # look for function that does min and max in one pass
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197 return [min(self.getXCoordinates()), max(self.getXCoordinates())]
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198
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199 def yBounds(self):
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200 # look for function that does min and max in one pass
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201 return [min(self.getYCoordinates()), max(self.getYCoordinates())]
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202
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203 def add(self, traj2):
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204 '''Returns a new trajectory of the same length'''
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205 if self.length() != traj2.length():
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206 print 'Trajectories of different lengths'
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207 return None
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208 else:
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209 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
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210 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
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211
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212 def subtract(self, traj2):
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213 '''Returns a new trajectory of the same length'''
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214 if self.length() != traj2.length():
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215 print 'Trajectories of different lengths'
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216 return None
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217 else:
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218 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
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219 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
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220
16
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221 def norm(self):
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222 '''Returns the list of the norms at each instant'''
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223 # def add(x, y): return x+y
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224 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]])
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225 # return sqrt(sq)
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226 return [hypot(x,y) for x,y in zip(self.positions[0], self.positions[1])]
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227
43
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228 def getTrajectoryInInterval(self, inter):
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229 if inter.first >=0 and inter.last<= self.length():
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230 return Trajectory([self.positions[0][inter.first:inter.last],
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diff changeset
231 self.positions[1][inter.first:inter.last]])
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232 else:
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233 return None
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234
19
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235 def getTrajectoryInPolygon(self, polygon):
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236 'Returns the set of points inside the polygon'
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237 # use shapely polygon contains
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238 pass
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239
7
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240 class MovingObject(STObject):
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241 '''Class for moving objects
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242 i.e. with a trajectory and a geometry (volume)
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243 and a type (e.g. road user)
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244 '''
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245
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246 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, type = None):
7
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247 STObject.__init__(self, num, timeInterval)
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248 self.positions = positions
7
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249 self.geometry = geometry
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250 self.type = type
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251 # compute bounding polygon from trajectory
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252
43
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253 def getObjectInTimeInterval(self, inter):
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254 '''Returns a new object extracted from self, existing at time interval inter'''
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diff changeset
255 if inter.inside(self.timeInterval):
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diff changeset
256 inter = TimeInterval(inter.first-self.getFirstInstant(), inter.last-self.getFirstInstant())
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257 obj = MovingObject(self.num, inter, self.positions.getTrajectoryInInterval(inter), self.geometry, self.type)
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diff changeset
258 if self.velocities:
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259 obj.velocities = self.velocities.getTrajectoryInInterval(inter)
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260 return obj
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261 else:
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262 print 'The object does not exist at '+str(inter)
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263 return None
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diff changeset
264
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265 def length(self):
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266 return self.timeInterval.length()
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267
38
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diff changeset
268 def getPositions(self):
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269 return self.positions
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270
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diff changeset
271 def getVelocities(self):
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272 return self.velocities
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273
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diff changeset
274 def getPositionAt(self, i):
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diff changeset
275 return self.positions[i]
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diff changeset
276
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diff changeset
277 def getVelocityAt(self, i):
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diff changeset
278 return self.velocities[i]
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parents: 30
diff changeset
279
21
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280 def getXCoordinates(self):
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diff changeset
281 return self.positions.getXCoordinates()
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diff changeset
282
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diff changeset
283 def getYCoordinates(self):
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diff changeset
284 return self.positions.getYCoordinates()
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diff changeset
285
25
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286 def draw(self, options = ''):
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diff changeset
287 self.positions.draw(options)
22
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parents: 21
diff changeset
288
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diff changeset
289 def getInstantPassingLane(self, p1, p2):
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diff changeset
290 '''Returns the instant(s) the object passes from one side of the segment to the other
25
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parents: 23
diff changeset
291 empty list if not'''
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parents: 23
diff changeset
292 instants = []
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parents: 23
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293
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294 for i in xrange(self.length()-1):
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295 p = utils.segmentIntersection(self.positions[i], self.positions[i+1], p1, p2)
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296 if p:
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297 if self.positions[i].x != self.positions[i+1].x:
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298 ratio = (p.x-self.positions[i].x)/(self.positions[i+1].x-self.positions[i].x)
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299 elif self.positions[i].y != self.positions[i+1].y:
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300 ratio = (p.y-self.positions[i].y)/(self.positions[i+1].y-self.positions[i].y)
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301 else:
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302 ratio = 0
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303 instants.append(self.timeInterval[i]*(1-ratio)+ratio*self.timeInterval[i+1])
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304 return instants
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305
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306 # def computeVelocities(self):
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307
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308 # need for a class representing the indicators, their units, how to print them in graphs...
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309 class TemporalIndicator:
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310 '''Class for temporal indicators
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311 i.e. indicators that take a value at specific instants
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312
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313 it should have more information like name, unit'''
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314
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315 def __init__(self, name, values = {}):
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316 self.name = name
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317 self.values = values
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318
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319 if __name__ == "__main__":
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320 import doctest
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321 import unittest
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322 suite = doctest.DocFileSuite('tests/moving.txt')
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323 #suite = doctest.DocTestSuite()
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324 unittest.TextTestRunner().run(suite)
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325 #doctest.testmod()
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326 #doctest.testfile("example.txt")