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corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 18 May 2015 17:17:06 +0200
parents e891a41c6c75
children c5191acb025f
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662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
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1 >>> from prediction import *
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2 >>> import moving
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4 >>> et = PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0))
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5 >>> et.predictPosition(4) # doctest:+ELLIPSIS
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6 (4.0...,0.0...)
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7 >>> et.predictPosition(1) # doctest:+ELLIPSIS
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8 (1.0...,0.0...)
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parents: 466
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10 >>> et = PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0), moving.NormAngle(0.1,0), maxSpeed = 2)
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11 >>> et.predictPosition(10) # doctest:+ELLIPSIS
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12 (15.5...,0.0...)
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13 >>> et.predictPosition(11) # doctest:+ELLIPSIS
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14 (17.5...,0.0...)
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15 >>> et.predictPosition(12) # doctest:+ELLIPSIS
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16 (19.5...,0.0...)
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17
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18 >>> import random
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19 >>> acceleration = lambda: random.uniform(-0.5,0.5)
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20 >>> steering = lambda: random.uniform(-0.1,0.1)
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parents: 466
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21 >>> et = PredictedTrajectoryRandomControl(moving.Point(0,0),moving.Point(1,1), acceleration, steering, maxSpeed = 2)
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22 >>> p = et.predictPosition(500)
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23 >>> from numpy import max
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24 >>> max(et.getPredictedSpeeds()) <= 2.
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25 True
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26
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27 >>> p = moving.Point(3,4)
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28 >>> sp = SafetyPoint(p, 0.1, 0)
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29 >>> print(sp)
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30 3 4 0.1 0
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31
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32 >>> et1 = PredictedTrajectoryConstant(moving.Point(-5.,0.), moving.Point(1.,0.))
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parents: 466
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33 >>> et2 = PredictedTrajectoryConstant(moving.Point(0.,-5.), moving.Point(0.,1.))
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parents: 466
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34 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 10)
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parents: 466
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35 >>> collision
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36 True
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37 >>> t
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38 5
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39 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 5)
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parents: 466
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40 >>> collision
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41 True
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parents: 466
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42 >>> t
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43 5
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
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parents: 466
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44 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 4)
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parents: 466
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45 >>> collision
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46 False