Mercurial Hosting > traffic-intelligence

annotate python/prediction.py @ 607:84690dfe5560

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
add some functions for behaviour analysis
author MohamedGomaa
date Tue, 25 Nov 2014 22:49:47 -0500
parents a9c1d61a89b4
children 0dc36203973d
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
1 #! /usr/bin/env python
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
2 '''Library for motion prediction methods'''
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
3
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
4 import moving
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
5 import math
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
6 import random
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
7 import numpy as np
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
8
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
9 class PredictedTrajectory:
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
10 '''Class for predicted trajectories with lazy evaluation
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
11 if the predicted position has not been already computed, compute it
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
12
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
13 it should also have a probability'''
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
14
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
15 def __init__(self):
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
16 self.probability = 0.
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
17 self.predictedPositions = {}
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
18 self.predictedSpeedOrientations = {}
300
f65b828e5521 working on trajectory simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 296
diff changeset
19 #self.collisionPoints = {}
f65b828e5521 working on trajectory simulation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 296
diff changeset
20 #self.crossingZones = {}
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
21
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
22 def predictPosition(self, nTimeSteps):
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
23 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
24 self.predictPosition(nTimeSteps-1)
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
25 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.getControl(), self.maxSpeed)
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
26 return self.predictedPositions[nTimeSteps]
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
27
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
28 def getPredictedTrajectory(self):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
29 return moving.Trajectory.fromPointList(self.predictedPositions.values())
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
30
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
31 def getPredictedSpeeds(self):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
32 return [so.norm for so in self.predictedSpeedOrientations.values()]
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
33
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
34 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
35 self.getPredictedTrajectory().plot(options, withOrigin, timeStep, **kwargs)
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
36
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
37 class PredictedTrajectoryConstant(PredictedTrajectory):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
38 '''Predicted trajectory at constant speed or acceleration
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
39 TODO generalize by passing a series of velocities/accelerations'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
40
336
124f85c6cfae modifed default probability to float
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 300
diff changeset
41 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1., maxSpeed = None):
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
42 self.control = control
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
43 self.maxSpeed = maxSpeed
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
44 self.probability = probability
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
45 self.predictedPositions = {0: initialPosition}
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
46 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
47
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
48 def getControl(self):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
49 return self.control
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
50
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
51 def findNearestParams(initialPosition,prototypeTrajectory):
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
52 ''' nearest parameters are the index of minDistance and the orientation '''
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
53 distances=[]
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
54 for position in prototypeTrajectory.positions:
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
55 distances.append(moving.Point.distanceNorm2(initialPosition, position))
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
56 minDistanceIndex= np.argmin(distances)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
57 return minDistanceIndex, moving.NormAngle.fromPoint(prototypeTrajectory.velocities[minDistanceIndex]).angle
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
58
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
59 class PredictedTrajectoryPrototype(PredictedTrajectory):
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
60 '''Predicted trajectory that follows a prototype trajectory
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
61 The prototype is in the format of a moving.Trajectory: it could be
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
62 1. an observed trajectory (extracted from video)
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
63 2. a generic polyline (eg the road centerline) that a vehicle is supposed to follow
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
64
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
65 Prediction can be done
467
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
66 1. at constant speed (the instantaneous user speed)
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
67 2. following the trajectory path, at the speed of the user
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
68 (applying a constant ratio equal
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
69 to the ratio of the user instantaneous speed and the trajectory closest speed)'''
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
70
467
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
71 def __init__(self, initialPosition, initialVelocity, prototypeTrajectory, constantSpeed = True, probability = 1.):
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
72 self.prototypeTrajectory = prototypeTrajectory
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
73 self.constantSpeed = constantSpeed
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
74 self.probability = probability
08b67c9baca2 finished description and constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 466
diff changeset
75 self.predictedPositions = {0: initialPosition}
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
76 self.predictedSpeedOrientations = {0: moving.NormAngle(moving.NormAngle.fromPoint(initialVelocity).norm, findNearestParams(initialPosition,prototypeTrajectory)[1])}#moving.NormAngle.fromPoint(initialVelocity)}
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
77
470
a84b9ba9631f small progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 467
diff changeset
78 def predictPosition(self, nTimeSteps):
a84b9ba9631f small progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 467
diff changeset
79 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
80 if self.constantSpeed:
470
a84b9ba9631f small progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 467
diff changeset
81 # calculate cumulative distance
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
82 speedNorm= self.predictedSpeedOrientations[0].norm #moving.NormAngle.fromPoint(initialVelocity).norm
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
83 anglePrototype = findNearestParams(self.predictedPositions[nTimeSteps-1],self.prototypeTrajectory)[1]
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
84 self.predictedSpeedOrientations[nTimeSteps]= moving.NormAngle(speedNorm, anglePrototype)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
85 self.predictedPositions[nTimeSteps],tmp= moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], moving.NormAngle(0,0), None)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
86
470
a84b9ba9631f small progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 467
diff changeset
87 else: # see c++ code, calculate ratio
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
88 speedNorm= self.predictedSpeedOrientations[0].norm
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
89 instant=findNearestParams(self.predictedPositions[0],self.prototypeTrajectory)[0]
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
90 prototypeSpeeds= self.prototypeTrajectory.getSpeeds()[instant:]
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
91 ratio=float(speedNorm)/prototypeSpeeds[0]
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
92 resampledSpeeds=[sp*ratio for sp in prototypeSpeeds]
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
93 anglePrototype = findNearestParams(self.predictedPositions[nTimeSteps-1],self.prototypeTrajectory)[1]
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
94 if nTimeSteps<len(resampledSpeeds):
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
95 self.predictedSpeedOrientations[nTimeSteps]= moving.NormAngle(resampledSpeeds[nTimeSteps], anglePrototype)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
96 self.predictedPositions[nTimeSteps],tmp= moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], moving.NormAngle(0,0), None)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
97 else:
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
98 self.predictedSpeedOrientations[nTimeSteps]= moving.NormAngle(resampledSpeeds[-1], anglePrototype)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
99 self.predictedPositions[nTimeSteps],tmp= moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], moving.NormAngle(0,0), None)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
100
470
a84b9ba9631f small progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 467
diff changeset
101 return self.predictedPositions[nTimeSteps]
a84b9ba9631f small progress
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 467
diff changeset
102
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
103 class PredictedTrajectoryRandomControl(PredictedTrajectory):
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
104 '''Random vehicle control: suitable for normal adaptation'''
336
124f85c6cfae modifed default probability to float
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 300
diff changeset
105 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1., maxSpeed = None):
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
106 '''Constructor
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
107 accelerationDistribution and steeringDistribution are distributions
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
108 that return random numbers drawn from them'''
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
109 self.accelerationDistribution = accelerationDistribution
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
110 self.steeringDistribution = steeringDistribution
250
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
111 self.maxSpeed = maxSpeed
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
112 self.probability = probability
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
113 self.predictedPositions = {0: initialPosition}
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
114 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
59f547aebaac modified prediction functions, added norm/angle representation of Points
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 245
diff changeset
115
256
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
116 def getControl(self):
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
117 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
dc1faa7287bd added the normal adaptation class
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 255
diff changeset
118
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
119 class SafetyPoint(moving.Point):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
120 '''Can represent a collision point or crossing zone
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
121 with respective safety indicator, TTC or pPET'''
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
122 def __init__(self, p, probability = 1., indicator = -1):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
123 self.x = p.x
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
124 self.y = p.y
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
125 self.probability = probability
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
126 self.indicator = indicator
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
127
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
128 def __str__(self):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
129 return '{0} {1} {2} {3}'.format(self.x, self.y, self.probability, self.indicator)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
130
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
131 @staticmethod
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
132 def save(out, points, predictionInstant, objNum1, objNum2):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
133 for p in points:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
134 out.write('{0} {1} {2} {3}\n'.format(objNum1, objNum2, predictionInstant, p))
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
135
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
136 @staticmethod
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
137 def computeExpectedIndicator(points):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
138 from numpy import sum
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
139 return sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points])
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
140
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
141 def computeCollisionTime(predictedTrajectory1, predictedTrajectory2, collisionDistanceThreshold, timeHorizon):
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
142 '''Computes the first instant at which two predicted trajectories are within some distance threshold'''
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
143 t = 1
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
144 p1 = predictedTrajectory1.predictPosition(t)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
145 p2 = predictedTrajectory2.predictPosition(t)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
146 while t <= timeHorizon and (p1-p2).norm2() > collisionDistanceThreshold:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
147 p1 = predictedTrajectory1.predictPosition(t)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
148 p2 = predictedTrajectory2.predictPosition(t)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
149 t += 1
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
150 return t, p1, p2
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
151
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
152 def savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon):
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
153 from matplotlib.pyplot import figure, axis, title, close, savefig
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
154 figure()
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
155 for et in predictedTrajectories1:
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
156 et.predictPosition(timeHorizon)
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
157 et.plot('rx')
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
158
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
159 for et in predictedTrajectories2:
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
160 et.predictPosition(timeHorizon)
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
161 et.plot('bx')
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
162 obj1.plot('r')
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
163 obj2.plot('b')
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
164 title('instant {0}'.format(currentInstant))
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
165 axis('equal')
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
166 savefig('predicted-trajectories-t-{0}.png'.format(currentInstant))
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
167 close()
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
168
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
169 def computeCrossingsCollisionsAtInstant(predictionParams,currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False,prototypeTrajectories1=None,prototypeTrajectories2=None):
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
170 '''returns the lists of collision points and crossing zones'''
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
171 if prototypeTrajectories1==None:
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
172 predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
173 predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
174 else:
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
175 predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant,prototypeTrajectories1)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
176 predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant,prototypeTrajectories2)
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
177
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
178 collisionPoints = []
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
179 crossingZones = []
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
180 for et1 in predictedTrajectories1:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
181 for et2 in predictedTrajectories2:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
182 t, p1, p2 = computeCollisionTime(et1, et2, collisionDistanceThreshold, timeHorizon)
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
183
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
184 if t <= timeHorizon:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
185 collisionPoints.append(SafetyPoint((p1+p2).multiply(0.5), et1.probability*et2.probability, t))
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
186 elif computeCZ: # check if there is a crossing zone
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
187 # TODO? zone should be around the points at which the traj are the closest
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
188 # look for CZ at different times, otherwise it would be a collision
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
189 # an approximation would be to look for close points at different times, ie the complementary of collision points
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
190 cz = None
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
191 t1 = 0
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
192 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
193 t2 = 0
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
194 while not cz and t2 < timeHorizon:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
195 #if (et1.predictPosition(t1)-et2.predictPosition(t2)).norm2() < collisionDistanceThreshold:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
196 # cz = (et1.predictPosition(t1)+et2.predictPosition(t2)).multiply(0.5)
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
197 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
198 if cz:
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
199 deltaV= (et1.predictPosition(t1)- et1.predictPosition(t1+1) - et2.predictPosition(t2)+ et2.predictPosition(t2+1)).norm2()
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
200 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)-(float(collisionDistanceThreshold)/deltaV)))
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
201 t2 += 1
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
202 t1 += 1
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
203
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
204 if debug:
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
205 savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
206 return currentInstant,collisionPoints, crossingZones
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
207
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
208 def computeCrossingsCollisions(predictionParams, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None,nProcesses = 1,prototypeTrajectories1=None,prototypeTrajectories2=None):
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
209 '''Computes all crossing and collision points at each common instant for two road users. '''
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
210 collisionPoints={}
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
211 crossingZones={}
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
212 if timeInterval:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
213 commonTimeInterval = timeInterval
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
214 else:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
215 commonTimeInterval = obj1.commonTimeInterval(obj2)
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
216 if nProcesses == 1:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
217 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
218 i, cp, cz = computeCrossingsCollisionsAtInstant(predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,prototypeTrajectories1,prototypeTrajectories2)
559
806df5f61c03 adapted safety-analysis script to use multi-threading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 557
diff changeset
219 if len(cp) != 0:
806df5f61c03 adapted safety-analysis script to use multi-threading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 557
diff changeset
220 collisionPoints[i] = cp
806df5f61c03 adapted safety-analysis script to use multi-threading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 557
diff changeset
221 if len(cz) != 0:
806df5f61c03 adapted safety-analysis script to use multi-threading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 557
diff changeset
222 crossingZones[i] = cz
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
223 else:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
224 from multiprocessing import Pool
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
225 pool = Pool(processes = nProcesses)
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
226 jobs = [pool.apply_async(computeCrossingsCollisionsAtInstant, args = (predictionParams, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,prototypeTrajectories1,prototypeTrajectories2)) for i in list(commonTimeInterval)[:-1]]
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
227 #results = [j.get() for j in jobs]
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
228 #results.sort()
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
229 for j in jobs:
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
230 i, cp, cz = j.get()
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
231 #if len(cp) != 0 or len(cz) != 0:
559
806df5f61c03 adapted safety-analysis script to use multi-threading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 557
diff changeset
232 if len(cp) != 0:
806df5f61c03 adapted safety-analysis script to use multi-threading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 557
diff changeset
233 collisionPoints[i] = cp
806df5f61c03 adapted safety-analysis script to use multi-threading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 557
diff changeset
234 if len(cz) != 0:
806df5f61c03 adapted safety-analysis script to use multi-threading
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 557
diff changeset
235 crossingZones[i] = cz
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
236 pool.close()
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
237 return collisionPoints, crossingZones
556
dc58ad777a72 modified prediction for multiprocessing, not sure how beneficial it is (single thread with instance method seems much faster
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 515
diff changeset
238
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
239 class PredictionParameters:
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 265
diff changeset
240 def __init__(self, name, maxSpeed):
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
241 self.name = name
266
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 265
diff changeset
242 self.maxSpeed = maxSpeed
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 265
diff changeset
243
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 265
diff changeset
244 def __str__(self):
aba9711b3149 small modificatons and reorganization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 265
diff changeset
245 return '{0} {1}'.format(self.name, self.maxSpeed)
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
246
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
247 def generatePredictedTrajectories(self, obj, instant):
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
248 return []
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
249
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
250 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False,prototypeTrajectories1=None,prototypeTrajectories2=None):
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
251 return computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,prototypeTrajectories1,prototypeTrajectories2)
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
252
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
253 def computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1,prototypeTrajectories1=None,prototypeTrajectories2=None):
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
254 return computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, timeInterval, nProcesses,prototypeTrajectories1,prototypeTrajectories2)
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
255
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
256 def computeCollisionProbability(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, debug = False, timeInterval = None):
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
257 '''Computes only collision probabilities
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
258 Returns for each instant the collision probability and number of samples drawn'''
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
259 collisionProbabilities = {}
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
260 if timeInterval:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
261 commonTimeInterval = timeInterval
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
262 else:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
263 commonTimeInterval = obj1.commonTimeInterval(obj2)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
264 for i in list(commonTimeInterval)[:-1]:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
265 nCollisions = 0
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
266 predictedTrajectories1 = self.generatePredictedTrajectories(obj1, i)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
267 predictedTrajectories2 = self.generatePredictedTrajectories(obj2, i)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
268 for et1 in predictedTrajectories1:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
269 for et2 in predictedTrajectories2:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
270 t, p1, p2 = computeCollisionTime(et1, et2, collisionDistanceThreshold, timeHorizon)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
271 if t <= timeHorizon:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
272 nCollisions += 1
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
273 # take into account probabilities ??
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
274 nSamples = float(len(predictedTrajectories1)*len(predictedTrajectories2))
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
275 collisionProbabilities[i] = [nSamples, float(nCollisions)/nSamples]
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
276
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
277 if debug:
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
278 savePredictedTrajectoriesFigure(i, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
279
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
280 return collisionProbabilities
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
281
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
282 class ConstantPredictionParameters(PredictionParameters):
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
283 def __init__(self, maxSpeed):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
284 PredictionParameters.__init__(self, 'constant velocity', maxSpeed)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
285
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
286 def generatePredictedTrajectories(self, obj, instant):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
287 return [PredictedTrajectoryConstant(obj.getPositionAtInstant(instant), obj.getVelocityAtInstant(instant),
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
288 maxSpeed = self.maxSpeed)]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
289
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
290 class NormalAdaptationPredictionParameters(PredictionParameters):
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
291 def __init__(self, maxSpeed, nPredictedTrajectories, accelerationDistribution, steeringDistribution, useFeatures = False):
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
292 '''An example of acceleration and steering distributions is
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
293 lambda: random.triangular(-self.maxAcceleration, self.maxAcceleration, 0.)
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
294 '''
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
295 if useFeatures:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
296 name = 'point set normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
297 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
298 name = 'normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
299 PredictionParameters.__init__(self, name, maxSpeed)
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
300 self.nPredictedTrajectories = nPredictedTrajectories
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
301 self.useFeatures = useFeatures
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
302 self.accelerationDistribution = accelerationDistribution
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
303 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
304
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
305 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
306 return PredictionParameters.__str__(self)+' {0} {1} {2}'.format(self.nPredictedTrajectories,
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
307 self.maxAcceleration,
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
308 self.maxSteering)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
309
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
310 def generatePredictedTrajectories(self, obj, instant):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
311 predictedTrajectories = []
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
312 if self.useFeatures:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
313 features = [f for f in obj.features if f.existsAtInstant(instant)]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
314 positions = [f.getPositionAtInstant(instant) for f in features]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
315 velocities = [f.getVelocityAtInstant(instant) for f in features]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
316 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
317 positions = [obj.getPositionAtInstant(instant)]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
318 velocities = [obj.getVelocityAtInstant(instant)]
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
319 for i in xrange(self.nPredictedTrajectories):
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
320 for initialPosition,initialVelocity in zip(positions, velocities):
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
321 predictedTrajectories.append(PredictedTrajectoryRandomControl(initialPosition,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
322 initialVelocity,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
323 self.accelerationDistribution,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
324 self.steeringDistribution,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
325 maxSpeed = self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
326 return predictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
327
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
328 class PointSetPredictionParameters(PredictionParameters):
269
a9988971aac8 removed legacy code + tweaks
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
329 # todo generate several trajectories with normal adaptatoins from each position (feature)
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
330 def __init__(self, maxSpeed):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
331 PredictionParameters.__init__(self, 'point set', maxSpeed)
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
332 #self.nPredictedTrajectories = nPredictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
333
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
334 def generatePredictedTrajectories(self, obj, instant):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
335 predictedTrajectories = []
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
336 features = [f for f in obj.features if f.existsAtInstant(instant)]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
337 positions = [f.getPositionAtInstant(instant) for f in features]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
338 velocities = [f.getVelocityAtInstant(instant) for f in features]
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
339 #for i in xrange(self.nPredictedTrajectories):
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
340 for initialPosition,initialVelocity in zip(positions, velocities):
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
341 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition, initialVelocity,
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
342 maxSpeed = self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
343 return predictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
344
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
345 class EvasiveActionPredictionParameters(PredictionParameters):
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
346 def __init__(self, maxSpeed, nPredictedTrajectories, accelerationDistribution, steeringDistribution, useFeatures = False):
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
347 '''Suggested acceleration distribution may not be symmetric, eg
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
348 lambda: random.triangular(self.minAcceleration, self.maxAcceleration, 0.)'''
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
349
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
350 if useFeatures:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
351 name = 'point set evasive action'
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
352 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
353 name = 'evasive action'
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
354 PredictionParameters.__init__(self, name, maxSpeed)
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
355 self.nPredictedTrajectories = nPredictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
356 self.useFeatures = useFeatures
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
357 self.accelerationDistribution = accelerationDistribution
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
358 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
359
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
360 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
361 return PredictionParameters.__str__(self)+' {0} {1} {2} {3}'.format(self.nPredictedTrajectories, self.minAcceleration, self.maxAcceleration, self.maxSteering)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
362
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
363 def generatePredictedTrajectories(self, obj, instant):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
364 predictedTrajectories = []
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
365 if self.useFeatures:
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
366 features = [f for f in obj.features if f.existsAtInstant(instant)]
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
367 positions = [f.getPositionAtInstant(instant) for f in features]
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
368 velocities = [f.getVelocityAtInstant(instant) for f in features]
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
369 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
370 positions = [obj.getPositionAtInstant(instant)]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
371 velocities = [obj.getVelocityAtInstant(instant)]
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
372 for i in xrange(self.nPredictedTrajectories):
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
373 for initialPosition,initialVelocity in zip(positions, velocities):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
374 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition,
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
375 initialVelocity,
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
376 moving.NormAngle(self.accelerationDistribution(),
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
377 self.steeringDistribution()),
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
378 maxSpeed = self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
379 return predictedTrajectories
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
380
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
381
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
382 class CVDirectPredictionParameters(PredictionParameters):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
383 '''Prediction parameters of prediction at constant velocity
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
384 using direct computation of the intersecting point'''
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
385
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
386 def __init__(self):
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
387 PredictionParameters.__init__(self, 'constant velocity (direct computation)', None)
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
388
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
389 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
390 collisionPoints = []
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
391 crossingZones = []
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
392
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
393 p1 = obj1.getPositionAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
394 p2 = obj2.getPositionAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
395 if (p1-p2).norm2() <= collisionDistanceThreshold:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
396 collisionPoints = [SafetyPoint((p1+p1).multiply(0.5), 1., 0.)]
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
397 else:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
398 v1 = obj1.getVelocityAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
399 v2 = obj2.getVelocityAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
400 intersection = moving.intersection(p1, p2, v1, v2)
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
401
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
402 if intersection != None:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
403 dp1 = intersection-p1
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
404 dp2 = intersection-p2
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
405 if moving.Point.dot(dp1, v1) > 0 and moving.Point.dot(dp2, v2) > 0: # if the road users are moving towards the intersection
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
406 dist1 = dp1.norm2()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
407 dist2 = dp2.norm2()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
408 s1 = v1.norm2()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
409 s2 = v2.norm2()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
410 halfCollisionDistanceThreshold = collisionDistanceThreshold/2.
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
411 timeInterval1 = moving.TimeInterval(max(0,dist1-halfCollisionDistanceThreshold)/s1, (dist1+halfCollisionDistanceThreshold)/s1)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
412 timeInterval2 = moving.TimeInterval(max(0,dist2-halfCollisionDistanceThreshold)/s2, (dist2+halfCollisionDistanceThreshold)/s2)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
413 collisionTimeInterval = moving.TimeInterval.intersection(timeInterval1, timeInterval2)
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
414 if computeCZ and collisionTimeInterval.empty():
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
415 crossingZones = [SafetyPoint(intersection, 1., timeInterval1.distance(timeInterval2))]
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
416 else:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
417 collisionPoints = [SafetyPoint(intersection, 1., collisionTimeInterval.center())]
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
418
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
419 if debug and intersection!= None:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
420 from matplotlib.pyplot import plot, figure, axis, title
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
421 figure()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
422 plot([p1.x, intersection.x], [p1.y, intersection.y], 'r')
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
423 plot([p2.x, intersection.x], [p2.y, intersection.y], 'b')
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
424 intersection.plot()
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
425 obj1.plot('r')
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
426 obj2.plot('b')
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
427 title('instant {0}'.format(currentInstant))
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
428 axis('equal')
289
e56c34c1ebac refactored and commented functions (saving data is now outside of the computation functions)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 271
diff changeset
429
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
430 return collisionPoints, crossingZones
260
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
431
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
432 class CVExactPredictionParameters(PredictionParameters):
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
433 '''Prediction parameters of prediction at constant velocity
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
434 using direct computation of the intersecting point (solving for the equation'''
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
435
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
436 def __init__(self):
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
437 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None)
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
438
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
439 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False):
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
440 'TODO add collision point coordinates, compute pPET'
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
441 #collisionPoints = []
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
442 #crossingZones = []
269
a9988971aac8 removed legacy code + tweaks
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
443
464
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
444 p1 = obj1.getPositionAtInstant(currentInstant)
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
445 p2 = obj2.getPositionAtInstant(currentInstant)
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
446 v1 = obj1.getVelocityAtInstant(currentInstant)
dcc821b98efc integrated and reorganized Sohail s work on exact ttc computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 460
diff changeset
447 v2 = obj2.getVelocityAtInstant(currentInstant)
484
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 470
diff changeset
448 intersection = moving.intersection(p1, p2, v1, v2)
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 470
diff changeset
449
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 470
diff changeset
450 if intersection != None:
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 470
diff changeset
451 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 470
diff changeset
452 if ttc:
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 470
diff changeset
453 return [SafetyPoint(intersection, 1., ttc)], [] # (p1+v1.multiply(ttc)+p2+v2.multiply(ttc)).multiply(0.5)
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 470
diff changeset
454 else:
6464e4f0cc26 integrated Sohail direct computation of TTC (need to add pPET)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 470
diff changeset
455 return [],[]
260
36cb40c51a5e modified the organization of the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
456
357
e5fe0e6d48a1 corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 355
diff changeset
457 ####
e5fe0e6d48a1 corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 355
diff changeset
458 # Other Methods
e5fe0e6d48a1 corrected bug computing TTC (resp. pPET) if there is no collision point (resp. crossing zone)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 355
diff changeset
459 ####
607
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
460 class prototypePredictionParameters(PredictionParameters):
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
461 def __init__(self, maxSpeed, nPredictedTrajectories,constantSpeed = True):
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
462 name = 'prototype'
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
463 PredictionParameters.__init__(self, name, maxSpeed)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
464 self.nPredictedTrajectories = nPredictedTrajectories
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
465 self.constantSpeed = constantSpeed
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
466
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
467 def generatePredictedTrajectories(self, obj, instant,prototypeTrajectories):
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
468 predictedTrajectories = []
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
469 initialPosition = obj.getPositionAtInstant(instant)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
470 initialVelocity = obj.getVelocityAtInstant(instant)
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
471 for prototypeTraj in prototypeTrajectories.keys():
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
472 predictedTrajectories.append(PredictedTrajectoryPrototype(initialPosition, initialVelocity, prototypeTraj, constantSpeed = self.constantSpeed, probability = prototypeTrajectories[prototypeTraj]))
84690dfe5560 add some functions for behaviour analysis
MohamedGomaa
parents: 571
diff changeset
473 return predictedTrajectories
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
474
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
475 if __name__ == "__main__":
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
476 import doctest
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
477 import unittest
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
478 suite = doctest.DocFileSuite('tests/prediction.txt')
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
479 #suite = doctest.DocTestSuite()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
480 unittest.TextTestRunner().run(suite)
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
481 #doctest.testmod()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
482 #doctest.testfile("example.txt")
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
483