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annotate python/moving.py @ 68:846fa9dc47de

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empty method for indicators
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 08 Nov 2010 12:20:52 -0500
parents ded58c424783
children cc192d0450b3
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1 #! /usr/bin/env python
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2 '''Libraries for moving objects, trajectories...'''
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3
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4 import utils;
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5
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6 from math import sqrt, hypot;
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7
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8 from shapely.geometry import Polygon
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9
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10 __metaclass__ = type
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12 #class MovingObject:
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13
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14 class Interval:
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15 '''Generic Interval'''
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16 def __init__(self, first=0, last=-1, revert = False):
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17 'Warning, do not revert if last<first, it contradicts the definition of empty'
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18 if revert and last<first:
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19 self.first=last
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20 self.last=first
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21 else:
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22 self.first=first
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23 self.last=last
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24
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25 def __str__(self):
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26 return '%d %d'%(self.first, self.last)
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28 def empty(self):
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29 return self.first > self.last
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31 def length(self):
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32 '''Returns the length of the interval'''
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33 return max(0,self.last-self.first)
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35 def getList(self):
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36 return [self.first, self.last]
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37
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38 def contains(self, instant):
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39 return (self.first<=instant and self.last>=instant)
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41 def inside(self, interval2):
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42 'indicates if the temporal interval of self is comprised in interval2'
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43 return (self.first >= interval2.first) and (self.last <= interval2.last)
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45 def union(self, interval2):
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46 '''Largest interval comprising self and interval2'''
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47 return TimeInterval(min(self.first, interval2.first), max(self.last, interval2.last))
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48
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49 def intersection(self, interval2):
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50 '''Largest interval comprising self and interval2'''
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51 return TimeInterval(max(self.first, interval2.first), min(self.last, interval2.last))
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53
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54 class TimeInterval(Interval):
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55 '''Temporal interval'''
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56
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57 def __init__(self, first=0, last=-1):
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58 Interval.__init__(self, first, last, False)
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59
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60 def __getitem__(self, i):
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61 if not self.empty():
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62 return self.first+i
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63
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64 def __iter__(self):
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65 self.iterInstantNum = 0
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66 return self
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67
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68 def next(self):
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69 if self.iterInstantNum >= self.length()-1:
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70 raise StopIteration
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71 else:
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72 self.iterInstantNum += 1
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73 return self[self.iterInstantNum]
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74
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75 def length(self):
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76 '''Returns the length of the interval'''
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77 return max(0,self.last-self.first+1)
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78
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79 # class BoundingPolygon:
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80 # '''Class for a polygon bounding a set of points
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81 # with methods to create intersection, unions...
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82 # '''
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83 # We will use the polygon class of Shapely
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84
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85 class STObject:
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86 '''Class for spatio-temporal object
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87 i.e. with temporal and spatial existence
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88 (time interval and bounding polygon for positions (e.g. rectangle)).
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89 It does not mean that the object is defined
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90 for all time instants within the time interval'''
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91
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92 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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93 self.num = num
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94 self.timeInterval = timeInterval
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95 self.boundingPolygon = boundingPolygon
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96
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97 def empty(self):
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98 return self.timeInterval.empty() or not self.boudingPolygon
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99
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100 def getFirstInstant(self):
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101 return self.timeInterval.first
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102
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103 def getLastInstant(self):
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104 return self.timeInterval.last
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105
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106 def getTimeInterval(self):
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107 return self.timeInterval
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108
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109 def commonTimeInterval(self, obj2):
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110 return self.getTimeInterval().intersection(obj2.getTimeInterval())
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111
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112 class Point:
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113 def __init__(self, x, y):
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114 self.x = x
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115 self.y = y
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116
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117 def __str__(self):
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118 return '(%f,%f)'%(self.x,self.y)
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119
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120 def __repr__(self):
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121 return str(self)
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122
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123 def __sub__(self, other):
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124 return Point(self.x-other.x, self.y-other.y)
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125
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126 def draw(self, options = ''):
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127 from matplotlib.pylab import plot
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128 plot([self.x], [self.y], 'x'+options)
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129
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130 def norm2Squared(self):
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131 '''2-norm distance (Euclidean distance)'''
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132 return self.x*self.x+self.y*self.y
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133
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134 def norm2(self):
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135 '2-norm distance (Euclidean distance)'
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136 return sqrt(self.norm2Squared())
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137
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138 def aslist(self):
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139 return [self.x, self.y]
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140
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141 @staticmethod
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142 def dot(p1, p2):
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143 return p1.x*p2.x+p1.y*p2.y
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144
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145 @staticmethod
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146 def distanceNorm2(p1, p2):
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147 return (p1-p2).norm2()
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148
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149 @staticmethod
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150 def plotAll(points, color='r'):
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151 from matplotlib.pyplot import scatter
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152 scatter([p.x for p in points],[p.y for p in points], c=color)
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153
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154
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155 class Trajectory:
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156 '''Class for trajectories
22
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157 i.e. a temporal sequence of positions
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158
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159 the class is iterable.'''
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160
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161 def __init__(self, positions):
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162 self.positions = positions
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163
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164 @staticmethod
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165 def load(line1, line2):
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166 return Trajectory([[float(n) for n in line1.split(' ')],
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167 [float(n) for n in line2.split(' ')]])
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168
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169 def __str__(self):
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170 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
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171
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172 def __getitem__(self, i):
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173 return Point(self.positions[0][i], self.positions[1][i])
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174
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175 def __iter__(self):
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176 self.iterInstantNum = 0
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177 return self
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178
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179 def next(self):
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180 if self.iterInstantNum >= self.length():
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181 raise StopIteration
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182 else:
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183 self.iterInstantNum += 1
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184 return self[self.iterInstantNum-1]
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185
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186 def addPosition(self, p):
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187 if not self.positions:
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188 self.positions = [[p.x],[p.y]]
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189 else:
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190 self.positions[0].append(p.x)
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191 self.positions[1].append(p.y)
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192
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193 def draw(self, options = ''):
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194 from matplotlib.pylab import plot
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195 plot(self.positions[0], self.positions[1], options)
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196
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197 def length(self):
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198 return len(self.positions[0])
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199
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200 def getXCoordinates(self):
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201 return self.positions[0]
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202
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203 def getYCoordinates(self):
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204 return self.positions[1]
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205
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206 def xBounds(self):
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207 # look for function that does min and max in one pass
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208 return [min(self.getXCoordinates()), max(self.getXCoordinates())]
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209
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210 def yBounds(self):
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211 # look for function that does min and max in one pass
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212 return [min(self.getYCoordinates()), max(self.getYCoordinates())]
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213
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214 def add(self, traj2):
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215 '''Returns a new trajectory of the same length'''
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216 if self.length() != traj2.length():
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217 print 'Trajectories of different lengths'
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218 return None
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219 else:
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220 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
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221 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
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222
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223 def subtract(self, traj2):
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224 '''Returns a new trajectory of the same length'''
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225 if self.length() != traj2.length():
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226 print 'Trajectories of different lengths'
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227 return None
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228 else:
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229 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
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230 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
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diff changeset
231
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232 def norm(self):
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233 '''Returns the list of the norms at each instant'''
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234 # def add(x, y): return x+y
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235 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]])
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236 # return sqrt(sq)
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237 return [hypot(x,y) for x,y in zip(self.positions[0], self.positions[1])]
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238
49
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239 def cumulatedDisplacement(self):
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diff changeset
240 displacement = 0
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241 for i in xrange(self.length()-1):
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diff changeset
242 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
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243 return displacement
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244
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245 def wiggliness(self):
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diff changeset
246 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)))
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diff changeset
247
43
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248 def getTrajectoryInInterval(self, inter):
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diff changeset
249 if inter.first >=0 and inter.last<= self.length():
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diff changeset
250 return Trajectory([self.positions[0][inter.first:inter.last],
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diff changeset
251 self.positions[1][inter.first:inter.last]])
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252 else:
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253 return None
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254
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diff changeset
255 def getTrajectoryInPolygon(self, polygon):
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diff changeset
256 'Returns the set of points inside the polygon'
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diff changeset
257 # use shapely polygon contains
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diff changeset
258 pass
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259
62
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diff changeset
260 ##################
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diff changeset
261 # Moving Objects
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diff changeset
262 ##################
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263
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diff changeset
264 userTypeNames = ['car',
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diff changeset
265 'pedestrian',
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diff changeset
266 'twowheels',
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diff changeset
267 'bus'
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268 'truck']
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diff changeset
269
7
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diff changeset
270 class MovingObject(STObject):
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diff changeset
271 '''Class for moving objects
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diff changeset
272 i.e. with a trajectory and a geometry (volume) (constant)
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diff changeset
273 and a usertype (e.g. road user)
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diff changeset
274 '''
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275
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diff changeset
276 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, userType = None):
7
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diff changeset
277 STObject.__init__(self, num, timeInterval)
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diff changeset
278 self.positions = positions
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279 self.geometry = geometry
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diff changeset
280 self.userType = userType
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281 # compute bounding polygon from trajectory
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diff changeset
282
43
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diff changeset
283 def getObjectInTimeInterval(self, inter):
54
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diff changeset
284 '''Returns a new object extracted from self,
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diff changeset
285 restricted to time interval inter'''
43
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diff changeset
286 if inter.inside(self.timeInterval):
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diff changeset
287 inter = TimeInterval(inter.first-self.getFirstInstant(), inter.last-self.getFirstInstant())
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diff changeset
288 obj = MovingObject(self.num, inter, self.positions.getTrajectoryInInterval(inter), self.geometry, self.userType)
43
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diff changeset
289 if self.velocities:
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diff changeset
290 obj.velocities = self.velocities.getTrajectoryInInterval(inter)
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291 return obj
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292 else:
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diff changeset
293 print 'The object does not exist at '+str(inter)
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294 return None
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295
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296 def length(self):
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297 return self.timeInterval.length()
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298
38
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299 def getPositions(self):
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300 return self.positions
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301
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302 def getVelocities(self):
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303 return self.velocities
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304
49
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305 def getSpeeds(self):
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306 return self.getVelocities().norm()
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307
38
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308 def getPositionAt(self, i):
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309 return self.positions[i]
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310
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311 def getVelocityAt(self, i):
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312 return self.velocities[i]
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313
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314 def getPositionAtInstant(self, i):
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315 return self.positions[i-self.getFirstInstant()]
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316
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317 def getVelocityAtInstant(self, i):
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318 return self.velocities[i-self.getFirstInstant()]
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319
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320 def getXCoordinates(self):
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321 return self.positions.getXCoordinates()
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322
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323 def getYCoordinates(self):
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324 return self.positions.getYCoordinates()
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325
25
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326 def draw(self, options = ''):
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327 self.positions.draw(options)
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328
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329 def getInstantPassingLane(self, p1, p2):
55
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330 '''Returns the instant(s)
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331 at which the object passes from one side of the segment to the other
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332 empty list if there is no crossing'''
25
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333 instants = []
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334
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335 for i in xrange(self.length()-1):
27
44689029a86f updated segmentIntersection and other
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diff changeset
336 p = utils.segmentIntersection(self.positions[i], self.positions[i+1], p1, p2)
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337 if p:
44689029a86f updated segmentIntersection and other
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diff changeset
338 if self.positions[i].x != self.positions[i+1].x:
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diff changeset
339 ratio = (p.x-self.positions[i].x)/(self.positions[i+1].x-self.positions[i].x)
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diff changeset
340 elif self.positions[i].y != self.positions[i+1].y:
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parents: 26
diff changeset
341 ratio = (p.y-self.positions[i].y)/(self.positions[i+1].y-self.positions[i].y)
25
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parents: 23
diff changeset
342 else:
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diff changeset
343 ratio = 0
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diff changeset
344 instants.append(self.timeInterval[i]*(1-ratio)+ratio*self.timeInterval[i+1])
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diff changeset
345 return instants
27
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diff changeset
346
67
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diff changeset
347 @staticmethod
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diff changeset
348 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
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diff changeset
349 'A positive result indicates that the road users are getting closer'
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diff changeset
350 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
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diff changeset
351 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
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diff changeset
352 return moving.Point.dot(deltap, deltav)
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diff changeset
353
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diff changeset
354 @staticmethod
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diff changeset
355 def collisionCourseCosine(movingObject1, movingObject2, instant):
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diff changeset
356 'A positive result indicates that the road users are getting closer'
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diff changeset
357 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
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diff changeset
358 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
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diff changeset
359 return moving.Point.dot(deltap, deltav)/(deltap.norm2()*deltav.norm2())
2
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parents: 0
diff changeset
360
62
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parents: 58
diff changeset
361 def plotRoadUsers(objects, colors):
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diff changeset
362 '''Colors is a PlottingPropertyValues instance'''
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parents: 58
diff changeset
363 from matplotlib.pyplot import figure, axis
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
364 figure()
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parents: 58
diff changeset
365 for obj in objects:
290fceb125d2 moved road user types and added plotting for all road users
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diff changeset
366 obj.draw(colors.get(obj.userType))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
367 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
368
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
369
13
30559b2cf7a9 minimal code to load UBC data
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parents: 7
diff changeset
370 # need for a class representing the indicators, their units, how to print them in graphs...
6
597d61c1eebe minor doc update
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parents: 2
diff changeset
371 class TemporalIndicator:
597d61c1eebe minor doc update
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parents: 2
diff changeset
372 '''Class for temporal indicators
30
418b41056e6c after merge
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parents: 28
diff changeset
373 i.e. indicators that take a value at specific instants
418b41056e6c after merge
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parents: 28
diff changeset
374
58
40e1508380ed developed indicator classes
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parents: 56
diff changeset
375 values should be
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parents: 56
diff changeset
376 * a dict, for the values at specific time instants
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parents: 56
diff changeset
377 * or a list with a time interval object if continuous measurements
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diff changeset
378
30
418b41056e6c after merge
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parents: 28
diff changeset
379 it should have more information like name, unit'''
418b41056e6c after merge
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diff changeset
380
58
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diff changeset
381 def __init__(self, name, values, timeInterval=None):
30
418b41056e6c after merge
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diff changeset
382 self.name = name
418b41056e6c after merge
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parents: 28
diff changeset
383 self.values = values
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
384 self.timeInterval = timeInterval
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parents: 56
diff changeset
385
68
846fa9dc47de empty method for indicators
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parents: 67
diff changeset
386 def empty(self):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 67
diff changeset
387 return len(self.values) == 0
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parents: 67
diff changeset
388
58
40e1508380ed developed indicator classes
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parents: 56
diff changeset
389 class SeverityIndicator(TemporalIndicator):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
390 '''Class for severity indicators
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
391 field mostSevereIsMax is True
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diff changeset
392 if the most severe value taken by the indicator is the maximum'''
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parents: 56
diff changeset
393
67
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diff changeset
394 def __init__(self, name, values, timeInterval=None, mostSevereIsMax=True, ignoredValue = None):
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parents: 66
diff changeset
395 TemporalIndicator.__init__(self, name, values, timeInterval)
58
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diff changeset
396 self.mostSevereIsMax = mostSevereIsMax
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parents: 56
diff changeset
397 self.ignoredValue = ignoredValue
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
398
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
399 def getMostSevereValue(self, minNInstants=1):
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parents: 56
diff changeset
400 from matplotlib.mlab import find
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parents: 56
diff changeset
401 from numpy.core.multiarray import array
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
402 from numpy.core.fromnumeric import mean
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
403 values = array(self.values.values())
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
404 if self.ignoredValue:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
405 indices = find(values != self.ignoredValue)
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
406 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
407 indices = range(len(values))
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
408 if len(indices) >= minNInstants:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
409 values = sorted(values[indices], reverse = self.mostSevereIsMax) # inverted if most severe is max -> take the first values
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parents: 56
diff changeset
410 return mean(values[:minNInstants])
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parents: 56
diff changeset
411 else:
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parents: 56
diff changeset
412 return None
6
597d61c1eebe minor doc update
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parents: 2
diff changeset
413
65
75cf537b8d88 moved and generalized map making functions to the library
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parents: 64
diff changeset
414 def indicatorMap(indicatorValues, trajectory, squareSize):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
415 '''Returns a dictionary
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
416 with keys for the indices of the cells (squares)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
417 in which the trajectory positions are located
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
418 at which the indicator values are attached'''
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
419 from numpy import floor, mean
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
420 assert len(indicatorValues) == trajectory.length()
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
421 indicatorMap = {}
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parents: 64
diff changeset
422 for k in xrange(trajectory.length()):
75cf537b8d88 moved and generalized map making functions to the library
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parents: 64
diff changeset
423 p = trajectory[k]
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
424 i = floor(p.x/squareSize)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
425 j = floor(p.y/squareSize)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
426 if indicatorMap.has_key((i,j)):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
427 indicatorMap[(i,j)].append(indicatorValues[k])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
428 else:
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
429 indicatorMap[(i,j)] = [indicatorValues[k]]
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
430 for k in indicatorMap.keys():
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
431 indicatorMap[k] = mean(indicatorMap[k])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
432 return indicatorMap
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433
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434 def combineIndicatorMaps(maps, squareSize, combinationFunction):
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435 '''Puts many indicator maps together
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436 (averaging the values in each cell
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437 if more than one maps has a value)'''
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438 #from numpy import mean
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439 indicatorMap = {}
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440 for m in maps:
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441 for k,v in m.iteritems():
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442 if indicatorMap.has_key(k):
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443 indicatorMap[k].append(v)
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444 else:
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445 indicatorMap[k] = [v]
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446 for k in indicatorMap.keys():
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447 indicatorMap[k] = combinationFunction(indicatorMap[k])
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448 return indicatorMap
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449
2
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450 if __name__ == "__main__":
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451 import doctest
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452 import unittest
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453 suite = doctest.DocFileSuite('tests/moving.txt')
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454 #suite = doctest.DocTestSuite()
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455 unittest.TextTestRunner().run(suite)
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456 #doctest.testmod()
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457 #doctest.testfile("example.txt")
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458