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annotate python/extrapolation.py @ 259:8ab76b95ee72

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added code to save collision points and crossing zones in txt files
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 24 Jul 2012 15:18:12 -0400
parents d90be3c02267
children 36cb40c51a5e
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1 #! /usr/bin/env python
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2 '''Library for moving object extrapolation hypotheses'''
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3
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4 import moving
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5 import math
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6
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7 class ExtrapolatedTrajectory:
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8 '''Class for extrapolated trajectories with lazy evaluation
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9 if the predicted position has not been already computed, compute it
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10
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11 it should also have a probability'''
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12
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13 def __init__(self):
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14 self.probability = 0.
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15 self.predictedPositions = {}
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16 self.predictedSpeedOrientations = {}
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17 self.collisionPoints = {}
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18 self.crossingZones = {}
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19
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20 def predictPosition(self, nTimeSteps):
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21 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
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22 self.predictPosition(nTimeSteps-1)
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23 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.getControl(), self.maxSpeed)
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24 return self.predictedPositions[nTimeSteps]
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25
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26 def getPredictedTrajectory(self):
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27 return moving.Trajectory.fromPointList(self.predictedPositions.values())
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28
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29 def getPredictedSpeeds(self):
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30 return [so.norm for so in self.predictedSpeedOrientations.values()]
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31
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32 def draw(self, options = '', withOrigin = False, **kwargs):
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33 self.getPredictedTrajectory().draw(options, withOrigin, **kwargs)
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34
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35 class ExtrapolatedTrajectoryConstant(ExtrapolatedTrajectory):
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36 '''Extrapolated trajectory at constant speed or acceleration
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37 TODO add limits if acceleration
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38 TODO generalize by passing a series of velocities/accelerations'''
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39
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40 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1, maxSpeed = None):
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41 self.control = control
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42 self.maxSpeed = maxSpeed
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43 self.probability = probability
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44 self.predictedPositions = {0: initialPosition}
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45 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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46
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47 def getControl(self):
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48 return self.control
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49
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50 class ExtrapolatedTrajectoryNormalAdaptation(ExtrapolatedTrajectory):
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51 '''Random small adaptation of vehicle control '''
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52 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1, maxSpeed = None):
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53 '''Constructor
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54 accelerationDistribution and steeringDistribution are distributions
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55 that return random numbers drawn from them'''
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56 self.accelerationDistribution = accelerationDistribution
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57 self.steeringDistribution = steeringDistribution
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58 self.maxSpeed = maxSpeed
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59 self.probability = probability
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60 self.predictedPositions = {0: initialPosition}
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61 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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62
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63 def getControl(self):
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64 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
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66
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67 class ExtrapolationParameters:
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68 def __init__(self, name):
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69 self.name = name
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70
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71 def createExtrapolatedTrajectories(extrapolationParameters, initialPosition, initialVelocity, maxSpeed):
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72 '''extrapolationParameters specific to each method (in name field) '''
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73 if extrapolationParameters.name == 'constant velocity':
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74 return [ExtrapolatedTrajectoryConstant(initialPosition, initialVelocity, maxSpeed = maxSpeed)]
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75 else:
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76 print('Unknown extrapolation hypothesis')
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77 return []
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78
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79 class SafetyPoint(moving.Point):
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80 '''Can represent a collision point or crossing zone
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81 with respective safety indicator, TTC or pPET'''
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82 def __init__(self, p, probability = 1., indicator = -1):
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83 self.x = p.x
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84 self.y = p.y
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85 self.probability = probability
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86 self.indicator = indicator
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87
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88 def computeExpectedIndicator(points):
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89 from numpy import sum
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90 return sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points])
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91
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92 def computeCrossingsCollisions(extrapolatedTrajectories1, extrapolatedTrajectories2, collisionDistanceThreshold, timeHorizon):
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93 '''returns the lists of collision points and crossing zones '''
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94 collisionPoints = []
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95 crossingZones = []
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96 for et1 in extrapolatedTrajectories1:
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97 for et2 in extrapolatedTrajectories2:
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98
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99 t = 1
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100 p1 = et1.predictPosition(t)
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101 p2 = et2.predictPosition(t)
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102 while t <= timeHorizon and (p1-p2).norm2() > collisionDistanceThreshold:
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103 p1 = et1.predictPosition(t)
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104 p2 = et2.predictPosition(t)
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105 t += 1
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106
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107 if t <= timeHorizon:
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108 collisionPoints.append(SafetyPoint((p1+p2).multiply(0.5), et1.probability*et2.probability, t))
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109 else: # check if there is a crossing zone
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110 # TODO? zone should be around the points at which the traj are the closest
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111 # look for CZ at different times, otherwise it would be a collision
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112 # an approximation would be to look for close points at different times, ie the complementary of collision points
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113 cz = None
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114 t1 = 0
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115 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
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116 t2 = 0
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117 while not cz and t2 < timeHorizon:
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118 #if (et1.predictPosition(t1)-et2.predictPosition(t2)).norm2() < collisionDistanceThreshold:
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119 # cz = (et1.predictPosition(t1)+et2.predictPosition(t2)).multiply(0.5)
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120 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
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121 if cz:
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122 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)))
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123 t2 += 1
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124 t1 += 1
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125 return collisionPoints, crossingZones
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126
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127
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parents: 256
diff changeset
128
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
129 # Default values: to remove because we cannot tweak that from a script where the value may be different
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
130 FPS= 25 # No. of frame per second (FPS)
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
131 vLimit= 25/FPS #assume limit speed is 90km/hr = 25 m/sec
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
132 deltaT= FPS*5 # extrapolatation time Horizon = 5 second
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
133
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
134 def motion (position, velocity, acceleration):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
135 ''' extrapolation hypothesis: constant acceleration'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
136 from math import atan2,cos,sin
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
137 vInit= velocity
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
138 vInitial= velocity.norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
139 theta= atan2(velocity.y,velocity.x)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
140 vFinal= vInitial+acceleration
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
141
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
142 if acceleration<= 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
143 v= max(0,vFinal)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
144 velocity= moving.Point(v* cos(theta),v* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
145 position= position+ (velocity+vInit). multiply(0.5)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
146 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
147 v= min(vLimit,vFinal)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
148 velocity= moving.Point(v* cos(theta),v* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
149 position= position+ (velocity+vInit). multiply(0.5)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
150 return(position,velocity)
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
151
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
152 def motionPET (position, velocity, acceleration, deltaT):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
153 ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
154 from math import atan2,cos,sin,fabs
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
155 vInit= velocity
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
156 vInitial= velocity.norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
157 theta= atan2(velocity.y,velocity.x)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
158 vFinal= vInitial+acceleration * deltaT
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
159 if acceleration< 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
160 if vFinal> 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
161 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
162 position= position+ (vInit+ velocity). multiply(0.5*deltaT)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
163 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
164 T= fabs(vInitial/acceleration)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
165 position= position + vInit. multiply(0.5*T)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
166 elif acceleration> 0 :
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
167 if vFinal<= vLimit:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
168 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
169 position= position+ (vInit+ velocity). multiply(0.5*deltaT)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
170 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
171 time1= fabs((vLimit-vInitial)/acceleration)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
172 velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
173 position= (position+ (velocity+vInit). multiply(0.5*time1)) + (velocity.multiply (deltaT-time1))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
174 elif acceleration == 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
175 position= position + velocity. multiply(deltaT)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
176
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
177 return position
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
178
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
179 def timePET (position, velocity, acceleration, intersectedPoint ):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
180 ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
181 from math import atan2,cos,sin,fabs
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
182 vInit= velocity
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
183 vInitial= velocity.norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
184 theta= atan2(velocity.y,velocity.x)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
185 vFinal= vInitial+acceleration * deltaT
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
186 if acceleration< 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
187 if vFinal> 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
188 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
189 time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
190 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
191 time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x)))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
192 elif acceleration> 0 :
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
193 if vFinal<= vLimit:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
194 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
195 time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
196 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
197 time1= fabs((vLimit-vInitial)/acceleration)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
198 velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
199 time2= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
200 if time2<=time1:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
201 time= time2
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
202 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
203 position2= (position+ (velocity+vInit). multiply(0.5*time1))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
204 time= time1+fabs((intersectedPoint.x-position2.x)/( velocity.x))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
205 elif acceleration == 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
206 time= fabs((intersectedPoint.x-position.x)/(velocity.x))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
207
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
208 return time
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
209
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
210 def motionSteering (position, velocity, deltaTheta, deltaT ):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
211 ''' extrapolation hypothesis: steering with deltaTheta'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
212 from math import atan2,cos,sin
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
213 vInitial= velocity.norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
214 theta= atan2(velocity.y,velocity.x)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
215 newTheta= theta + deltaTheta
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
216 velocity= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
217 position= position+ (velocity). multiply(deltaT)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
218 return position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
219
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
220 def MonteCarlo(movingObject1,movingObject2, instant):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
221 ''' Monte Carlo Simulation : estimate the probability of collision'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
222 from random import uniform
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
223 from math import pow, sqrt, sin, cos,atan2
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
224 N=1000
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
225 ProbOfCollision = 0
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
226 for n in range (1, N):
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
227 # acceleration limit
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
228 acc1 = uniform(-0.040444,0)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
229 acc2 = uniform(-0.040444,0)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
230 p1= movingObject1.getPositionAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
231 p2= movingObject2.getPositionAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
232 v1= movingObject1.getVelocityAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
233 v2= movingObject2.getVelocityAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
234 distance= (p1-p2).norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
235 distanceThreshold= 1.8
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
236 t=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
237 while distance > distanceThreshold and t <= deltaT:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
238 # Extrapolation position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
239 (p1,v1) = motion(p1,v1,acc1)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
240 (p2,v2) = motion(p2,v2,acc2)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
241 distance= (p1-p2).norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
242 if distance <=distanceThreshold:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
243 ProbOfCollision= ProbOfCollision+1
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244 t+=1
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245 POC= float(ProbOfCollision)/N
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246 return POC
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247
243
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248 def velocitySteering(velocity,steering):
244
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249 from math import atan2,cos,sin
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250 vInitial= velocity.norm2()
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251 theta= atan2(velocity.y,velocity.x)
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252 newTheta= theta + steering
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253 v= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta))
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254 return v
243
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255
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256 def MonteCarloSteering(movingObject1,movingObject2, instant,steering1,steering2):
244
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257 ''' Monte Carlo Simulation : estimate the probability of collision in case of steering'''
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258 from random import uniform
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259 from math import pow, sqrt, sin, cos,atan2
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260 N=1000
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261 L= 2.4
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262 ProbOfCollision = 0
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263 for n in range (1, N):
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264 # acceleration limit
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265 acc1 = uniform(-0.040444,0)
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266 acc2 = uniform(-0.040444,0)
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267 p1= movingObject1.getPositionAtInstant(instant)
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268 p2= movingObject2.getPositionAtInstant(instant)
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269 vInit1= movingObject1.getVelocityAtInstant(instant)
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270 v1= velocitySteering (vInit1,steering1)
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271 vInit2= movingObject2.getVelocityAtInstant(instant)
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272 v2= velocitySteering (vInit2,steering2)
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273 distance= (p1-p2).norm2()
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274 distanceThreshold= 1.8
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275 t=1
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276 while distance > distanceThreshold and t <= deltaT:
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277 # Extrapolation position
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278 (p1,v1) = motion(p1,v1,acc1)
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279 (p2,v2) = motion(p2,v2,acc2)
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280 distance= (p1-p2).norm2()
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281 if distance <=distanceThreshold:
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282 ProbOfCollision= ProbOfCollision+1
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283 t+=1
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284 POC= float(ProbOfCollision)/N
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diff changeset
285 return POC
243
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286
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287
255
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288 if __name__ == "__main__":
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289 import doctest
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290 import unittest
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291 suite = doctest.DocFileSuite('tests/extrapolation.txt')
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292 #suite = doctest.DocTestSuite()
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293 unittest.TextTestRunner().run(suite)
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294 #doctest.testmod()
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295 #doctest.testfile("example.txt")
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296