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annotate python/extrapolation.py @ 257:9281878ff19e

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untested collision/crossing computation
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 24 Jul 2012 03:27:29 -0400
parents dc1faa7287bd
children d90be3c02267
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rev   line source
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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 predictPosition(self, nTimeSteps):
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14 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
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15 self.predictPosition(nTimeSteps-1)
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16 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.getControl(), self.maxSpeed)
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17 return self.predictedPositions[nTimeSteps]
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18
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19 def getPredictedTrajectory(self):
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20 return moving.Trajectory.fromPointList(self.predictedPositions.values())
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21
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22 def getPredictedSpeeds(self):
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23 return [so.norm for so in self.predictedSpeedOrientations.values()]
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24
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25 def draw(self, options = '', withOrigin = False, **kwargs):
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26 self.getPredictedTrajectory().draw(options, withOrigin, **kwargs)
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27
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28 class ExtrapolatedTrajectoryConstant(ExtrapolatedTrajectory):
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29 '''Extrapolated trajectory at constant speed or acceleration
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30 TODO add limits if acceleration
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31 TODO generalize by passing a series of velocities/accelerations'''
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32
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33 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1, maxSpeed = None):
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34 self.control = control
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35 self.maxSpeed = maxSpeed
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36 self.probability = probability
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37 self.predictedPositions = {0: initialPosition}
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38 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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39
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40 def getControl(self):
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41 return self.control
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42
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43 class ExtrapolatedTrajectoryNormalAdaptation(ExtrapolatedTrajectory):
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44 '''Random small adaptation of vehicle control '''
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45 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1, maxSpeed = None):
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46 '''Constructor
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47 accelerationDistribution and steeringDistribution are distributions
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48 that return random numbers drawn from them'''
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49 self.accelerationDistribution = accelerationDistribution
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50 self.steeringDistribution = steeringDistribution
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51 self.maxSpeed = maxSpeed
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52 self.probability = probability
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53 self.predictedPositions = {0: initialPosition}
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54 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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55
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56 def getControl(self):
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57 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
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58
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59
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60 class ExtrapolationParameters:
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61 def __init__(self, name):
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62 self.name = name
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63
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64 def createExtrapolatedTrajectories(extrapolationParameters, initialPosition, initialVelocity, maxSpeed):
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65 '''extrapolationParameters specific to each method (in name field) '''
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66 if extrapolationHypothesis.name == 'constant velocity':
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67 return [ExtrapolatedTrajectoryConstant(initialPosition, initialVelocity, maxSpeed = maxSpeed)]
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68 else:
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69 print('Unknown extrapolation hypothesis')
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70 return []
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71
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72 def computeCrossingsCollisions(extrapolatedTrajectories1, extrapolatedTrajectories2, collisionDistanceThreshold, timeHorizon):
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73 '''returns the lists of collision points and crossing zones '''
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74 collisionPoints = []
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75 TTCs = []
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76 crossingZones = []
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77 pPETs = []
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78 for et1 in extrapolatedTrajectories1:
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79 for et2 in extrapolatedTrajectories2:
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80
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81 t = 1
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82 p1 = et1.predictPosition(t)
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83 p2 = et2.predictPosition(t)
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84 while t <= timeHorizon and (p1-p2).norm() > collisionDistanceThreshold:
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85 p1 = et1.predictPosition(t)
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86 p2 = et2.predictPosition(t)
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87 t += 1
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88
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89 if t <= timeHorizon:
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90 TTCs.append(t) # todo store probability
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91 collisionPoints.append((p1+p2).multiply(0.5))
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92 else: # check if there is a crossing zone
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93 for t1 in xrange(timeHorizon-1):
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94 for t2 in xrange(timeHorizon-1):
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95 cz = moving.segmentIntersection (et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
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96 if cz:
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97 crossingZones.append(cz)
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98 pPETs.append(abs(t1-t2))
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99 break
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100 return collisionPoints, crossingZones, TTCs, pPETs
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101
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102
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103
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104 # Default values: to remove because we cannot tweak that from a script where the value may be different
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105 FPS= 25 # No. of frame per second (FPS)
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106 vLimit= 25/FPS #assume limit speed is 90km/hr = 25 m/sec
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107 deltaT= FPS*5 # extrapolatation time Horizon = 5 second
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108
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109 def motion (position, velocity, acceleration):
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110 ''' extrapolation hypothesis: constant acceleration'''
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111 from math import atan2,cos,sin
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112 vInit= velocity
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113 vInitial= velocity.norm2()
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114 theta= atan2(velocity.y,velocity.x)
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115 vFinal= vInitial+acceleration
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116
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117 if acceleration<= 0:
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118 v= max(0,vFinal)
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119 velocity= moving.Point(v* cos(theta),v* sin(theta))
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120 position= position+ (velocity+vInit). multiply(0.5)
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121 else:
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122 v= min(vLimit,vFinal)
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123 velocity= moving.Point(v* cos(theta),v* sin(theta))
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124 position= position+ (velocity+vInit). multiply(0.5)
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125 return(position,velocity)
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126
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127 def motionPET (position, velocity, acceleration, deltaT):
244
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
128 ''' 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
129 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
130 vInit= velocity
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
131 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
132 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
133 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
134 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
135 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
136 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
137 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
138 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
139 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
140 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
141 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
142 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
143 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
144 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
145 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
146 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
147 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
148 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
149 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
150 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
151
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
152 return position
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
153
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
154 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
155 ''' 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
156 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
157 vInit= velocity
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
158 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
159 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
160 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
161 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
162 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
163 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
164 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
165 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
166 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
167 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
168 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
169 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
170 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
171 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
172 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
173 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
174 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
175 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
176 time= time2
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
177 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
178 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
179 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
180 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
181 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
182
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
183 return time
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
184
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
185 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
186 ''' 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
187 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
188 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
189 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
190 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
191 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
192 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
193 return position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
194
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
195 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
196 ''' 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
197 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
198 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
199 N=1000
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
200 ProbOfCollision = 0
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
201 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
202 # acceleration limit
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
203 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
204 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
205 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
206 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
207 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
208 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
209 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
210 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
211 t=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
212 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
213 # Extrapolation position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
214 (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
215 (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
216 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
217 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
218 ProbOfCollision= ProbOfCollision+1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
219 t+=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
220 POC= float(ProbOfCollision)/N
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
221 return POC
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
222
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
223 def velocitySteering(velocity,steering):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
224 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
225 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
226 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
227 newTheta= theta + steering
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
228 v= 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
229 return v
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
230
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
231 def MonteCarloSteering(movingObject1,movingObject2, instant,steering1,steering2):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
232 ''' Monte Carlo Simulation : estimate the probability of collision in case of steering'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
233 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
234 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
235 N=1000
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
236 L= 2.4
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
237 ProbOfCollision = 0
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
238 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
239 # acceleration limit
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
240 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
241 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
242 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
243 p2= movingObject2.getPositionAtInstant(instant)
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244 vInit1= movingObject1.getVelocityAtInstant(instant)
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245 v1= velocitySteering (vInit1,steering1)
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246 vInit2= movingObject2.getVelocityAtInstant(instant)
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247 v2= velocitySteering (vInit2,steering2)
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248 distance= (p1-p2).norm2()
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249 distanceThreshold= 1.8
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250 t=1
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251 while distance > distanceThreshold and t <= deltaT:
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252 # Extrapolation position
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253 (p1,v1) = motion(p1,v1,acc1)
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254 (p2,v2) = motion(p2,v2,acc2)
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255 distance= (p1-p2).norm2()
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256 if distance <=distanceThreshold:
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257 ProbOfCollision= ProbOfCollision+1
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258 t+=1
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259 POC= float(ProbOfCollision)/N
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260 return POC
243
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261
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262
255
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263 if __name__ == "__main__":
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264 import doctest
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265 import unittest
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266 suite = doctest.DocFileSuite('tests/extrapolation.txt')
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267 #suite = doctest.DocTestSuite()
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268 unittest.TextTestRunner().run(suite)
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269 #doctest.testmod()
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270 #doctest.testfile("example.txt")
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271