repo/traffic-intelligence: python/moving.py annotate

annotate python/moving.py @ 40:9f16aee24b7e

corrected bug for first and last of TimeInterval

author	Nicolas Saunier <nico@confins.net>
date	Wed, 19 May 2010 19:47:02 -0400
parents	e47168f6b694
children	eb78c6edc0c8

rev	line source
0 aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	1 #! /usr/bin/env python
aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	2 '''Libraries for moving objects, trajectories...'''
aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	3
aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	4 import utils;
aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	5
16 9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	6 from math import sqrt, hypot;
9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	7
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	8 from shapely.geometry import Polygon
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	9
0 aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	10 __metaclass__ = type
aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	11
aed8eb63cdde initial commit with non-functional python code for NGSIM Nicolas Saunier <nico@confins.net> parents: diff changeset	12 #class MovingObject:
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	13
26 54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	14 class Interval:
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	15 '''Generic Interval'''
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	16 def __init__(self, first=0, last=-1, revert = False):
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	17 'Warning, do not revert if last<first, it contradicts the definition of empty'
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	18 if revert and last<first:
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	19 self.first=last
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	20 self.last=first
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	21 else:
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	22 self.first=first
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	23 self.last=last
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	24
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	25 def __str__(self):
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	26 return '%d %d'%(self.first, self.last)
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	27
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	28 def empty(self):
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	29 '''
26 54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	30 >>> Interval().empty()
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	31 True
26 54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	32 >>> Interval(0,1).empty()
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	33 False
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	34 '''
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	35 return self.first > self.last
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	36
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	37 def length(self):
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	38 '''Returns the length of the interval
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	39
26 54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	40 >>> Interval(0,1).length()
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	41 1
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	42 >>> Interval(23.2,24.9).length()
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	43 1.6999999999999993
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	44 >>> Interval(10,8).length()
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	45 0
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	46 '''
26 54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	47 return max(0,self.last-self.first)
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	48
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	49 def getList(self):
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	50 return [self.first, self.last]
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	51
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	52 def contains(self, instant):
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	53 return (self.first<=instant and self.last>=instant)
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	54
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	55 def inside(self, interval2):
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	56 'indicates if the temporal interval of self is comprised in interval2'
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	57 return (self.first >= interval2.first) and (self.last <= interval2.last)
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	58
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	59 def union(self, interval2):
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	60 '''Largest interval comprising self and interval2'''
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	61 return TimeInterval(min(self.first, interval2.first), max(self.last, interval2.last))
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	62
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	63 def intersection(self, interval2):
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	64 '''Largest interval comprising self and interval2'''
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	65 return TimeInterval(max(self.first, interval2.first), min(self.last, interval2.last))
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	66
27 44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	67
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	68 class TimeInterval(Interval):
26 54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	69 '''Temporal interval'''
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	70
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	71 def __init__(self, first=0, last=-1):
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	72 Interval.__init__(self, first, last, False)
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	73
27 44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	74 def __getitem__(self, i):
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	75 if not self.empty():
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	76 return self.first+i
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	77
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	78 def __iter__(self):
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	79 self.iterInstantNum = 0
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	80 return self
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	81
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	82 def next(self):
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	83 if self.iterInstantNum >= self.length():
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	84 raise StopIteration
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	85 else:
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	86 self.iterInstantNum += 1
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	87 return self[self.iterInstantNum]
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	88
26 54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	89 def length(self):
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	90 '''Returns the length of the interval
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	91
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	92 >>> TimeInterval(0,1).length()
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	93 2
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	94 >>> TimeInterval(10,8).length()
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	95 0
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	96 '''
54d9cb0c902b generalized intervals Nicolas Saunier <nico@confins.net> parents: 25 diff changeset	97 return max(0,self.last-self.first+1)
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	98
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	99 # class BoundingPolygon:
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	100 # '''Class for a polygon bounding a set of points
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	101 # with methods to create intersection, unions...
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	102 # '''
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	103 # We will use the polygon class of Shapely
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	104
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	105 class STObject:
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	106 '''Class for spatio-temporal object
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	107 i.e. with temporal and spatial existence
6 597d61c1eebe minor doc update Nicolas Saunier <nico@confins.net> parents: 2 diff changeset	108 (time interval and bounding polygon for positions (e.g. rectangle)).
597d61c1eebe minor doc update Nicolas Saunier <nico@confins.net> parents: 2 diff changeset	109 It does not mean that the object is defined
597d61c1eebe minor doc update Nicolas Saunier <nico@confins.net> parents: 2 diff changeset	110 for all time instants within the time interval'''
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	111
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	112 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	113 self.num = num
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	114 self.timeInterval = timeInterval
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	115 self.boundingPolygon = boundingPolygon
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	116
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	117 def empty(self):
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	118 return self.timeInterval.empty() or not self.boudingPolygon
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	119
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	120 def getFirstInstant(self):
40 9f16aee24b7e corrected bug for first and last of TimeInterval Nicolas Saunier <nico@confins.net> parents: 39 diff changeset	121 return self.timeInterval.first
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	122
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	123 def getLastInstant(self):
40 9f16aee24b7e corrected bug for first and last of TimeInterval Nicolas Saunier <nico@confins.net> parents: 39 diff changeset	124 return self.timeInterval.last
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	125
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	126 class Point:
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	127 def __init__(self, x, y):
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	128 self.x = x
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	129 self.y = y
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	130
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	131 def __str__(self):
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	132 return '(%f,%f)'%(self.x,self.y)
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	133
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	134 def __repr__(self):
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	135 return str(self)
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	136
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	137 def __sub__(self, other):
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	138 '''
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	139 >>> Point(3,4)-Point(1,7)
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	140 (2.000000,-3.000000)
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	141 '''
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	142 return Point(self.x-other.x, self.y-other.y)
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	143
38 0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	144 def norm2Squared(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	145 '''2-norm distance (Euclidean distance)
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	146 >>> Point(3,2).norm2Squared()
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	147 13
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	148 '''
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	149 return self.xself.x+self.yself.y
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	150
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	151 def norm2(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	152 '2-norm distance (Euclidean distance)'
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	153 return sqrt(self.norm2Squared())
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	154
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	155 def distanceNorm2(p1, p2):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	156 '''
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	157 >>> Point.distanceNorm2(Point(3,4),Point(1,7))
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	158 3.6055512754639891
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	159 '''
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	160 return (p1-p2).norm2()
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	161
28 9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: 27 diff changeset	162 def aslist(self):
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: 27 diff changeset	163 return [self.x, self.y]
9ae709a2e8d0 rearranged code Nicolas Saunier <nico@confins.net> parents: 27 diff changeset	164
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	165 class Trajectory:
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	166 '''Class for trajectories
22 169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	167 i.e. a temporal sequence of positions
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	168
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	169 the class is iterable.'''
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	170
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	171 def __init__(self, line1, line2):
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	172 self.positions = [[float(n) for n in line1.split(' ')],
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	173 [float(n) for n in line2.split(' ')]]
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	174
16 9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	175 def __str__(self):
39 e47168f6b694 corrected printing bug Nicolas Saunier <nico@confins.net> parents: 38 diff changeset	176 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
16 9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	177
23 5f2921ad4f7e made Trajectory indexable and timeinterval iterable Nicolas Saunier <nico@confins.net> parents: 22 diff changeset	178 def __getitem__(self, i):
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	179 return Point(self.positions[0][i], self.positions[1][i])
23 5f2921ad4f7e made Trajectory indexable and timeinterval iterable Nicolas Saunier <nico@confins.net> parents: 22 diff changeset	180
22 169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	181 def __iter__(self):
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	182 self.iterInstantNum = 0
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	183 return self
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	184
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	185 def next(self):
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	186 if self.iterInstantNum >= self.length():
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	187 raise StopIteration
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	188 else:
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	189 self.iterInstantNum += 1
23 5f2921ad4f7e made Trajectory indexable and timeinterval iterable Nicolas Saunier <nico@confins.net> parents: 22 diff changeset	190 return self[self.iterInstantNum-1]
22 169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	191
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	192 def addPosition(self, p):
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	193 if not self.positions:
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	194 self.positions = [[p.x],[p.y]]
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	195 else:
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	196 self.positions[0].append(p.x)
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	197 self.positions[1].append(p.y)
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	198
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	199 def draw(self, options = ''):
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	200 from matplotlib.pylab import plot
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	201 plot(self.positions[0], self.positions[1], options)
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	202
21 3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	203 def length(self):
23 5f2921ad4f7e made Trajectory indexable and timeinterval iterable Nicolas Saunier <nico@confins.net> parents: 22 diff changeset	204 return len(self.positions[0])
21 3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	205
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	206 def getXCoordinates(self):
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	207 return self.positions[0]
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	208
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	209 def getYCoordinates(self):
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	210 return self.positions[1]
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	211
14 e7bbe8465591 homography and other utils Nicolas Saunier <nico@confins.net> parents: 13 diff changeset	212 def xBounds(self):
e7bbe8465591 homography and other utils Nicolas Saunier <nico@confins.net> parents: 13 diff changeset	213 # look for function that does min and max in one pass
21 3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	214 return [min(self.getXCoordinates()), max(self.getXCoordinates())]
14 e7bbe8465591 homography and other utils Nicolas Saunier <nico@confins.net> parents: 13 diff changeset	215
e7bbe8465591 homography and other utils Nicolas Saunier <nico@confins.net> parents: 13 diff changeset	216 def yBounds(self):
e7bbe8465591 homography and other utils Nicolas Saunier <nico@confins.net> parents: 13 diff changeset	217 # look for function that does min and max in one pass
21 3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	218 return [min(self.getYCoordinates()), max(self.getYCoordinates())]
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	219
16 9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	220 def norm(self):
9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	221 '''Returns the list of the norms at each instant'''
9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	222 # def add(x, y): return x+y
9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	223 # sq = map(add, [xx for x in self.positions[0]], [yy for y in self.positions[1]])
9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	224 # return sqrt(sq)
9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	225 return [hypot(x,y) for x,y in zip(self.positions[0], self.positions[1])]
14 e7bbe8465591 homography and other utils Nicolas Saunier <nico@confins.net> parents: 13 diff changeset	226
19 5a21d2cfee44 added polygon plotting Nicolas Saunier <nico@confins.net> parents: 16 diff changeset	227 def getTrajectoryInPolygon(self, polygon):
5a21d2cfee44 added polygon plotting Nicolas Saunier <nico@confins.net> parents: 16 diff changeset	228 'Returns the set of points inside the polygon'
5a21d2cfee44 added polygon plotting Nicolas Saunier <nico@confins.net> parents: 16 diff changeset	229 # use shapely polygon contains
5a21d2cfee44 added polygon plotting Nicolas Saunier <nico@confins.net> parents: 16 diff changeset	230 pass
5a21d2cfee44 added polygon plotting Nicolas Saunier <nico@confins.net> parents: 16 diff changeset	231
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	232 class MovingObject(STObject):
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	233 '''Class for moving objects
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	234 i.e. with a trajectory and a geometry (volume)
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	235 and a type (e.g. road user)
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	236 '''
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	237
16 9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	238 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, type = None):
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	239 STObject.__init__(self, num, timeInterval)
16 9d6831cfe675 added tools for speed Nicolas Saunier <nico@confins.net> parents: 14 diff changeset	240 self.positions = positions
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	241 self.geometry = geometry
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	242 self.type = type
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	243 # compute bounding polygon from trajectory
ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	244
21 3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	245 def length(self):
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	246 return self.timeInterval.length()
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	247
38 0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	248 def getPositions(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	249 return self.positions
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	250
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	251 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	252 return self.velocities
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	253
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	254 def getPositionAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	255 return self.positions[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	256
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	257 def getVelocityAt(self, i):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	258 return self.velocities[i]
0d321c23d337 added norm functions for Point and accessor methods for MovingObject Nicolas Saunier <nico@confins.net> parents: 30 diff changeset	259
21 3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	260 def getXCoordinates(self):
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	261 return self.positions.getXCoordinates()
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	262
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	263 def getYCoordinates(self):
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	264 return self.positions.getYCoordinates()
3c4629550f5f added basic getters for objects Nicolas Saunier <nico@confins.net> parents: 19 diff changeset	265
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	266 def draw(self, options = ''):
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	267 self.positions.draw(options)
22 169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	268
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	269 def getInstantPassingLane(self, p1, p2):
169cd4679366 made Trajectory iterable Nicolas Saunier <nico@confins.net> parents: 21 diff changeset	270 '''Returns the instant(s) the object passes from one side of the segment to the other
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	271 empty list if not'''
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	272 instants = []
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	273
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	274 for i in xrange(self.length()-1):
27 44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	275 p = utils.segmentIntersection(self.positions[i], self.positions[i+1], p1, p2)
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	276 if p:
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	277 if self.positions[i].x != self.positions[i+1].x:
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	278 ratio = (p.x-self.positions[i].x)/(self.positions[i+1].x-self.positions[i].x)
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	279 elif self.positions[i].y != self.positions[i+1].y:
44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	280 ratio = (p.y-self.positions[i].y)/(self.positions[i+1].y-self.positions[i].y)
25 28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	281 else:
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	282 ratio = 0
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	283 instants.append(self.timeInterval[i](1-ratio)+ratioself.timeInterval[i+1])
28e546861263 added Point class and modified trajectory accordingly Nicolas Saunier <nico@confins.net> parents: 23 diff changeset	284 return instants
27 44689029a86f updated segmentIntersection and other Nicolas Saunier <nico@confins.net> parents: 26 diff changeset	285
7 ffddccfab7f9 loading shell objects from NGSIM works Nicolas Saunier <nico@confins.net> parents: 6 diff changeset	286 # def computeVelocities(self):
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	287
13 30559b2cf7a9 minimal code to load UBC data Nicolas Saunier <nico@confins.net> parents: 7 diff changeset	288 # need for a class representing the indicators, their units, how to print them in graphs...
6 597d61c1eebe minor doc update Nicolas Saunier <nico@confins.net> parents: 2 diff changeset	289 class TemporalIndicator:
597d61c1eebe minor doc update Nicolas Saunier <nico@confins.net> parents: 2 diff changeset	290 '''Class for temporal indicators
30 418b41056e6c after merge Nicolas Saunier <nico@confins.net> parents: 28 diff changeset	291 i.e. indicators that take a value at specific instants
418b41056e6c after merge Nicolas Saunier <nico@confins.net> parents: 28 diff changeset	292
418b41056e6c after merge Nicolas Saunier <nico@confins.net> parents: 28 diff changeset	293 it should have more information like name, unit'''
418b41056e6c after merge Nicolas Saunier <nico@confins.net> parents: 28 diff changeset	294
418b41056e6c after merge Nicolas Saunier <nico@confins.net> parents: 28 diff changeset	295 def __init__(self, name, values = {}):
418b41056e6c after merge Nicolas Saunier <nico@confins.net> parents: 28 diff changeset	296 self.name = name
418b41056e6c after merge Nicolas Saunier <nico@confins.net> parents: 28 diff changeset	297 self.values = values
6 597d61c1eebe minor doc update Nicolas Saunier <nico@confins.net> parents: 2 diff changeset	298
2 de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	299 if __name__ == "__main__":
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	300 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	301 import unittest
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	302 #suite = doctest.DocFileSuite('tests/ubc_utils.txt')
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	303 suite = doctest.DocTestSuite()
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	304 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	305 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 0 diff changeset	306 #doctest.testfile("example.txt")

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annotate python/moving.py @ 40:9f16aee24b7e