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annotate python/event.py @ 291:9f81218e497a

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class VehPairs subsumes createInteractions(objects); legacy code remains
author Paul@BEAST-III
date Tue, 05 Feb 2013 15:45:33 -0500
parents dbe7e53334d7
children 8b2c8a4015f1
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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1 #! /usr/bin/env python
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2 '''Libraries for events
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3 Interactions, pedestrian crossing...'''
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4
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5 #import utils;
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6 import moving
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7 import prediction
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8
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9 __metaclass__ = type
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10
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11 ## Subsumes createInteractions(objects) with a VehPair Object
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12 class VehPairs():
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13 def __init__(self,objects):
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14 '''
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15 Create all pairs of two co-existing road users
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16 TODO: add test to compute categories?
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17 '''
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18 #print(' -------------') #Disabled for traffic-intelligence trunk
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19 #print(' Generating vehicle pairs...') #Disabled for traffic-intelligence trunk
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20
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21 self.pairs = []
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22 num = 0
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23 for i in xrange(len(objects)):
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24 for j in xrange(i):
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25 commonTimeInterval = objects[i].commonTimeInterval(objects[j])
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26 if not commonTimeInterval.empty():
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27 self.pairs.append(event.Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
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28 num += 1
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29
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30 def calculateIndicators(self,predParam,frameRate=15,collisionDistanceThreshold=1.8,timeHorizonMultiplier=5):
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31 #print(' -------------') #Disabled for traffic-intelligence trunk
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32 #print(' Calculating time-to-collision...') #Disabled for traffic-intelligence trunk
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33
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34 timeHorizon = frameRate*timeHorizonMultiplier # prediction time Horizon = 1.5 s (reaction time) (5 second)
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35
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36 for params in [predParam]:
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37
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38 #prog = Tools.ProgressBar(0, len(self.pairs), 77) #Disabled for traffic-intelligence trunk (PVA Tools dependancy)
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39 for j in xrange(len(self.pairs)):
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40 #prog.updateAmount(j) #Disabled for traffic-intelligence trunk (PVA Tools dependancy)
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41
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42 collisionPoints, crossingZones = prediction.computeCrossingsCollisions(self.pairs[j].movingObject1, self.pairs[j].movingObject2, predParam, collisionDistanceThreshold, timeHorizon)
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43
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44 # Ignore empty collision points
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45 empty = 1
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46 for i in collisionPoints:
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47 if(collisionPoints[i] != []):
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48 empty = 0
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49 if(empty == 1):
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50 self.pairs[j].hasCP = 0
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51 else:
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52 self.pairs[j].hasCP = 1
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53 self.pairs[j].CP = collisionPoints
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54
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55 # Ignore empty crossing zones
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56 empty = 1
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57 for i in crossingZones:
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58 if(crossingZones[i] != []):
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59 empty = 0
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60 if(empty == 1):
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61 self.pairs[j].hasCZ = 0
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62 else:
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63 self.pairs[j].hasCZ = 1
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64 self.pairs[j].CZ = crossingZones
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65 return
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66
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67 def getPairsWCP(self):
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68 lists = []
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69 for j in self.pairs:
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70 if(j.hasCP):
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71 lists.append(j.num)
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72 return lists
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73
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74 def getPairsWCZ(self):
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75 lists = []
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76 for j in self.pairs:
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77 if(j.hasCZ):
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78 lists.append(j.num)
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79 return lists
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80
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81 def getCPlist(self):
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82 lists = []
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83 for j in self.pairs:
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84 if(j.hasCP):
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85 for k in j.CP:
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86 if(j.CP[k] != []):
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87 lists.append(j.CP[k])
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88 return lists
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89
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90 def getCZlist(self):
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91 lists = []
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92 for j in self.pairs:
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93 if(j.hasCZ):
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94 for k in j.CZ:
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95 if(j.CZ[k] != []):
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96 lists.append(j.CZ[k])
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97 return lists
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98
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99 class Interaction(moving.STObject):
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100 '''Class for an interaction between two road users
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101 or a road user and an obstacle
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102
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103 link to the moving objects
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104 '''
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105
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106 categories = {'headon': 0,
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107 'rearend': 1,
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108 'side': 2,
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109 'parallel': 3}
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110
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111 def __init__(self, num = None, timeInterval = None, roaduserNum1 = None, roaduserNum2 = None, movingObject1 = None, movingObject2 = None, categoryNum = None):
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112 moving.STObject.__init__(self, num, timeInterval)
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113 self.roaduserNumbers = set([roaduserNum1, roaduserNum2])
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114 self.movingObject1 = movingObject1
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115 self.movingObject2 = movingObject2
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116 self.categoryNum = categoryNum
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117
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118 def getIndicator(self, indicatorName):
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119 if hasattr(self, 'indicators'):
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120 for i in self.indicators:
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121 if i.name == indicatorName:
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122 return i
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123 else:
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124 return None
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125
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126 def computeIndicators(self):
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127 '''Computes the collision course cosine only if the cosine is positive'''
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128 collisionCourseDotProduct = [0]*int(self.timeInterval.length())
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129 collisionCourseCosine = {}
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130 distances = [0]*int(self.timeInterval.length())
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131 for i,instant in enumerate(self.timeInterval):
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132 deltap = self.movingObject1.getPositionAtInstant(instant)-self.movingObject2.getPositionAtInstant(instant)
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133 deltav = self.movingObject2.getVelocityAtInstant(instant)-self.movingObject1.getVelocityAtInstant(instant)
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134 collisionCourseDotProduct[i] = moving.Point.dot(deltap, deltav)
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135 distances[i] = deltap.norm2()
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136 if collisionCourseDotProduct[i] > 0:
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137 collisionCourseCosine[instant] = collisionCourseDotProduct[i]/(distances[i]*deltav.norm2())
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138 self.indicators = [moving.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProduct, self.timeInterval),
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139 moving.SeverityIndicator('Distances', distances, self.timeInterval),
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140 moving.SeverityIndicator('Collision Course Cosine', collisionCourseCosine)]
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141
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142
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143 ######====>BEGIN LEGACY CODE
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144 def createInteractions(objects):
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145 '''Create all interactions of two co-existing road users
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146
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147 todo add test to compute categories?'''
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148 interactions = []
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149 num = 0
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150 for i in xrange(len(objects)):
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151 for j in xrange(i):
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152 commonTimeInterval = objects[i].commonTimeInterval(objects[j])
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153 if not commonTimeInterval.empty():
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154 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, objects[j].num, objects[i], objects[j]))
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155 num += 1
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156 return interactions
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157 #<====END LEGACY CODE#####
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158
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159
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160
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161 class Crossing(moving.STObject):
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162 '''Class for the event of a street crossing
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163
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164 TODO: detecter passage sur la chaussee
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165 identifier origines et destination (ou uniquement chaussee dans FOV)
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166 carac traversee
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167 detecter proximite veh (retirer si trop similaire simultanement
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168 carac interaction'''
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169
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170 def __init__(self, roaduserNum = None, num = None, timeInterval = None):
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171 moving.STObject.__init__(self, num, timeInterval)
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172 self.roaduserNum = roaduserNum
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173
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174
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175
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176 if __name__ == "__main__":
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177 import doctest
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178 import unittest
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179 #suite = doctest.DocFileSuite('tests/moving.txt')
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180 suite = doctest.DocTestSuite()
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181 unittest.TextTestRunner().run(suite)
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182