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annotate python/prediction.py @ 939:a2f3f3ca241e

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work in progress
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 17 Jul 2017 17:56:52 -0400
parents b67a784beb69
children d8ab183a7351
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1 #! /usr/bin/env python
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2 '''Library for motion prediction methods'''
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3
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4 import moving
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5 from utils import LCSS
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6
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7 import math, random
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8 import numpy as np
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9 from multiprocessing import Pool
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12 class PredictedTrajectory(object):
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13 '''Class for predicted trajectories with lazy evaluation
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14 if the predicted position has not been already computed, compute it
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16 it should also have a probability'''
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17
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18 def __init__(self):
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19 self.probability = 0.
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20 self.predictedPositions = {}
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21 self.predictedSpeedOrientations = {}
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22 #self.collisionPoints = {}
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23 #self.crossingZones = {}
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24
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25 def predictPosition(self, nTimeSteps):
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26 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
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27 self.predictPosition(nTimeSteps-1)
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28 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.getControl(), self.maxSpeed)
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29 return self.predictedPositions[nTimeSteps]
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30
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31 def getPredictedTrajectory(self):
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32 return moving.Trajectory.fromPointList(self.predictedPositions.values())
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33
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34 def getPredictedSpeeds(self):
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35 return [so.norm for so in self.predictedSpeedOrientations.values()]
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36
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37 def plot(self, options = '', withOrigin = False, timeStep = 1, **kwargs):
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38 self.getPredictedTrajectory().plot(options, withOrigin, timeStep, **kwargs)
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39
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40 class PredictedTrajectoryConstant(PredictedTrajectory):
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41 '''Predicted trajectory at constant speed or acceleration
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42 TODO generalize by passing a series of velocities/accelerations'''
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43
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44 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1., maxSpeed = None):
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45 self.control = control
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46 self.maxSpeed = maxSpeed
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47 self.probability = probability
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48 self.predictedPositions = {0: initialPosition}
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49 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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50
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51 def getControl(self):
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52 return self.control
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53
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54 def findNearestParams(initialPosition, prototypeTrajectory):
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55 ''' nearest parameters are the index of minDistance and the orientation '''
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56 distances=[]
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57 for position in prototypeTrajectory.positions:
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58 distances.append(moving.Point.distanceNorm2(initialPosition, position))
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59 minDistanceIndex= np.argmin(distances)
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60 return minDistanceIndex, moving.NormAngle.fromPoint(prototypeTrajectory.velocities[minDistanceIndex]).angle
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61
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62 class PredictedTrajectoryPrototype(PredictedTrajectory):
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63 '''Predicted trajectory that follows a prototype trajectory
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64 The prototype is in the format of a moving.Trajectory: it could be
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65 1. an observed trajectory (extracted from video)
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66 2. a generic polyline (eg the road centerline) that a vehicle is supposed to follow
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67
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68 Prediction can be done
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69 1. at constant speed (the instantaneous user speed)
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70 2. following the trajectory path, at the speed of the user
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71 (applying a constant ratio equal
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72 to the ratio of the user instantaneous speed and the trajectory closest speed)'''
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73
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74 def __init__(self, initialPosition, initialVelocity, prototypeTrajectory, constantSpeed = False, probability = 1.):
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75 ''' prototypeTrajectory is a MovingObject'''
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76 self.prototypeTrajectory = prototypeTrajectory
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77 self.constantSpeed = constantSpeed
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78 self.probability = probability
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79 self.predictedPositions = {0: initialPosition}
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80 self.closestPointIdx = prototypeTrajectory.getPositions().getClosestPoint(initialPosition)
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81 self.deltaPosition = initialPosition-prototypeTrajectory.getPositionAt(self.closestPointIdx)
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82 self.initialSpeed = initialVelocity.norm2()
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83 #self.predictedSpeedOrientations = {0: moving.NormAngle(moving.NormAngle.fromPoint(initialVelocity).norm, findNearestParams(initialPosition,prototypeTrajectory)[1])}#moving.NormAngle.fromPoint(initialVelocity)}
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84
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85 def predictPosition(self, nTimeSteps):
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86 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
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87 if self.constantSpeed:
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88 # calculate cumulative distance
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89 traj = self.prototypeTrajectory.getPositions()
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90 traveledDistance = nTimeSteps*self.initialSpeed + traj.getCumulativeDistance(self.closestPointIdx)
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91 i = self.closestPointIdx
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92 while i < traj.length() and traj.getCumulativeDistance(i) < traveledDistance:
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93 i += 1
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94 if i == traj.length():
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95 v = self.prototypeTrajectory.getVelocityAt(-1)
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96 self.predictedPositions[nTimeSteps] = self.deltaPosition+traj[i-1]+v*((traveledDistance-traj.getCumulativeDistance(i-1))/v.norm2())
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97 else:
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98 self.predictedPositions[nTimeSteps] = self.deltaPosition+traj[i-1]+(traj[i]-traj[i-1])*((traveledDistance-traj.getCumulativeDistance(i-1))/traj.getDistance(i-1))
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99 else: # see c++ code, calculate ratio
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100 speedNorm= self.predictedSpeedOrientations[0].norm
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101 instant=findNearestParams(self.predictedPositions[0],self.prototypeTrajectory)[0]
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102 prototypeSpeeds= self.prototypeTrajectory.getSpeeds()[instant:]
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103 ratio=float(speedNorm)/prototypeSpeeds[0]
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104 resampledSpeeds=[sp*ratio for sp in prototypeSpeeds]
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105 anglePrototype = findNearestParams(self.predictedPositions[nTimeSteps-1],self.prototypeTrajectory)[1]
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106 if nTimeSteps<len(resampledSpeeds):
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107 self.predictedSpeedOrientations[nTimeSteps]= moving.NormAngle(resampledSpeeds[nTimeSteps], anglePrototype)
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108 self.predictedPositions[nTimeSteps],tmp= moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], moving.NormAngle(0,0), None)
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109 else:
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110 self.predictedSpeedOrientations[nTimeSteps]= moving.NormAngle(resampledSpeeds[-1], anglePrototype)
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111 self.predictedPositions[nTimeSteps],tmp= moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], moving.NormAngle(0,0), None)
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112
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113 return self.predictedPositions[nTimeSteps]
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114
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115 class PredictedTrajectoryRandomControl(PredictedTrajectory):
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116 '''Random vehicle control: suitable for normal adaptation'''
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117 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1., maxSpeed = None):
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118 '''Constructor
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119 accelerationDistribution and steeringDistribution are distributions
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120 that return random numbers drawn from them'''
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121 self.accelerationDistribution = accelerationDistribution
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122 self.steeringDistribution = steeringDistribution
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123 self.maxSpeed = maxSpeed
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124 self.probability = probability
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125 self.predictedPositions = {0: initialPosition}
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126 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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127
256
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128 def getControl(self):
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129 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
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130
359
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131 class SafetyPoint(moving.Point):
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132 '''Can represent a collision point or crossing zone
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133 with respective safety indicator, TTC or pPET'''
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134 def __init__(self, p, probability = 1., indicator = -1):
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135 self.x = p.x
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136 self.y = p.y
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137 self.probability = probability
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138 self.indicator = indicator
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139
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140 def __str__(self):
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141 return '{0} {1} {2} {3}'.format(self.x, self.y, self.probability, self.indicator)
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142
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143 @staticmethod
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144 def save(out, points, predictionInstant, objNum1, objNum2):
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145 for p in points:
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146 out.write('{0} {1} {2} {3}\n'.format(objNum1, objNum2, predictionInstant, p))
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147
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148 @staticmethod
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149 def computeExpectedIndicator(points):
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150 return np.sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points])
359
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151
358
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152 def computeCollisionTime(predictedTrajectory1, predictedTrajectory2, collisionDistanceThreshold, timeHorizon):
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153 '''Computes the first instant
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154 at which two predicted trajectories are within some distance threshold
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155 Computes all the times including timeHorizon
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156
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157 User has to check the first variable collision to know about a collision'''
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158 t = 1
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159 p1 = predictedTrajectory1.predictPosition(t)
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160 p2 = predictedTrajectory2.predictPosition(t)
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161 collision = (p1-p2).norm2() <= collisionDistanceThreshold
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162 while t < timeHorizon and not collision:
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163 t += 1
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164 p1 = predictedTrajectory1.predictPosition(t)
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165 p2 = predictedTrajectory2.predictPosition(t)
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166 collision = (p1-p2).norm2() <= collisionDistanceThreshold
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167 return collision, t, p1, p2
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168
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169 def savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon):
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170 from matplotlib.pyplot import figure, axis, title, close, savefig
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171 figure()
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172 for et in predictedTrajectories1:
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173 et.predictPosition(int(np.round(timeHorizon)))
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174 et.plot('rx')
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175
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176 for et in predictedTrajectories2:
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177 et.predictPosition(int(np.round(timeHorizon)))
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178 et.plot('bx')
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179 obj1.plot('r')
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180 obj2.plot('b')
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181 title('instant {0}'.format(currentInstant))
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182 axis('equal')
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183 savefig('predicted-trajectories-t-{0}.png'.format(currentInstant))
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184 close()
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185
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186 def calculateProbability(nMatching,similarity,objects):
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187 sumFrequencies=sum([nMatching[p] for p in similarity.keys()])
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188 prototypeProbability={}
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189 for i in similarity.keys():
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190 prototypeProbability[i]= similarity[i] * float(nMatching[i])/sumFrequencies
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191 sumProbabilities= sum([prototypeProbability[p] for p in prototypeProbability.keys()])
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192 probabilities={}
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193 for i in prototypeProbability.keys():
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194 probabilities[objects[i]]= float(prototypeProbability[i])/sumProbabilities
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195 return probabilities
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196
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197 def findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,spatialThreshold=1.0, delta=180):
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198 ''' behaviour prediction first step'''
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199 if route[0] not in noiseEntryNums:
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200 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
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201 elif route[1] not in noiseExitNums:
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202 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
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203 else:
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204 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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205 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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206 similarity={}
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207 for y in prototypesRoutes:
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208 if y in prototypes.keys():
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209 prototypesIDs=prototypes[y]
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210 for x in prototypesIDs:
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211 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
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212 if s >= minSimilarity:
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213 similarity[x]=s
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214
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215 if mostMatched==None:
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216 probabilities= calculateProbability(nMatching,similarity,objects)
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217 return probabilities
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218 else:
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219 mostMatchedValues=sorted(similarity.values(),reverse=True)[:mostMatched]
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220 keys=[k for k in similarity.keys() if similarity[k] in mostMatchedValues]
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221 newSimilarity={}
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222 for i in keys:
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223 newSimilarity[i]=similarity[i]
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224 probabilities= calculateProbability(nMatching,newSimilarity,objects)
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225 return probabilities
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226
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227 def findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,spatialThreshold=1.0, delta=180):
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228 if useDestination:
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229 prototypesRoutes=[route]
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230 else:
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231 if route[0] not in noiseEntryNums:
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232 prototypesRoutes= [ x for x in sorted(prototypes.keys()) if route[0]==x[0]]
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233 elif route[1] not in noiseExitNums:
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234 prototypesRoutes=[ x for x in sorted(prototypes.keys()) if route[1]==x[1]]
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235 else:
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236 prototypesRoutes=[x for x in sorted(prototypes.keys())]
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237 lcss = LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
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238 similarity={}
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239 for y in prototypesRoutes:
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240 if y in prototypes.keys():
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241 prototypesIDs=prototypes[y]
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242 for x in prototypesIDs:
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243 s=lcss.computeNormalized(partialObjPositions, objects[x].positions)
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244 if s >= minSimilarity:
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245 similarity[x]=s
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246
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247 newSimilarity={}
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248 for i in similarity.keys():
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249 if i in secondStepPrototypes.keys():
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250 for j in secondStepPrototypes[i]:
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251 newSimilarity[j]=similarity[i]
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252 probabilities= calculateProbability(nMatching,newSimilarity,objects)
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253 return probabilities
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254
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255 def getPrototypeTrajectory(obj,route,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
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256 partialInterval=moving.Interval(obj.getFirstInstant(),currentInstant)
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257 partialObjPositions= obj.getObjectInTimeInterval(partialInterval).positions
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258 if useSpeedPrototype:
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259 prototypeTrajectories=findPrototypesSpeed(prototypes,secondStepPrototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination)
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260 else:
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261 prototypeTrajectories=findPrototypes(prototypes,nMatching,objects,route,partialObjPositions,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched)
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262 return prototypeTrajectories
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263
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264 def computeCrossingsCollisionsAtInstant(predictionParams,currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, usePrototypes = False,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
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265 '''returns the lists of collision points and crossing zones'''
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266 if usePrototypes:
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267 prototypeTrajectories1 = getPrototypeTrajectory(obj1,route1,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
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268 prototypeTrajectories2 = getPrototypeTrajectory(obj2,route2,currentInstant,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
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269 predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant,prototypeTrajectories1)
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270 predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant,prototypeTrajectories2)
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271 else:
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272 predictedTrajectories1 = predictionParams.generatePredictedTrajectories(obj1, currentInstant)
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273 predictedTrajectories2 = predictionParams.generatePredictedTrajectories(obj2, currentInstant)
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274
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275 collisionPoints = []
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276 crossingZones = []
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277 for et1 in predictedTrajectories1:
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278 for et2 in predictedTrajectories2:
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279 collision, t, p1, p2 = computeCollisionTime(et1, et2, collisionDistanceThreshold, timeHorizon)
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280
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281 if collision:
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282 collisionPoints.append(SafetyPoint((p1+p2).multiply(0.5), et1.probability*et2.probability, t))
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283 elif computeCZ: # check if there is a crossing zone
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284 # TODO? zone should be around the points at which the traj are the closest
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285 # look for CZ at different times, otherwise it would be a collision
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286 # an approximation would be to look for close points at different times, ie the complementary of collision points
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287 cz = None
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288 t1 = 0
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289 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
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290 t2 = 0
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291 while not cz and t2 < timeHorizon:
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292 #if (et1.predictPosition(t1)-et2.predictPosition(t2)).norm2() < collisionDistanceThreshold:
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293 # cz = (et1.predictPosition(t1)+et2.predictPosition(t2)).multiply(0.5)
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294 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
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295 if cz is not None:
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296 deltaV= (et1.predictPosition(t1)- et1.predictPosition(t1+1) - et2.predictPosition(t2)+ et2.predictPosition(t2+1)).norm2()
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297 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)-(float(collisionDistanceThreshold)/deltaV)))
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298 t2 += 1
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299 t1 += 1
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300
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301 if debug:
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302 savePredictedTrajectoriesFigure(currentInstant, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
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303
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304 return currentInstant, collisionPoints, crossingZones
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305
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306
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diff changeset
307 class PredictionParameters(object):
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308 def __init__(self, name, maxSpeed):
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309 self.name = name
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310 self.maxSpeed = maxSpeed
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311
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312 def __str__(self):
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313 return '{0} {1}'.format(self.name, self.maxSpeed)
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314
358
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315 def generatePredictedTrajectories(self, obj, instant):
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diff changeset
316 return []
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317
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318 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False,usePrototypes = False,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True):
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diff changeset
319 return computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
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320
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321 def computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None, nProcesses = 1,usePrototypes = False,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True,acceptPartialLength=30, step=1):
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322 #def computeCrossingsCollisions(predictionParams, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, timeInterval = None,nProcesses = 1, usePrototypes = False,route1= (-1,-1),route2=(-1,-1),prototypes={},secondStepPrototypes={},nMatching={},objects=[],noiseEntryNums=[],noiseExitNums=[],minSimilarity=0.1,mostMatched=None,useDestination=True,useSpeedPrototype=True,acceptPartialLength=30, step=1):
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323 '''Computes all crossing and collision points at each common instant for two road users. '''
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324 collisionPoints={}
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325 crossingZones={}
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326 if timeInterval:
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327 commonTimeInterval = timeInterval
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328 else:
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329 commonTimeInterval = obj1.commonTimeInterval(obj2)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
330 if nProcesses == 1:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
331 if usePrototypes:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
332 firstInstant= next( (x for x in xrange(commonTimeInterval.first,commonTimeInterval.last) if x-obj1.getFirstInstant() >= acceptPartialLength and x-obj2.getFirstInstant() >= acceptPartialLength), commonTimeInterval.last)
692
9a258687af4c corrected some errors for ttc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
333 commonTimeIntervalList1= range(firstInstant,commonTimeInterval.last-1) # do not look at the 1 last position/velocities, often with errors
9a258687af4c corrected some errors for ttc
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 665
diff changeset
334 commonTimeIntervalList2= range(firstInstant,commonTimeInterval.last-1,step) # do not look at the 1 last position/velocities, often with errors
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
335 for i in commonTimeIntervalList2:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
336 i, cp, cz = self.computeCrossingsCollisionsAtInstant(i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
337 if len(cp) != 0:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
338 collisionPoints[i] = cp
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
339 if len(cz) != 0:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
340 crossingZones[i] = cz
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
341 if collisionPoints!={} or crossingZones!={}:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
342 for i in commonTimeIntervalList1:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
343 if i not in commonTimeIntervalList2:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
344 i, cp, cz = self.computeCrossingsCollisionsAtInstant(i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
345 if len(cp) != 0:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
346 collisionPoints[i] = cp
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
347 if len(cz) != 0:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
348 crossingZones[i] = cz
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
349 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
350 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
351 i, cp, cz = self.computeCrossingsCollisionsAtInstant(i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
352 if len(cp) != 0:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
353 collisionPoints[i] = cp
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
354 if len(cz) != 0:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
355 crossingZones[i] = cz
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
356 else:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
357 pool = Pool(processes = nProcesses)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
358 jobs = [pool.apply_async(computeCrossingsCollisionsAtInstant, args = (self, i, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype)) for i in list(commonTimeInterval)[:-1]]
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
359 #results = [j.get() for j in jobs]
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
360 #results.sort()
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
361 for j in jobs:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
362 i, cp, cz = j.get()
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
363 #if len(cp) != 0 or len(cz) != 0:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
364 if len(cp) != 0:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
365 collisionPoints[i] = cp
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
366 if len(cz) != 0:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
367 crossingZones[i] = cz
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
368 pool.close()
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
369 return collisionPoints, crossingZones
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
370 #return computeCrossingsCollisions(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, timeInterval, nProcesses,usePrototypes,route1,route2,prototypes,secondStepPrototypes,nMatching,objects,noiseEntryNums,noiseExitNums,minSimilarity,mostMatched,useDestination,useSpeedPrototype,acceptPartialLength, step)
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
371
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
372 def computeCollisionProbability(self, obj1, obj2, collisionDistanceThreshold, timeHorizon, debug = False, timeInterval = None):
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
373 '''Computes only collision probabilities
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
374 Returns for each instant the collision probability and number of samples drawn'''
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
375 collisionProbabilities = {}
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
376 if timeInterval:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
377 commonTimeInterval = timeInterval
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
378 else:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
379 commonTimeInterval = obj1.commonTimeInterval(obj2)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
380 for i in list(commonTimeInterval)[:-1]:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
381 nCollisions = 0
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
382 predictedTrajectories1 = self.generatePredictedTrajectories(obj1, i)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
383 predictedTrajectories2 = self.generatePredictedTrajectories(obj2, i)
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
384 for et1 in predictedTrajectories1:
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
385 for et2 in predictedTrajectories2:
662
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
386 collision, t, p1, p2 = computeCollisionTime(et1, et2, collisionDistanceThreshold, timeHorizon)
72174e66aba5 corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 661
diff changeset
387 if collision:
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
388 nCollisions += 1
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
389 # take into account probabilities ??
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
390 nSamples = float(len(predictedTrajectories1)*len(predictedTrajectories2))
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
391 collisionProbabilities[i] = [nSamples, float(nCollisions)/nSamples]
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
392
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
393 if debug:
557
b91f33e098ee refactored some more code in compute crossing and collisions (parallel code works)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 556
diff changeset
394 savePredictedTrajectoriesFigure(i, obj1, obj2, predictedTrajectories1, predictedTrajectories2, timeHorizon)
358
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
395
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
396 return collisionProbabilities
c41ff9f3c263 moved current method for collision points and crossing zones computation into prediction parameters (put expectedindicator in SafetyPoint)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 357
diff changeset
397
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
398 class ConstantPredictionParameters(PredictionParameters):
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
399 def __init__(self, maxSpeed):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
400 PredictionParameters.__init__(self, 'constant velocity', maxSpeed)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
401
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
402 def generatePredictedTrajectories(self, obj, instant):
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
403 return [PredictedTrajectoryConstant(obj.getPositionAtInstant(instant), obj.getVelocityAtInstant(instant), maxSpeed = self.maxSpeed)]
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
404
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
405 class NormalAdaptationPredictionParameters(PredictionParameters):
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
406 def __init__(self, maxSpeed, nPredictedTrajectories, accelerationDistribution, steeringDistribution, useFeatures = False):
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
407 '''An example of acceleration and steering distributions is
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
408 lambda: random.triangular(-self.maxAcceleration, self.maxAcceleration, 0.)
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
409 '''
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
410 if useFeatures:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
411 name = 'point set normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
412 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
413 name = 'normal adaptation'
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
414 PredictionParameters.__init__(self, name, maxSpeed)
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
415 self.nPredictedTrajectories = nPredictedTrajectories
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
416 self.useFeatures = useFeatures
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
417 self.accelerationDistribution = accelerationDistribution
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
418 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
419
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
420 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
421 return PredictionParameters.__str__(self)+' {0} {1} {2}'.format(self.nPredictedTrajectories,
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
422 self.maxAcceleration,
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
423 self.maxSteering)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
424
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
425 def generatePredictedTrajectories(self, obj, instant):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
426 predictedTrajectories = []
860
07c5eab11eba fixing bug, thanks to Ryan Louie <Ryan.Louie@students.olin.edu>
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 826
diff changeset
427 if self.useFeatures and obj.hasFeatures():
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
428 features = [f for f in obj.getFeatures() if f.existsAtInstant(instant)]
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
429 positions = [f.getPositionAtInstant(instant) for f in features]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
430 velocities = [f.getVelocityAtInstant(instant) for f in features]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
431 else:
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
432 positions = [obj.getPositionAtInstant(instant)]
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
433 velocities = [obj.getVelocityAtInstant(instant)]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
434 probability = 1./float(len(positions)*self.nPredictedTrajectories)
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
435 for i in xrange(self.nPredictedTrajectories):
352
72aa44072093 safety analysis script with option for prediction method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 350
diff changeset
436 for initialPosition,initialVelocity in zip(positions, velocities):
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
437 predictedTrajectories.append(PredictedTrajectoryRandomControl(initialPosition,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
438 initialVelocity,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
439 self.accelerationDistribution,
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
440 self.steeringDistribution,
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
441 probability,
466
e891a41c6c75 name change in prediction.py
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 464
diff changeset
442 maxSpeed = self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
443 return predictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
444
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
445 class PointSetPredictionParameters(PredictionParameters):
269
a9988971aac8 removed legacy code + tweaks
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 268
diff changeset
446 # todo generate several trajectories with normal adaptatoins from each position (feature)
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
447 def __init__(self, maxSpeed):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
448 PredictionParameters.__init__(self, 'point set', maxSpeed)
489
000bddf84ad0 corrected bugs in safety analysis
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 484
diff changeset
449 #self.nPredictedTrajectories = nPredictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
450
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
451 def generatePredictedTrajectories(self, obj, instant):
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
452 predictedTrajectories = []
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
453 if obj.hasFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
454 features = [f for f in obj.getFeatures() if f.existsAtInstant(instant)]
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
455 positions = [f.getPositionAtInstant(instant) for f in features]
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
456 velocities = [f.getVelocityAtInstant(instant) for f in features]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
457 probability = 1./float(len(positions))
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
458 for initialPosition,initialVelocity in zip(positions, velocities):
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
459 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition, initialVelocity, probability = probability, maxSpeed = self.maxSpeed))
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
460 return predictedTrajectories
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
461 else:
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
462 print('Object {} has no features'.format(obj.getNum()))
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
463 return None
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
464
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
465 class EvasiveActionPredictionParameters(PredictionParameters):
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
466 def __init__(self, maxSpeed, nPredictedTrajectories, accelerationDistribution, steeringDistribution, useFeatures = False):
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
467 '''Suggested acceleration distribution may not be symmetric, eg
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
468 lambda: random.triangular(self.minAcceleration, self.maxAcceleration, 0.)'''
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
469
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
470 if useFeatures:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
471 name = 'point set evasive action'
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
472 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
473 name = 'evasive action'
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
474 PredictionParameters.__init__(self, name, maxSpeed)
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
475 self.nPredictedTrajectories = nPredictedTrajectories
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
476 self.useFeatures = useFeatures
460
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
477 self.accelerationDistribution = accelerationDistribution
55b424d98b68 change of interface, distributions are now passed to the prediction paramters constructors if needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 387
diff changeset
478 self.steeringDistribution = steeringDistribution
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
479
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
480 def __str__(self):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
481 return PredictionParameters.__str__(self)+' {0} {1} {2} {3}'.format(self.nPredictedTrajectories, self.minAcceleration, self.maxAcceleration, self.maxSteering)
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
482
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
483 def generatePredictedTrajectories(self, obj, instant):
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
484 predictedTrajectories = []
661
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
485 if self.useFeatures and obj.hasFeatures():
dc70d9e711f5 some method name change and new methods for features in objects (MovingObject) and methods to access indicator values in interactions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 651
diff changeset
486 features = [f for f in obj.getFeatures() if f.existsAtInstant(instant)]
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
487 positions = [f.getPositionAtInstant(instant) for f in features]
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
488 velocities = [f.getVelocityAtInstant(instant) for f in features]
268
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
489 else:
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
490 positions = [obj.getPositionAtInstant(instant)]
0c0b92f621f6 reorganized to compute evasive action for multiple positions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 267
diff changeset
491 velocities = [obj.getVelocityAtInstant(instant)]
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
492 probability = 1./float(self.nPredictedTrajectories)
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
493 for i in xrange(self.nPredictedTrajectories):
267
32e88b513f5c added code to compute probability of collision
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 266
diff changeset
494 for initialPosition,initialVelocity in zip(positions, velocities):
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
495 predictedTrajectories.append(PredictedTrajectoryConstant(initialPosition,
350
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
496 initialVelocity,
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
497 moving.NormAngle(self.accelerationDistribution(),
7e9ad2d9d79c added new parameters in safety analysis script
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 336
diff changeset
498 self.steeringDistribution()),
826
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
499 probability,
8b74a5176549 explicitly computed the probabilities for predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 701
diff changeset
500 self.maxSpeed))
271
bbd9c09e6869 changed the names to prediction methods and predicted trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 270
diff changeset
501 return predictedTrajectories
257
9281878ff19e untested collision/crossing computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
502
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
503
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
504 class CVDirectPredictionParameters(PredictionParameters):
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
505 '''Prediction parameters of prediction at constant velocity
698
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
506 using direct computation of the intersecting point
8d99a9e16644 added clarification comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 696
diff changeset
507 Warning: the computed time to collision may be higher than timeHorizon (not used)'''
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
508
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
509 def __init__(self):
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
510 PredictionParameters.__init__(self, 'constant velocity (direct computation)', None)
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
511
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
512 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
513 collisionPoints = []
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
514 crossingZones = []
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
515
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
516 p1 = obj1.getPositionAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
517 p2 = obj2.getPositionAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
518 if (p1-p2).norm2() <= collisionDistanceThreshold:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
519 collisionPoints = [SafetyPoint((p1+p1).multiply(0.5), 1., 0.)]
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
520 else:
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
521 v1 = obj1.getVelocityAtInstant(currentInstant)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
522 v2 = obj2.getVelocityAtInstant(currentInstant)
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
523 intersection = moving.intersection(p1, p1+v1, p2, p2+v2)
258
d90be3c02267 reasonably efficient computation of collision points and crossing zones
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 257
diff changeset
524
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
525 if intersection is not None:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
526 dp1 = intersection-p1
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
527 dp2 = intersection-p2
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
528 dot1 = moving.Point.dot(dp1, v1)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
529 dot2 = moving.Point.dot(dp2, v2)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
530 #print dot1, dot2
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
531 # (computeCZ and (dot1 > 0 or dot2 > 0)) or (
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
532 if (computeCZ and (dot1 > 0 or dot2 > 0)) or (dot1 > 0 and dot2 > 0): # if the road users are moving towards the intersection or if computing pPET
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
533 dist1 = dp1.norm2()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
534 dist2 = dp2.norm2()
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
535 s1 = math.copysign(v1.norm2(), dot1)
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
536 s2 = math.copysign(v2.norm2(), dot2)
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
537 halfCollisionDistanceThreshold = collisionDistanceThreshold/2.
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
538 timeInterval1 = moving.TimeInterval(max(0,dist1-halfCollisionDistanceThreshold)/s1, (dist1+halfCollisionDistanceThreshold)/s1)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
539 timeInterval2 = moving.TimeInterval(max(0,dist2-halfCollisionDistanceThreshold)/s2, (dist2+halfCollisionDistanceThreshold)/s2)
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
540 collisionTimeInterval = moving.TimeInterval.intersection(timeInterval1, timeInterval2)
630
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
541
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
542 if collisionTimeInterval.empty():
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
543 if computeCZ:
69a98f84f3eb corrected major issue with pPET, only for CVDirect prediction for now
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 629
diff changeset
544 crossingZones = [SafetyPoint(intersection, 1., timeInterval1.distance(timeInterval2))]
387
91679eb2ff2c cleaning up safety analysis and the new traditional constant velocity method
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 359
diff changeset
545 else:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
546 collisionPoints = [SafetyPoint(intersection, 1., collisionTimeInterval.center())]
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
547
636
3058e00887bc removed all issues because of tests with None, using is instead of == or !=
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 630
diff changeset
548 if debug and intersection is not None:
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
549 from matplotlib.pyplot import plot, figure, axis, title
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
550 figure()
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
551 plot([p1.x, intersection.x], [p1.y, intersection.y], 'r')
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
552 plot([p2.x, intersection.x], [p2.y, intersection.y], 'b')
515
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
553 intersection.plot()
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
554 obj1.plot('r')
727e3c529519 renamed all draw functions to plot for consistency
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 489
diff changeset
555 obj2.plot('b')
359
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
556 title('instant {0}'.format(currentInstant))
619ae9a9a788 implemented prediction method at constant velocity with direct intersection computation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 358
diff changeset
557 axis('equal')
289
e56c34c1ebac refactored and commented functions (saving data is now outside of the computation functions)
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558
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559 return currentInstant, collisionPoints, crossingZones
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560
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561 class CVExactPredictionParameters(PredictionParameters):
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562 '''Prediction parameters of prediction at constant velocity
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563 using direct computation of the intersecting point (solving the equation)
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564 Warning: the computed time to collision may be higher than timeHorizon (not used)'''
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565
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566 def __init__(self):
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567 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None)
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568
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569 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
881
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570 'TODO compute pPET'
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571 collisionPoints = []
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572 crossingZones = []
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573
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574 p1 = obj1.getPositionAtInstant(currentInstant)
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575 p2 = obj2.getPositionAtInstant(currentInstant)
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576 v1 = obj1.getVelocityAtInstant(currentInstant)
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577 v2 = obj2.getVelocityAtInstant(currentInstant)
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578 intersection = moving.intersection(p1, p1+v1, p2, p2+v2)
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579
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580 if intersection is not None:
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581 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
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582 if ttc is not None:
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583 collisionPoints = [SafetyPoint(intersection, 1., ttc)]
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584 else:
881
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585 pass # compute pPET
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586
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587 return currentInstant, collisionPoints, crossingZones
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588
357
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589 ####
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590 # Other Methods
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591 ####
619
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592 class PrototypePredictionParameters(PredictionParameters):
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593 def __init__(self, maxSpeed, nPredictedTrajectories, constantSpeed = True):
607
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594 name = 'prototype'
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595 PredictionParameters.__init__(self, name, maxSpeed)
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596 self.nPredictedTrajectories = nPredictedTrajectories
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597 self.constantSpeed = constantSpeed
607
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598
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599 def generatePredictedTrajectories(self, obj, instant,prototypeTrajectories):
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600 predictedTrajectories = []
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601 initialPosition = obj.getPositionAtInstant(instant)
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602 initialVelocity = obj.getVelocityAtInstant(instant)
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603 for prototypeTraj in prototypeTrajectories.keys():
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604 predictedTrajectories.append(PredictedTrajectoryPrototype(initialPosition, initialVelocity, prototypeTraj, constantSpeed = self.constantSpeed, probability = prototypeTrajectories[prototypeTraj]))
607
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605 return predictedTrajectories
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606
255
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diff changeset
607 if __name__ == "__main__":
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608 import doctest
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609 import unittest
271
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diff changeset
610 suite = doctest.DocFileSuite('tests/prediction.txt')
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diff changeset
611 #suite = doctest.DocTestSuite()
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612 unittest.TextTestRunner().run(suite)
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613 #doctest.testmod()
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614 #doctest.testfile("example.txt")
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615