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annotate trafficintelligence/tests/prediction.txt @ 1030:aafbc0bab925

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moved method around to avoid cross-dependencies
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 19 Jun 2018 10:04:52 -0400
parents cc5cb04b04b0
children a095d4fbb2ea
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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1030
aafbc0bab925 moved method around to avoid cross-dependencies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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1 >>> from trafficintelligence.prediction import *
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2 >>> from trafficintelligence import moving, storage, utils
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3 >>> from numpy import absolute, array, max
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5 >>> et = PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0))
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6 >>> et.predictPosition(4) # doctest:+ELLIPSIS
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7 (4.0...,0.0...)
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8 >>> et.predictPosition(1) # doctest:+ELLIPSIS
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9 (1.0...,0.0...)
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10
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11 >>> et = PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0), moving.NormAngle(0.1,0), maxSpeed = 2)
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12 >>> et.predictPosition(10) # doctest:+ELLIPSIS
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13 (15.5...,0.0...)
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14 >>> et.predictPosition(11) # doctest:+ELLIPSIS
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15 (17.5...,0.0...)
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16 >>> et.predictPosition(12) # doctest:+ELLIPSIS
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17 (19.5...,0.0...)
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18
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19 >>> import random
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20 >>> acceleration = lambda: random.uniform(-0.5,0.5)
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21 >>> steering = lambda: random.uniform(-0.1,0.1)
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22 >>> et = PredictedTrajectoryRandomControl(moving.Point(0,0),moving.Point(1,1), acceleration, steering, maxSpeed = 2)
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23 >>> p = et.predictPosition(500)
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24 >>> max(et.getPredictedSpeeds()) <= 2.
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25 True
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26
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27 >>> p = moving.Point(3,4)
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28 >>> sp = SafetyPoint(p, 0.1, 0)
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29 >>> print(sp)
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30 3 4 0.1 0
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31
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32 >>> et1 = PredictedTrajectoryConstant(moving.Point(-5.,0.), moving.Point(1.,0.))
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33 >>> et2 = PredictedTrajectoryConstant(moving.Point(0.,-5.), moving.Point(0.,1.))
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34 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 10)
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35 >>> collision
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36 True
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37 >>> t
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38 5
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39 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 5)
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40 >>> collision
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41 True
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42 >>> t
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43 5
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44 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 4)
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45 >>> collision
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46 False
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47
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48 >>> proto = storage.loadTrajectoriesFromSqlite('../samples/laurier.sqlite', 'feature', [1204])[0]
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49 >>> proto.getPositions().computeCumulativeDistances()
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50 >>> et = PredictedTrajectoryPrototype(proto.getPositionAt(10)+moving.Point(0.5, 0.5), proto.getVelocityAt(10)*0.9, proto, True)
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51 >>> absolute(et.initialSpeed - proto.getVelocityAt(10).norm2()*0.9) < 1e-5
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52 True
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53 >>> for t in range(int(proto.length())): x=et.predictPosition(t)
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54 >>> traj = et.getPredictedTrajectory()
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55 >>> traj.computeCumulativeDistances()
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56 >>> absolute(array(traj.distances).mean() - et.initialSpeed < 1e-3)
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57 True
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58
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59 >>> et = PredictedTrajectoryPrototype(proto.getPositionAt(10)+moving.Point(0.6, 0.6), proto.getVelocityAt(10)*0.7, proto, False)
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60 >>> absolute(et.initialSpeed - proto.getVelocityAt(10).norm2()*0.7) < 1e-5
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61 True
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62 >>> proto = moving.MovingObject.generate(1, moving.Point(-5.,0.), moving.Point(1.,0.), moving.TimeInterval(0,10))
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63 >>> et = PredictedTrajectoryPrototype(proto.getPositionAt(0)+moving.Point(0., 1.), proto.getVelocityAt(0)*0.5, proto, False)
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64 >>> for t in range(int(proto.length()/0.5)): x=et.predictPosition(t)
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65 >>> et.predictPosition(10) # doctest:+ELLIPSIS
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66 (0.0...,1.0...)
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67 >>> et.predictPosition(12) # doctest:+ELLIPSIS
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68 (1.0...,1.0...)
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