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annotate python/extrapolation.py @ 266:aba9711b3149

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small modificatons and reorganization
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 27 Jul 2012 10:29:24 -0400
parents 7a3bf04cf016
children 32e88b513f5c
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1 #! /usr/bin/env python
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2 '''Library for moving object extrapolation hypotheses'''
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3
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4 import moving
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5 import math
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6
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7 class ExtrapolatedTrajectory:
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8 '''Class for extrapolated trajectories with lazy evaluation
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9 if the predicted position has not been already computed, compute it
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10
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11 it should also have a probability'''
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12
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13 def __init__(self):
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14 self.probability = 0.
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15 self.predictedPositions = {}
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16 self.predictedSpeedOrientations = {}
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17 self.collisionPoints = {}
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18 self.crossingZones = {}
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19
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20 def predictPosition(self, nTimeSteps):
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21 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
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22 self.predictPosition(nTimeSteps-1)
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23 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.getControl(), self.maxSpeed)
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24 return self.predictedPositions[nTimeSteps]
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25
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26 def getPredictedTrajectory(self):
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27 return moving.Trajectory.fromPointList(self.predictedPositions.values())
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28
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29 def getPredictedSpeeds(self):
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30 return [so.norm for so in self.predictedSpeedOrientations.values()]
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31
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32 def draw(self, options = '', withOrigin = False, **kwargs):
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33 self.getPredictedTrajectory().draw(options, withOrigin, **kwargs)
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34
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35 class ExtrapolatedTrajectoryConstant(ExtrapolatedTrajectory):
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36 '''Extrapolated trajectory at constant speed or acceleration
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37 TODO generalize by passing a series of velocities/accelerations'''
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38
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39 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1, maxSpeed = None):
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40 self.control = control
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41 self.maxSpeed = maxSpeed
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42 self.probability = probability
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43 self.predictedPositions = {0: initialPosition}
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44 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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45
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46 def getControl(self):
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47 return self.control
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48
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49 class ExtrapolatedTrajectoryNormalAdaptation(ExtrapolatedTrajectory):
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50 '''Random small adaptation of vehicle control '''
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51 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1, maxSpeed = None):
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52 '''Constructor
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53 accelerationDistribution and steeringDistribution are distributions
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54 that return random numbers drawn from them'''
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55 self.accelerationDistribution = accelerationDistribution
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56 self.steeringDistribution = steeringDistribution
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57 self.maxSpeed = maxSpeed
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58 self.probability = probability
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59 self.predictedPositions = {0: initialPosition}
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60 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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61
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62 def getControl(self):
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63 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
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64
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65 class ExtrapolationParameters:
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66 def __init__(self, name, maxSpeed):
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67 self.name = name
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68 self.maxSpeed = maxSpeed
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69
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70 def __str__(self):
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71 return '{0} {1}'.format(self.name, self.maxSpeed)
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72
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73 def createExtrapolatedTrajectories(extrapolationParameters, obj, instant):
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74 '''extrapolationParameters specific to each method (in name field) '''
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75 if extrapolationParameters.name == 'constant velocity':
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76 return [ExtrapolatedTrajectoryConstant(obj.getPositionAtInstant(instant), obj.getVelocityAtInstant(instant),
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77 maxSpeed = extrapolationParameters.maxSpeed)]
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78 elif extrapolationParameters.name == 'normal adaptation':
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79 extrapolatedTrajectories = []
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80 for i in xrange(extrapolationParameters.nExtrapolatedTrajectories):
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81 extrapolatedTrajectories.append(ExtrapolatedTrajectoryNormalAdaptation(obj.getPositionAtInstant(instant),
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82 obj.getVelocityAtInstant(instant),
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83 extrapolationParameters.accelerationDistribution,
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84 extrapolationParameters.steeringDistribution,
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85 maxSpeed = extrapolationParameters.maxSpeed))
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86 return extrapolatedTrajectories
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87 elif extrapolationParameters.name == 'pointset':
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88 extrapolatedTrajectories = []
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89 features = [f for f in obj.features if f.existsAtInstant(instant)]
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90 positions = [f.getPositionAtInstant(instant) for f in features]
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91 velocities = [f.getVelocityAtInstant(instant) for f in features]
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92 for initialPosition,initialVelocity in zip(positions, velocities):
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93 extrapolatedTrajectories.append(ExtrapolatedTrajectoryConstant(initialPosition, initialVelocity,
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94 maxSpeed = extrapolationParameters.maxSpeed))
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95 return extrapolatedTrajectories
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96 else:
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97 print('Unknown extrapolation hypothesis')
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98 return []
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99
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100 class SafetyPoint(moving.Point):
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101 '''Can represent a collision point or crossing zone
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102 with respective safety indicator, TTC or pPET'''
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103 def __init__(self, p, probability = 1., indicator = -1):
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104 self.x = p.x
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105 self.y = p.y
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106 self.probability = probability
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107 self.indicator = indicator
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108
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109 @staticmethod
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110 def save(out, points, objNum1, objNum2, instant):
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111 for p in points:
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112 out.write('{0} {1} {2} {3} {4} {5} {6}\n'.format(objNum1, objNum2, instant, p.x, p.y, p.probability, p.indicator))
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113
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114 def computeExpectedIndicator(points):
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115 from numpy import sum
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116 return sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points])
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117
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118 def computeCrossingsCollisionsAtInstant(i, obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon):
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119 '''returns the lists of collision points and crossing zones '''
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120 extrapolatedTrajectories1 = createExtrapolatedTrajectories(extrapolationParameters, obj1, i)
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121 extrapolatedTrajectories2 = createExtrapolatedTrajectories(extrapolationParameters, obj2, i)
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122
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123 collisionPoints = []
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124 crossingZones = []
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125 for et1 in extrapolatedTrajectories1:
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126 for et2 in extrapolatedTrajectories2:
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diff changeset
127 t = 1
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128 p1 = et1.predictPosition(t)
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diff changeset
129 p2 = et2.predictPosition(t)
258
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130 while t <= timeHorizon and (p1-p2).norm2() > collisionDistanceThreshold:
257
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diff changeset
131 p1 = et1.predictPosition(t)
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132 p2 = et2.predictPosition(t)
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133 t += 1
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diff changeset
134
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diff changeset
135 if t <= timeHorizon:
259
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diff changeset
136 collisionPoints.append(SafetyPoint((p1+p2).multiply(0.5), et1.probability*et2.probability, t))
257
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diff changeset
137 else: # check if there is a crossing zone
258
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138 # TODO? zone should be around the points at which the traj are the closest
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139 # look for CZ at different times, otherwise it would be a collision
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140 # an approximation would be to look for close points at different times, ie the complementary of collision points
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141 cz = None
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142 t1 = 0
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143 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
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144 t2 = 0
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145 while not cz and t2 < timeHorizon:
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146 #if (et1.predictPosition(t1)-et2.predictPosition(t2)).norm2() < collisionDistanceThreshold:
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147 # cz = (et1.predictPosition(t1)+et2.predictPosition(t2)).multiply(0.5)
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148 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
257
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149 if cz:
259
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150 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)))
258
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151 t2 += 1
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152 t1 += 1
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153 return collisionPoints, crossingZones
257
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154
264
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155 def computeCrossingsCollisions(obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon, outCP, outCZ, debug = False, timeInterval = None):
260
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156 collisionPoints={}
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157 crossingZones={}
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158 #TTCs = {}
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159 #pPETs = {}
264
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160 if timeInterval:
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161 commonTimeInterval = timeInterval
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162 else:
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163 commonTimeInterval = obj1.commonTimeInterval(obj2)
260
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164 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
264
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diff changeset
165 print(obj1.num, obj2.num, i)
266
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diff changeset
166 collisionPoints[i], crossingZones[i] = computeCrossingsCollisionsAtInstant(i, obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon)
260
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diff changeset
167 # if len(collisionPoints[i]) > 0:
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168 # TTCs[i] = extrapolation.computeExpectedIndicator(collisionPoints[i])
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169 # if len(crossingZones[i]) > 0:
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170 # pPETs[i] = extrapolation.computeExpectedIndicator(crossingZones[i])
266
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diff changeset
171 SafetyPoint.save(outCP, collisionPoints[i], obj1.num, obj2.num, i)
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diff changeset
172 SafetyPoint.save(outCZ, crossingZones[i], obj1.num, obj2.num, i)
260
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diff changeset
173
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174 if debug:
265
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diff changeset
175 from matplotlib.pyplot import figure, axis, title
260
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diff changeset
176 figure()
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diff changeset
177 obj1.draw('r')
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diff changeset
178 obj2.draw('b')
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179 for et in extrapolatedTrajectories1:
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180 et.predictPosition(timeHorizon)
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diff changeset
181 et.draw('rx')
265
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diff changeset
182
260
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diff changeset
183 for et in extrapolatedTrajectories2:
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diff changeset
184 et.predictPosition(timeHorizon)
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diff changeset
185 et.draw('bx')
265
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diff changeset
186 title('instant {0}'.format(i))
260
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diff changeset
187 axis('equal')
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diff changeset
188
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diff changeset
189
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diff changeset
190 # probability of successful evasive action = 1-P(Collision) using larger control values
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191
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diff changeset
192 return collisionPoints, crossingZones
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193
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diff changeset
194 ###############
257
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diff changeset
195
243
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diff changeset
196 # Default values: to remove because we cannot tweak that from a script where the value may be different
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diff changeset
197 FPS= 25 # No. of frame per second (FPS)
244
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
198 vLimit= 25/FPS #assume limit speed is 90km/hr = 25 m/sec
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diff changeset
199 deltaT= FPS*5 # extrapolatation time Horizon = 5 second
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diff changeset
200
243
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diff changeset
201 def motion (position, velocity, acceleration):
244
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diff changeset
202 ''' extrapolation hypothesis: constant acceleration'''
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diff changeset
203 from math import atan2,cos,sin
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diff changeset
204 vInit= velocity
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diff changeset
205 vInitial= velocity.norm2()
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diff changeset
206 theta= atan2(velocity.y,velocity.x)
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diff changeset
207 vFinal= vInitial+acceleration
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diff changeset
208
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diff changeset
209 if acceleration<= 0:
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diff changeset
210 v= max(0,vFinal)
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diff changeset
211 velocity= moving.Point(v* cos(theta),v* sin(theta))
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diff changeset
212 position= position+ (velocity+vInit). multiply(0.5)
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diff changeset
213 else:
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diff changeset
214 v= min(vLimit,vFinal)
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diff changeset
215 velocity= moving.Point(v* cos(theta),v* sin(theta))
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diff changeset
216 position= position+ (velocity+vInit). multiply(0.5)
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diff changeset
217 return(position,velocity)
243
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diff changeset
218
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diff changeset
219 def motionPET (position, velocity, acceleration, deltaT):
244
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diff changeset
220 ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
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parents: 243
diff changeset
221 from math import atan2,cos,sin,fabs
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diff changeset
222 vInit= velocity
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diff changeset
223 vInitial= velocity.norm2()
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diff changeset
224 theta= atan2(velocity.y,velocity.x)
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diff changeset
225 vFinal= vInitial+acceleration * deltaT
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diff changeset
226 if acceleration< 0:
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parents: 243
diff changeset
227 if vFinal> 0:
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parents: 243
diff changeset
228 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
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diff changeset
229 position= position+ (vInit+ velocity). multiply(0.5*deltaT)
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diff changeset
230 else:
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diff changeset
231 T= fabs(vInitial/acceleration)
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diff changeset
232 position= position + vInit. multiply(0.5*T)
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diff changeset
233 elif acceleration> 0 :
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parents: 243
diff changeset
234 if vFinal<= vLimit:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
235 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
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diff changeset
236 position= position+ (vInit+ velocity). multiply(0.5*deltaT)
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diff changeset
237 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
238 time1= fabs((vLimit-vInitial)/acceleration)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
239 velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
240 position= (position+ (velocity+vInit). multiply(0.5*time1)) + (velocity.multiply (deltaT-time1))
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parents: 243
diff changeset
241 elif acceleration == 0:
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parents: 243
diff changeset
242 position= position + velocity. multiply(deltaT)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
243
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
244 return position
243
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diff changeset
245
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parents: 240
diff changeset
246 def timePET (position, velocity, acceleration, intersectedPoint ):
244
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diff changeset
247 ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
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parents: 243
diff changeset
248 from math import atan2,cos,sin,fabs
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
249 vInit= velocity
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
250 vInitial= velocity.norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
251 theta= atan2(velocity.y,velocity.x)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
252 vFinal= vInitial+acceleration * deltaT
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
253 if acceleration< 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
254 if vFinal> 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
255 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
256 time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
257 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
258 time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x)))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
259 elif acceleration> 0 :
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
260 if vFinal<= vLimit:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
261 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
262 time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
263 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
264 time1= fabs((vLimit-vInitial)/acceleration)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
265 velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
266 time2= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
267 if time2<=time1:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
268 time= time2
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
269 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
270 position2= (position+ (velocity+vInit). multiply(0.5*time1))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
271 time= time1+fabs((intersectedPoint.x-position2.x)/( velocity.x))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
272 elif acceleration == 0:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
273 time= fabs((intersectedPoint.x-position.x)/(velocity.x))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
274
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
275 return time
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
276
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
277 def motionSteering (position, velocity, deltaTheta, deltaT ):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
278 ''' extrapolation hypothesis: steering with deltaTheta'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
279 from math import atan2,cos,sin
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
280 vInitial= velocity.norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
281 theta= atan2(velocity.y,velocity.x)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
282 newTheta= theta + deltaTheta
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
283 velocity= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
284 position= position+ (velocity). multiply(deltaT)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
285 return position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
286
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
287 def MonteCarlo(movingObject1,movingObject2, instant):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
288 ''' Monte Carlo Simulation : estimate the probability of collision'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
289 from random import uniform
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
290 from math import pow, sqrt, sin, cos,atan2
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
291 N=1000
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
292 ProbOfCollision = 0
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
293 for n in range (1, N):
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
294 # acceleration limit
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
295 acc1 = uniform(-0.040444,0)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
296 acc2 = uniform(-0.040444,0)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
297 p1= movingObject1.getPositionAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
298 p2= movingObject2.getPositionAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
299 v1= movingObject1.getVelocityAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
300 v2= movingObject2.getVelocityAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
301 distance= (p1-p2).norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
302 distanceThreshold= 1.8
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
303 t=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
304 while distance > distanceThreshold and t <= deltaT:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
305 # Extrapolation position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
306 (p1,v1) = motion(p1,v1,acc1)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
307 (p2,v2) = motion(p2,v2,acc2)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
308 distance= (p1-p2).norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
309 if distance <=distanceThreshold:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
310 ProbOfCollision= ProbOfCollision+1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
311 t+=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
312 POC= float(ProbOfCollision)/N
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
313 return POC
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
314
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
315 def velocitySteering(velocity,steering):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
316 from math import atan2,cos,sin
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
317 vInitial= velocity.norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
318 theta= atan2(velocity.y,velocity.x)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
319 newTheta= theta + steering
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
320 v= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
321 return v
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
322
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
323 def MonteCarloSteering(movingObject1,movingObject2, instant,steering1,steering2):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
324 ''' Monte Carlo Simulation : estimate the probability of collision in case of steering'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
325 from random import uniform
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
326 from math import pow, sqrt, sin, cos,atan2
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
327 N=1000
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
328 L= 2.4
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
329 ProbOfCollision = 0
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
330 for n in range (1, N):
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
331 # acceleration limit
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
332 acc1 = uniform(-0.040444,0)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
333 acc2 = uniform(-0.040444,0)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
334 p1= movingObject1.getPositionAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
335 p2= movingObject2.getPositionAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
336 vInit1= movingObject1.getVelocityAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
337 v1= velocitySteering (vInit1,steering1)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
338 vInit2= movingObject2.getVelocityAtInstant(instant)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
339 v2= velocitySteering (vInit2,steering2)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
340 distance= (p1-p2).norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
341 distanceThreshold= 1.8
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
342 t=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
343 while distance > distanceThreshold and t <= deltaT:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
344 # Extrapolation position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
345 (p1,v1) = motion(p1,v1,acc1)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
346 (p2,v2) = motion(p2,v2,acc2)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
347 distance= (p1-p2).norm2()
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
348 if distance <=distanceThreshold:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
349 ProbOfCollision= ProbOfCollision+1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
350 t+=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
351 POC= float(ProbOfCollision)/N
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
352 return POC
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
353
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
354
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
355 if __name__ == "__main__":
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
356 import doctest
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
357 import unittest
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
358 suite = doctest.DocFileSuite('tests/extrapolation.txt')
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
359 #suite = doctest.DocTestSuite()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
360 unittest.TextTestRunner().run(suite)
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
361 #doctest.testmod()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
362 #doctest.testfile("example.txt")
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
363