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annotate python/tests/prediction.txt @ 941:c5191acb025f

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added test for motion prediction at constant speed with prototype
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 18 Jul 2017 16:21:39 -0400
parents 72174e66aba5
children ab13aaf41432
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1 >>> from prediction import *
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2 >>> import moving, storage
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3 >>> from numpy import absolute, array
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4
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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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14 >>> et.predictPosition(11) # doctest:+ELLIPSIS
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16 >>> et.predictPosition(12) # doctest:+ELLIPSIS
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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 >>> from numpy import max
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25 >>> max(et.getPredictedSpeeds()) <= 2.
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26 True
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28 >>> p = moving.Point(3,4)
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29 >>> sp = SafetyPoint(p, 0.1, 0)
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30 >>> print(sp)
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31 3 4 0.1 0
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33 >>> et1 = PredictedTrajectoryConstant(moving.Point(-5.,0.), moving.Point(1.,0.))
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34 >>> et2 = PredictedTrajectoryConstant(moving.Point(0.,-5.), moving.Point(0.,1.))
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35 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 10)
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36 >>> collision
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37 True
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38 >>> t
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39 5
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40 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 5)
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41 >>> collision
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42 True
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43 >>> t
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44 5
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45 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 4)
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46 >>> collision
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47 False
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48
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49 >>> proto = storage.loadTrajectoriesFromSqlite('../samples/laurier.sqlite', 'feature', [1204])[0]
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50 >>> proto.getPositions().computeCumulativeDistances()
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51 >>> et = PredictedTrajectoryPrototype(proto.getPositionAt(10)+moving.Point(0.5, 0.5), proto.getVelocityAt(10)*0.9, proto, True)
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52 >>> absolute(et.initialSpeed - proto.getVelocityAt(10).norm2()*0.9) < 1e-5
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53 True
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54 >>> for t in xrange(int(proto.length())): x=et.predictPosition(t)
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55 >>> traj = et.getPredictedTrajectory()
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56 >>> traj.computeCumulativeDistances()
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57 >>> (absolute(array(traj.distances) - et.initialSpeed) < 1e-5).all()
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58 True
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59