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annotate python/extrapolation.py @ 263:c71540470057

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reorganized loading trajectories and objects, added loading feature numbers for objects (the set of features grouped as one moving object
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 25 Jul 2012 22:06:51 -0400
parents 36cb40c51a5e
children a04a6af4b810
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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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65
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66 class ExtrapolationParameters:
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67 def __init__(self, name):
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68 self.name = name
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69
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70 def createExtrapolatedTrajectories(extrapolationParameters, initialPosition, initialVelocity):
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71 '''extrapolationParameters specific to each method (in name field) '''
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72 if extrapolationParameters.name == 'constant velocity':
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73 return [ExtrapolatedTrajectoryConstant(initialPosition, initialVelocity, maxSpeed = extrapolationParameters.maxSpeed)]
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74 elif extrapolationParameters.name == 'normal adaptation':
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75 # generate several and with the right distribution
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76 extrapolatedTrajectories = []
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77 for i in xrange(extrapolationParameters.nExtrapolatedTrajectories):
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78 extrapolatedTrajectories.append(ExtrapolatedTrajectoryNormalAdaptation(initialPosition, initialVelocity,
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79 extrapolationParameters.accelerationDistribution,
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80 extrapolationParameters.steeringDistribution,
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81 maxSpeed = extrapolationParameters.maxSpeed))
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82 return extrapolatedTrajectories
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83 else:
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84 print('Unknown extrapolation hypothesis')
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85 return []
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86
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87 class SafetyPoint(moving.Point):
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88 '''Can represent a collision point or crossing zone
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89 with respective safety indicator, TTC or pPET'''
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90 def __init__(self, p, probability = 1., indicator = -1):
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91 self.x = p.x
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92 self.y = p.y
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93 self.probability = probability
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94 self.indicator = indicator
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95
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96 def saveSafetyPoints(out, objNum1, objNum2, instant, points):
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97 for p in points:
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98 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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99
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100 def computeExpectedIndicator(points):
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101 from numpy import sum
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102 return sum([p.indicator*p.probability for p in points])/sum([p.probability for p in points])
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103
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104 def computeCrossingsCollisionsAtInstant(extrapolatedTrajectories1, extrapolatedTrajectories2, collisionDistanceThreshold, timeHorizon):
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105 '''returns the lists of collision points and crossing zones '''
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106 collisionPoints = []
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107 crossingZones = []
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108 for et1 in extrapolatedTrajectories1:
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109 for et2 in extrapolatedTrajectories2:
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110 t = 1
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111 p1 = et1.predictPosition(t)
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112 p2 = et2.predictPosition(t)
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113 while t <= timeHorizon and (p1-p2).norm2() > collisionDistanceThreshold:
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114 p1 = et1.predictPosition(t)
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115 p2 = et2.predictPosition(t)
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116 t += 1
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117
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118 if t <= timeHorizon:
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119 collisionPoints.append(SafetyPoint((p1+p2).multiply(0.5), et1.probability*et2.probability, t))
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120 else: # check if there is a crossing zone
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121 # TODO? zone should be around the points at which the traj are the closest
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122 # look for CZ at different times, otherwise it would be a collision
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123 # an approximation would be to look for close points at different times, ie the complementary of collision points
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124 cz = None
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125 t1 = 0
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126 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
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127 t2 = 0
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
128 while not cz and t2 < timeHorizon:
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diff changeset
129 #if (et1.predictPosition(t1)-et2.predictPosition(t2)).norm2() < collisionDistanceThreshold:
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diff changeset
130 # cz = (et1.predictPosition(t1)+et2.predictPosition(t2)).multiply(0.5)
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diff changeset
131 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
257
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parents: 256
diff changeset
132 if cz:
259
8ab76b95ee72 added code to save collision points and crossing zones in txt files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 258
diff changeset
133 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)))
258
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diff changeset
134 t2 += 1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
135 t1 += 1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
136 return collisionPoints, crossingZones
257
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
137
260
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
138 def computeCrossingsCollisions(obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon, outCP, outCZ, debug = False):
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diff changeset
139 collisionPoints={}
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140 crossingZones={}
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141 #TTCs = {}
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142 #pPETs = {}
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
143 commonTimeInterval = obj1.commonTimeInterval(obj2)
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diff changeset
144 for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
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diff changeset
145 extrapolatedTrajectories1 = createExtrapolatedTrajectories(extrapolationParameters, obj1.getPositionAtInstant(i), obj1.getVelocityAtInstant(i))
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diff changeset
146 extrapolatedTrajectories2 = createExtrapolatedTrajectories(extrapolationParameters, obj2.getPositionAtInstant(i), obj2.getVelocityAtInstant(i))
257
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diff changeset
147
260
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diff changeset
148 collisionPoints[i], crossingZones[i] = computeCrossingsCollisionsAtInstant(extrapolatedTrajectories1, extrapolatedTrajectories2, collisionDistanceThreshold, timeHorizon)
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diff changeset
149 # if len(collisionPoints[i]) > 0:
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diff changeset
150 # TTCs[i] = extrapolation.computeExpectedIndicator(collisionPoints[i])
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diff changeset
151 # if len(crossingZones[i]) > 0:
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diff changeset
152 # pPETs[i] = extrapolation.computeExpectedIndicator(crossingZones[i])
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diff changeset
153 saveSafetyPoints(outCP, obj1.num, obj2.num, i, collisionPoints[i])
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parents: 259
diff changeset
154 saveSafetyPoints(outCZ, obj1.num, obj2.num, i, crossingZones[i])
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parents: 259
diff changeset
155
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diff changeset
156 if debug:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
157 from matplotlib.pyplot import figure, axis
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
158 figure()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
159 obj1.draw('r')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
160 obj2.draw('b')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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161 for et in extrapolatedTrajectories1:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
162 et.predictPosition(timeHorizon)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
163 et.draw('rx')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
164 for et in extrapolatedTrajectories2:
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parents: 259
diff changeset
165 et.predictPosition(timeHorizon)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
166 et.draw('bx')
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
167 axis('equal')
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parents: 259
diff changeset
168
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
169
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
170 # probability of successful evasive action = 1-P(Collision) using larger control values
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diff changeset
171
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diff changeset
172 return collisionPoints, crossingZones
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173
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 259
diff changeset
174 ###############
257
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 256
diff changeset
175
243
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
176 # Default values: to remove because we cannot tweak that from a script where the value may be different
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
177 FPS= 25 # No. of frame per second (FPS)
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
178 vLimit= 25/FPS #assume limit speed is 90km/hr = 25 m/sec
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
179 deltaT= FPS*5 # extrapolatation time Horizon = 5 second
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
180
243
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
181 def motion (position, velocity, acceleration):
244
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
182 ''' extrapolation hypothesis: constant acceleration'''
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parents: 243
diff changeset
183 from math import atan2,cos,sin
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
184 vInit= velocity
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
185 vInitial= velocity.norm2()
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parents: 243
diff changeset
186 theta= atan2(velocity.y,velocity.x)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
187 vFinal= vInitial+acceleration
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
188
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
189 if acceleration<= 0:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
190 v= max(0,vFinal)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
191 velocity= moving.Point(v* cos(theta),v* sin(theta))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
192 position= position+ (velocity+vInit). multiply(0.5)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
193 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
194 v= min(vLimit,vFinal)
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parents: 243
diff changeset
195 velocity= moving.Point(v* cos(theta),v* sin(theta))
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parents: 243
diff changeset
196 position= position+ (velocity+vInit). multiply(0.5)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
197 return(position,velocity)
243
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parents: 240
diff changeset
198
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parents: 240
diff changeset
199 def motionPET (position, velocity, acceleration, deltaT):
244
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
200 ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
201 from math import atan2,cos,sin,fabs
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
202 vInit= velocity
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
203 vInitial= velocity.norm2()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
204 theta= atan2(velocity.y,velocity.x)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
205 vFinal= vInitial+acceleration * deltaT
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
206 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
207 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
208 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
209 position= position+ (vInit+ velocity). multiply(0.5*deltaT)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
210 else:
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
211 T= fabs(vInitial/acceleration)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
212 position= position + vInit. multiply(0.5*T)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
213 elif acceleration> 0 :
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
214 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
215 velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
216 position= position+ (vInit+ velocity). multiply(0.5*deltaT)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
217 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
218 time1= fabs((vLimit-vInitial)/acceleration)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
219 velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
220 position= (position+ (velocity+vInit). multiply(0.5*time1)) + (velocity.multiply (deltaT-time1))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
221 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
222 position= position + velocity. multiply(deltaT)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
223
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
224 return position
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
225
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
226 def timePET (position, velocity, acceleration, intersectedPoint ):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
227 ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
228 from math import atan2,cos,sin,fabs
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
229 vInit= velocity
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
230 vInitial= velocity.norm2()
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
231 theta= atan2(velocity.y,velocity.x)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
232 vFinal= vInitial+acceleration * deltaT
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
233 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
234 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
235 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
236 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
237 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
238 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
239 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
240 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
241 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
242 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
243 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
244 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
245 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
246 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
247 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
248 time= time2
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
249 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
250 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
251 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
252 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
253 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
254
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
255 return time
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
256
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
257 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
258 ''' extrapolation hypothesis: steering with deltaTheta'''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
259 from math import atan2,cos,sin
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
260 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
261 theta= atan2(velocity.y,velocity.x)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
262 newTheta= theta + deltaTheta
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
263 velocity= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
264 position= position+ (velocity). multiply(deltaT)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
265 return position
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
266
243
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
267 def MonteCarlo(movingObject1,movingObject2, instant):
244
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
268 ''' Monte Carlo Simulation : estimate the probability of collision'''
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
269 from random import uniform
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
270 from math import pow, sqrt, sin, cos,atan2
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
271 N=1000
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
272 ProbOfCollision = 0
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
273 for n in range (1, N):
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
274 # acceleration limit
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
275 acc1 = uniform(-0.040444,0)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
276 acc2 = uniform(-0.040444,0)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
277 p1= movingObject1.getPositionAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
278 p2= movingObject2.getPositionAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
279 v1= movingObject1.getVelocityAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
280 v2= movingObject2.getVelocityAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
281 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
282 distanceThreshold= 1.8
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
283 t=1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
284 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
285 # Extrapolation position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
286 (p1,v1) = motion(p1,v1,acc1)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
287 (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
288 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
289 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
290 ProbOfCollision= ProbOfCollision+1
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
291 t+=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
292 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
293 return POC
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
294
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
295 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
296 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
297 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
298 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
299 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
300 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
301 return v
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
302
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
303 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
304 ''' 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
305 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
306 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
307 N=1000
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
308 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
309 ProbOfCollision = 0
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
310 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
311 # acceleration limit
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
312 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
313 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
314 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
315 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
316 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
317 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
318 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
319 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
320 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
321 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
322 t=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
323 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
324 # Extrapolation position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
325 (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
326 (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
327 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
328 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
329 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
330 t+=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
331 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
332 return POC
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
333
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
334
255
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
335 if __name__ == "__main__":
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
336 import doctest
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
337 import unittest
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
338 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
339 #suite = doctest.DocTestSuite()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
340 unittest.TextTestRunner().run(suite)
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
341 #doctest.testmod()
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
342 #doctest.testfile("example.txt")
13ec22bec5d4 corrected typos and bugs and added a test
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 250
diff changeset
343