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reasonably efficient computation of collision points and crossing zones
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 24 Jul 2012 12:37:47 -0400
parents 9281878ff19e
children 8ab76b95ee72
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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 add limits if acceleration
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38 TODO generalize by passing a series of velocities/accelerations'''
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39
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40 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1, maxSpeed = None):
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41 self.control = control
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42 self.maxSpeed = maxSpeed
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43 self.probability = probability
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44 self.predictedPositions = {0: initialPosition}
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45 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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46
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47 def getControl(self):
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48 return self.control
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49
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50 class ExtrapolatedTrajectoryNormalAdaptation(ExtrapolatedTrajectory):
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51 '''Random small adaptation of vehicle control '''
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52 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1, maxSpeed = None):
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53 '''Constructor
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54 accelerationDistribution and steeringDistribution are distributions
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55 that return random numbers drawn from them'''
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56 self.accelerationDistribution = accelerationDistribution
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57 self.steeringDistribution = steeringDistribution
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58 self.maxSpeed = maxSpeed
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59 self.probability = probability
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60 self.predictedPositions = {0: initialPosition}
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61 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
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62
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63 def getControl(self):
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64 return moving.NormAngle(self.accelerationDistribution(),self.steeringDistribution())
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66
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67 class ExtrapolationParameters:
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68 def __init__(self, name):
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69 self.name = name
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70
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71 def createExtrapolatedTrajectories(extrapolationParameters, initialPosition, initialVelocity, maxSpeed):
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72 '''extrapolationParameters specific to each method (in name field) '''
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73 if extrapolationParameters.name == 'constant velocity':
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74 return [ExtrapolatedTrajectoryConstant(initialPosition, initialVelocity, maxSpeed = maxSpeed)]
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75 else:
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76 print('Unknown extrapolation hypothesis')
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77 return []
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78
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79 class CollisionPoint(moving.Point):
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80 def __init__(self, p, probability = 1., TTC = -1):
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81 self.x = p.x
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82 self.y = p.y
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83 self.probability = probability
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84 self.TTC = TTC
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85
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86 class CrossingZone(moving.Point):
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87 def __init__(self, p, probability = 1., pPET = -1):
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88 self.x = p.x
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89 self.y = p.y
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90 self.probability = probability
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91 self.pPET = pPET
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92
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93 def computeCrossingsCollisions(extrapolatedTrajectories1, extrapolatedTrajectories2, collisionDistanceThreshold, timeHorizon):
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94 '''returns the lists of collision points and crossing zones '''
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95 collisionPoints = []
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96 crossingZones = []
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97 for et1 in extrapolatedTrajectories1:
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98 for et2 in extrapolatedTrajectories2:
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99
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100 t = 1
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101 p1 = et1.predictPosition(t)
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102 p2 = et2.predictPosition(t)
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103 while t <= timeHorizon and (p1-p2).norm2() > collisionDistanceThreshold:
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104 p1 = et1.predictPosition(t)
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105 p2 = et2.predictPosition(t)
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106 t += 1
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107
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108 if t <= timeHorizon:
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109 collisionPoints.append(CollisionPoint((p1+p2).multiply(0.5), et1.probability*et2.probability, t))
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110 else: # check if there is a crossing zone
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111 # TODO? zone should be around the points at which the traj are the closest
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112 # look for CZ at different times, otherwise it would be a collision
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113 # an approximation would be to look for close points at different times, ie the complementary of collision points
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114 cz = None
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115 t1 = 0
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116 while not cz and t1 < timeHorizon: # t1 <= timeHorizon-1
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117 t2 = 0
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118 while not cz and t2 < timeHorizon:
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119 #if (et1.predictPosition(t1)-et2.predictPosition(t2)).norm2() < collisionDistanceThreshold:
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120 # cz = (et1.predictPosition(t1)+et2.predictPosition(t2)).multiply(0.5)
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121 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
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122 if cz:
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123 crossingZones.append(CrossingZone(cz, et1.probability*et2.probability, abs(t1-t2)))
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124 t2 += 1
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125 t1 += 1
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126 return collisionPoints, crossingZones
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127
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128
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diff changeset
129
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
130 # Default values: to remove because we cannot tweak that from a script where the value may be different
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
131 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
132 vLimit= 25/FPS #assume limit speed is 90km/hr = 25 m/sec
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
133 deltaT= FPS*5 # extrapolatation time Horizon = 5 second
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
134
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
135 def motion (position, velocity, acceleration):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
136 ''' extrapolation hypothesis: constant acceleration'''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
137 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
138 vInit= velocity
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
139 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
140 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
141 vFinal= vInitial+acceleration
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
142
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
143 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
144 v= max(0,vFinal)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
145 velocity= moving.Point(v* cos(theta),v* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
146 position= position+ (velocity+vInit). multiply(0.5)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
147 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
148 v= min(vLimit,vFinal)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
149 velocity= moving.Point(v* cos(theta),v* sin(theta))
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
150 position= position+ (velocity+vInit). multiply(0.5)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
151 return(position,velocity)
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
152
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
153 def motionPET (position, velocity, acceleration, deltaT):
244
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
154 ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
155 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
156 vInit= velocity
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
157 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
158 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
159 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
160 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
161 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
162 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
163 position= position+ (vInit+ velocity). multiply(0.5*deltaT)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
164 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
165 T= fabs(vInitial/acceleration)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
166 position= position + vInit. multiply(0.5*T)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
167 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
168 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
169 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
170 position= position+ (vInit+ velocity). multiply(0.5*deltaT)
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
171 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
172 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
173 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
174 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
175 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
176 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
177
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
178 return position
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
179
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
180 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
181 ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
182 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
183 vInit= velocity
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
184 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
185 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
186 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
187 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
188 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
189 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
190 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
191 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
192 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
193 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
194 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
195 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
196 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
197 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
198 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
199 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
200 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
201 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
202 time= time2
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
203 else:
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
204 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
205 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
206 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
207 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
208
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
209 return time
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
210
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
211 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
212 ''' 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
213 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
214 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
215 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
216 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
217 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
218 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
219 return position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
220
243
e0988a8ace0c started adapting and moving to other modules Mohamed's work
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 240
diff changeset
221 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
222 ''' 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
223 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
224 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
225 N=1000
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
226 ProbOfCollision = 0
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
227 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
228 # acceleration limit
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
229 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
230 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
231 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
232 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
233 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
234 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
235 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
236 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
237 t=1
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
238 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
239 # Extrapolation position
5027c174ab90 moved indicators to new file, added ExtrapolatedTrajectory class to extrapolation file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 243
diff changeset
240 (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
241 (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
242 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
243 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
244 ProbOfCollision= ProbOfCollision+1
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245 t+=1
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246 POC= float(ProbOfCollision)/N
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247 return POC
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248
243
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249 def velocitySteering(velocity,steering):
244
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250 from math import atan2,cos,sin
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251 vInitial= velocity.norm2()
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252 theta= atan2(velocity.y,velocity.x)
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253 newTheta= theta + steering
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254 v= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta))
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255 return v
243
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256
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257 def MonteCarloSteering(movingObject1,movingObject2, instant,steering1,steering2):
244
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258 ''' Monte Carlo Simulation : estimate the probability of collision in case of steering'''
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259 from random import uniform
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260 from math import pow, sqrt, sin, cos,atan2
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261 N=1000
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262 L= 2.4
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263 ProbOfCollision = 0
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264 for n in range (1, N):
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265 # acceleration limit
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266 acc1 = uniform(-0.040444,0)
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267 acc2 = uniform(-0.040444,0)
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268 p1= movingObject1.getPositionAtInstant(instant)
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269 p2= movingObject2.getPositionAtInstant(instant)
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270 vInit1= movingObject1.getVelocityAtInstant(instant)
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271 v1= velocitySteering (vInit1,steering1)
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272 vInit2= movingObject2.getVelocityAtInstant(instant)
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273 v2= velocitySteering (vInit2,steering2)
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274 distance= (p1-p2).norm2()
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275 distanceThreshold= 1.8
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276 t=1
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277 while distance > distanceThreshold and t <= deltaT:
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278 # Extrapolation position
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279 (p1,v1) = motion(p1,v1,acc1)
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280 (p2,v2) = motion(p2,v2,acc2)
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281 distance= (p1-p2).norm2()
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282 if distance <=distanceThreshold:
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283 ProbOfCollision= ProbOfCollision+1
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284 t+=1
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285 POC= float(ProbOfCollision)/N
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286 return POC
243
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287
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288
255
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289 if __name__ == "__main__":
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290 import doctest
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291 import unittest
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292 suite = doctest.DocFileSuite('tests/extrapolation.txt')
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293 #suite = doctest.DocTestSuite()
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294 unittest.TextTestRunner().run(suite)
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295 #doctest.testmod()
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296 #doctest.testfile("example.txt")
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297