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corrected bug in Point.timeToCollision that might result in negative TTCs
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 27 Jun 2014 17:32:11 -0400
parents 1dced8932b08
children a3add9f751ef
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1 >>> from moving import *
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2 >>> import numpy as np
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3
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4 >>> Interval().empty()
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5 True
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6 >>> Interval(0,1).empty()
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7 False
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8 >>> Interval(0,1)
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9 [0, 1]
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10 >>> Interval(0,1).length()
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11 1.0
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12 >>> Interval(23.2,24.9).length()
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13 1.6999999999999993
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14 >>> Interval(10,8).length()
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15 0.0
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16
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17 >>> TimeInterval(0,1).length()
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18 2.0
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19 >>> TimeInterval(10,8).length()
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20 0.0
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21
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22 >>> [i for i in TimeInterval(9,13)]
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23 [9, 10, 11, 12, 13]
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25 >>> TimeInterval(2,5).equal(TimeInterval(2,5))
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26 True
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27 >>> TimeInterval(2,5).equal(TimeInterval(2,4))
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28 False
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29 >>> TimeInterval(2,5).equal(TimeInterval(5,2))
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30 False
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31
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32 >>> TimeInterval(3,6).distance(TimeInterval(4,6))
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33 0
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34 >>> TimeInterval(3,6).distance(TimeInterval(6,10))
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35 0
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36 >>> TimeInterval(3,6).distance(TimeInterval(8,10))
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37 2
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38 >>> TimeInterval(20,30).distance(TimeInterval(3,15))
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39 5
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40 >>> unionIntervals([TimeInterval(3,6), TimeInterval(8,10),TimeInterval(11,15)])
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41 [3, 15]
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42
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43 >>> Point(3,4)-Point(1,7)
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44 (2.000000,-3.000000)
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45 >>> -Point(1,2)
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46 (-1.000000,-2.000000)
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47
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48 >>> Point(3,2).norm2Squared()
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49 13
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50
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51 >>> Point.distanceNorm2(Point(3,4),Point(1,7))
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52 3.605551275463989
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53
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54 >>> Point(3,2).inPolygonNoShapely(np.array([[0,0],[1,0],[1,1],[0,1]]))
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55 False
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56 >>> Point(3,2).inPolygonNoShapely(np.array([[0,0],[4,0],[4,3],[0,3]]))
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57 True
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58
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59 >>> predictPositionNoLimit(10, Point(0,0), Point(1,1)) # doctest:+ELLIPSIS
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60 ((1.0...,1.0...), (10.0...,10.0...))
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61
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62 >>> segmentIntersection(Point(0,0),Point(1,1), Point(0,1), Point(1,2))
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63 >>> segmentIntersection(Point(0,1),Point(1,0), Point(0,2), Point(2,1))
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64 >>> segmentIntersection(Point(0,0),Point(2,0), Point(1,-1),Point(1,1))
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65 (1.000000,0.000000)
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66 >>> segmentIntersection(Point(0,1),Point(2,0),Point(1,1),Point(1,2))
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68 >>> Trajectory().length()
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69 0
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70 >>> t1 = Trajectory([[0.5,1.5,2.5],[0.5,3.5,6.5]])
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71 >>> t1.length() == 3.
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72 True
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73 >>> t1[1]
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74 (1.500000,3.500000)
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75 >>> t1.getTrajectoryInPolygonNoShapely(np.array([[0,0],[4,0],[4,3],[0,3]]))
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76 (0.500000,0.500000)
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77 >>> t1.getTrajectoryInPolygonNoShapely(np.array([[10,10],[14,10],[14,13],[10,13]])).length()
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78 0
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79
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80 >>> from utils import LCSS
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81 >>> lcss = LCSS(lambda x,y: Point.distanceNorm2(x,y) <= 0.1)
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82 >>> Trajectory.lcss(t1, t1, lcss)
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83 3
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84 >>> lcss = LCSS(lambda p1, p2: (p1-p2).normMax() <= 0.1)
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85 >>> Trajectory.lcss(t1, t1, lcss)
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86 3
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87
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88 >>> p1=Point(0,0)
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89 >>> p2=Point(1,0)
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90 >>> v1 = Point(0.1,0.1)
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91 >>> v2 = Point(-0.1, 0.1)
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92 >>> abs(Point.timeToCollision(p1, p2, v1, v2, 0.)-5.0) < 0.00001
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93 True
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94 >>> abs(Point.timeToCollision(p1, p2, v1, v2, 0.1)-4.5) < 0.00001
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95 True
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96 >>> p1=Point(0,1)
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97 >>> p2=Point(1,0)
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98 >>> v1 = Point(0,0.1)
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99 >>> v2 = Point(0.1, 0)
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100 >>> Point.timeToCollision(p1, p2, v1, v2, 0.) == None
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101 True
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102 >>> Point.timeToCollision(p2, p1, v2, v1, 0.) == None
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103 True
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104
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105 >>> o1 = MovingObject(positions = Trajectory([[0]*3,[2]*3]), velocities = Trajectory([[0]*3,[1]*3]))
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106 >>> o1.classifyUserTypeSpeedMotorized(0.5, np.median)
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107 >>> userTypeNames[o1.getUserType()]
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108 'car'
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109 >>> o1.classifyUserTypeSpeedMotorized(0.5, np.mean)
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110 >>> userTypeNames[o1.getUserType()]
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111 'car'
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112 >>> o1.classifyUserTypeSpeedMotorized(1.5, np.median)
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113 >>> userTypeNames[o1.getUserType()]
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114 'pedestrian'