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annotate python/moving.py @ 89:f88a19695bba

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added inner product
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 09 Jun 2011 11:18:44 -0400
parents 41da2cdcd91c
children f84293ad4611
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1 #! /usr/bin/env python
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2 '''Libraries for moving objects, trajectories...'''
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3
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4 import utils;
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5
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6 from math import sqrt, hypot;
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7
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8 #from shapely.geometry import Polygon
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9
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10 __metaclass__ = type
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12 #class MovingObject:
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14 class Interval:
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15 '''Generic Interval'''
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16 def __init__(self, first=0, last=-1, revert = False):
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17 'Warning, do not revert if last<first, it contradicts the definition of empty'
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18 if revert and last<first:
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19 self.first=last
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20 self.last=first
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21 else:
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22 self.first=first
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23 self.last=last
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25 def __str__(self):
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26 return '%d %d'%(self.first, self.last)
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28 def empty(self):
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29 return self.first > self.last
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31 def length(self):
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32 '''Returns the length of the interval'''
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33 return max(0,self.last-self.first)
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35 def getList(self):
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36 return [self.first, self.last]
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37
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38 def contains(self, instant):
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39 return (self.first<=instant and self.last>=instant)
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41 def inside(self, interval2):
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42 'indicates if the temporal interval of self is comprised in interval2'
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43 return (self.first >= interval2.first) and (self.last <= interval2.last)
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44
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45 def union(self, interval2):
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46 '''Largest interval comprising self and interval2'''
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47 return TimeInterval(min(self.first, interval2.first), max(self.last, interval2.last))
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48
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49 def intersection(self, interval2):
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50 '''Largest interval comprising self and interval2'''
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51 return TimeInterval(max(self.first, interval2.first), min(self.last, interval2.last))
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52
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53
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54 class TimeInterval(Interval):
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55 '''Temporal interval
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56 may be modified directly by setting first and last'''
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57
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58 def __init__(self, first=0, last=-1):
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59 Interval.__init__(self, first, last, False)
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60
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61 def __getitem__(self, i):
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62 if not self.empty():
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63 return self.first+i
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64
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65 def __iter__(self):
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66 self.iterInstantNum = 0
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67 return self
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68
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69 def next(self):
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70 if self.iterInstantNum >= self.length()-1:
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71 raise StopIteration
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72 else:
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73 self.iterInstantNum += 1
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74 return self[self.iterInstantNum]
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75
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76 def length(self):
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77 '''Returns the length of the interval'''
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78 return max(0,self.last-self.first+1)
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79
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80 # class BoundingPolygon:
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81 # '''Class for a polygon bounding a set of points
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82 # with methods to create intersection, unions...
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83 # '''
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84 # We will use the polygon class of Shapely
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85
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86 class STObject:
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87 '''Class for spatio-temporal object
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88 i.e. with temporal and spatial existence
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89 (time interval and bounding polygon for positions (e.g. rectangle)).
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90 It does not mean that the object is defined
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91 for all time instants within the time interval'''
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92
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93 def __init__(self, num = None, timeInterval = None, boundingPolygon = None):
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94 self.num = num
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95 self.timeInterval = timeInterval
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96 self.boundingPolygon = boundingPolygon
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97
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98 def empty(self):
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99 return self.timeInterval.empty() or not self.boudingPolygon
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100
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101 def getFirstInstant(self):
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102 return self.timeInterval.first
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103
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104 def getLastInstant(self):
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105 return self.timeInterval.last
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106
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107 def getTimeInterval(self):
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108 return self.timeInterval
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109
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110 def commonTimeInterval(self, obj2):
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111 return self.getTimeInterval().intersection(obj2.getTimeInterval())
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112
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113 class Point:
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114 def __init__(self, x, y):
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115 self.x = x
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116 self.y = y
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117
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118 def __str__(self):
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119 return '(%f,%f)'%(self.x,self.y)
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120
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121 def __repr__(self):
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122 return str(self)
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123
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124 def __sub__(self, other):
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125 return Point(self.x-other.x, self.y-other.y)
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126
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127 def draw(self, options = ''):
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128 from matplotlib.pylab import plot
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129 plot([self.x], [self.y], 'x'+options)
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130
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131 def norm2Squared(self):
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132 '''2-norm distance (Euclidean distance)'''
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133 return self.x*self.x+self.y*self.y
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134
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135 def norm2(self):
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136 '2-norm distance (Euclidean distance)'
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137 return sqrt(self.norm2Squared())
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138
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139 def aslist(self):
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140 return [self.x, self.y]
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141
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142 def inPolygon(self, poly):
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143 '''Returns if the point x, y is inside the polygon.
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144 The polygon is defined by the ordered list of points in poly
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145
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146 taken from http://www.ariel.com.au/a/python-point-int-poly.html'''
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147
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148 n = len(poly);
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149 counter = 0;
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150
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151 p1 = poly[0];
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152 for i in range(n+1):
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153 p2 = poly[i % n];
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154 if self.y > min(p1.y,p2.y):
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155 if self.y <= max(p1.y,p2.y):
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156 if self.x <= max(p1.x,p2.x):
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157 if p1.y != p2.y:
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158 xinters = (self.y-p1.y)*(p2.x-p1.x)/(p2.y-p1.y)+p1.x;
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159 if p1.x == p2.x or self.x <= xinters:
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160 counter+=1;
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161 p1=p2
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162 return (counter%2 == 1);
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163
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164
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165 @staticmethod
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166 def dot(p1, p2):
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167 'Scalar product'
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168 return p1.x*p2.x+p1.y*p2.y
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169
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170 @staticmethod
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171 def inner(p1, p2):
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172 'Inner product'
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173 return p1.x*p2.y-p1.y*p2.x
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174
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175 @staticmethod
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176 def distanceNorm2(p1, p2):
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177 return (p1-p2).norm2()
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178
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179 @staticmethod
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180 def plotAll(points, color='r'):
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181 from matplotlib.pyplot import scatter
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182 scatter([p.x for p in points],[p.y for p in points], c=color)
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183
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184 class Trajectory:
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185 '''Class for trajectories
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186 i.e. a temporal sequence of positions
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187
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188 the class is iterable.'''
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189
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190 def __init__(self, positions=None):
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191 self.positions = positions
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192
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193 @staticmethod
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194 def load(line1, line2):
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195 return Trajectory([[float(n) for n in line1.split(' ')],
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196 [float(n) for n in line2.split(' ')]])
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197
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198 def __str__(self):
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199 return ' '.join([self.__getitem__(i).__str__() for i in xrange(self.length())])
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200
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201 def __repr__(self):
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202 return str(self)
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203
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204 def __getitem__(self, i):
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205 return Point(self.positions[0][i], self.positions[1][i])
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206
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207 def __iter__(self):
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208 self.iterInstantNum = 0
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209 return self
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210
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211 def next(self):
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212 if self.iterInstantNum >= self.length():
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213 raise StopIteration
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214 else:
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215 self.iterInstantNum += 1
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216 return self[self.iterInstantNum-1]
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217
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218 def addPositionXY(self, x, y):
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219 if not self.positions:
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220 self.positions = [[x],[y]]
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221 else:
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222 self.positions[0].append(x)
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223 self.positions[1].append(y)
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224
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225 def addPosition(self, p):
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226 self.addPositionXY(p.x, p.y)
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227
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228 def draw(self, options = ''):
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229 from matplotlib.pylab import plot
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230 plot(self.positions[0], self.positions[1], options)
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231
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232 def length(self):
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233 return len(self.positions[0])
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234
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235 def getXCoordinates(self):
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236 return self.positions[0]
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237
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238 def getYCoordinates(self):
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239 return self.positions[1]
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240
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241 def xBounds(self):
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242 # look for function that does min and max in one pass
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243 return [min(self.getXCoordinates()), max(self.getXCoordinates())]
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244
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245 def yBounds(self):
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246 # look for function that does min and max in one pass
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247 return [min(self.getYCoordinates()), max(self.getYCoordinates())]
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248
43
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249 def add(self, traj2):
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250 '''Returns a new trajectory of the same length'''
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251 if self.length() != traj2.length():
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252 print 'Trajectories of different lengths'
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253 return None
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254 else:
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255 return Trajectory([[a+b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
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diff changeset
256 [a+b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
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257
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258 def subtract(self, traj2):
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259 '''Returns a new trajectory of the same length'''
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260 if self.length() != traj2.length():
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261 print 'Trajectories of different lengths'
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262 return None
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263 else:
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diff changeset
264 return Trajectory([[a-b for a,b in zip(self.getXCoordinates(),traj2.getXCoordinates())],
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diff changeset
265 [a-b for a,b in zip(self.getYCoordinates(),traj2.getYCoordinates())]])
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diff changeset
266
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267 def norm(self):
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268 '''Returns the list of the norms at each instant'''
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269 # def add(x, y): return x+y
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270 # sq = map(add, [x*x for x in self.positions[0]], [y*y for y in self.positions[1]])
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271 # return sqrt(sq)
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272 return [hypot(x,y) for x,y in zip(self.positions[0], self.positions[1])]
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273
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274 def cumulatedDisplacement(self):
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275 displacement = 0
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276 for i in xrange(self.length()-1):
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277 displacement += Point.distanceNorm2(self.__getitem__(i),self.__getitem__(i+1))
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278 return displacement
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279
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280 def wiggliness(self):
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diff changeset
281 return self.cumulatedDisplacement()/float(Point.distanceNorm2(self.__getitem__(0),self.__getitem__(self.length()-1)))
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diff changeset
282
83
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diff changeset
283 def getIntersections(self, p1, p2):
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284 '''Returns a list of the indices at which the trajectory
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diff changeset
285 intersects with the segment of extremities p1 and p2 the list is empty if there is no crossing'''
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diff changeset
286 indices = []
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parents: 79
diff changeset
287
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diff changeset
288 for i in xrange(self.length()-1):
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289 q1=self.__getitem__(i)
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diff changeset
290 q2=self.__getitem__(i+1)
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diff changeset
291 p = utils.segmentIntersection(q1, q2, p1, p2)
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diff changeset
292 if p:
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diff changeset
293 if q1.x != q2.x:
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diff changeset
294 ratio = (p.x-q1.x)/(q2.x-q1.x)
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diff changeset
295 elif q1.y != q2.y:
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diff changeset
296 ratio = (p.y-q1.y)/(q2.y-q1.y)
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diff changeset
297 else:
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diff changeset
298 ratio = 0
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diff changeset
299 indices.append(i+ratio)
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diff changeset
300 return indices
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diff changeset
301
43
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diff changeset
302 def getTrajectoryInInterval(self, inter):
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303 if inter.first >=0 and inter.last<= self.length():
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diff changeset
304 return Trajectory([self.positions[0][inter.first:inter.last],
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diff changeset
305 self.positions[1][inter.first:inter.last]])
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diff changeset
306 else:
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307 return None
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diff changeset
308
79
5d487f183fe2 added method to test points in polygons and tests
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diff changeset
309 def getTrajectoryInPolygon1(self, polygon):
19
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diff changeset
310 'Returns the set of points inside the polygon'
79
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diff changeset
311 t = Trajectory()
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diff changeset
312 for i in xrange(self.length()):
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diff changeset
313 p = self.__getitem__(i)
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diff changeset
314 if p.inPolygon(polygon):
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diff changeset
315 t.addPosition(p)
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diff changeset
316 if t.length()>0:
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diff changeset
317 return t
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diff changeset
318 else:
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diff changeset
319 return None
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diff changeset
320
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diff changeset
321 # version 2: use shapely polygon contains
19
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322
62
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diff changeset
323 ##################
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
324 # Moving Objects
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diff changeset
325 ##################
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326
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diff changeset
327 userTypeNames = ['car',
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diff changeset
328 'pedestrian',
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diff changeset
329 'twowheels',
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diff changeset
330 'bus'
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diff changeset
331 'truck']
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diff changeset
332
7
ffddccfab7f9 loading shell objects from NGSIM works
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diff changeset
333 class MovingObject(STObject):
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334 '''Class for moving objects
54
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diff changeset
335 i.e. with a trajectory and a geometry (volume) (constant)
c354d41ef7cd corrected code for usertype in movingobject
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diff changeset
336 and a usertype (e.g. road user)
7
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337 '''
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338
54
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diff changeset
339 def __init__(self, num = None, timeInterval = None, positions = None, geometry = None, userType = None):
7
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diff changeset
340 STObject.__init__(self, num, timeInterval)
16
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diff changeset
341 self.positions = positions
7
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diff changeset
342 self.geometry = geometry
54
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diff changeset
343 self.userType = userType
7
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diff changeset
344 # compute bounding polygon from trajectory
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diff changeset
345
43
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diff changeset
346 def getObjectInTimeInterval(self, inter):
54
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diff changeset
347 '''Returns a new object extracted from self,
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diff changeset
348 restricted to time interval inter'''
43
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diff changeset
349 if inter.inside(self.timeInterval):
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diff changeset
350 inter = TimeInterval(inter.first-self.getFirstInstant(), inter.last-self.getFirstInstant())
54
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diff changeset
351 obj = MovingObject(self.num, inter, self.positions.getTrajectoryInInterval(inter), self.geometry, self.userType)
43
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diff changeset
352 if self.velocities:
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diff changeset
353 obj.velocities = self.velocities.getTrajectoryInInterval(inter)
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diff changeset
354 return obj
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diff changeset
355 else:
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diff changeset
356 print 'The object does not exist at '+str(inter)
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diff changeset
357 return None
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diff changeset
358
21
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parents: 19
diff changeset
359 def length(self):
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diff changeset
360 return self.timeInterval.length()
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parents: 19
diff changeset
361
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
362 def getPositions(self):
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diff changeset
363 return self.positions
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parents: 30
diff changeset
364
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
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parents: 30
diff changeset
365 def getVelocities(self):
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
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parents: 30
diff changeset
366 return self.velocities
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parents: 30
diff changeset
367
49
1fb5606506ae re-arrangement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 43
diff changeset
368 def getSpeeds(self):
1fb5606506ae re-arrangement
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parents: 43
diff changeset
369 return self.getVelocities().norm()
1fb5606506ae re-arrangement
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parents: 43
diff changeset
370
38
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
Nicolas Saunier <nico@confins.net>
parents: 30
diff changeset
371 def getPositionAt(self, i):
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parents: 30
diff changeset
372 return self.positions[i]
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parents: 30
diff changeset
373
0d321c23d337 added norm functions for Point and accessor methods for MovingObject
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diff changeset
374 def getVelocityAt(self, i):
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diff changeset
375 return self.velocities[i]
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diff changeset
376
67
ded58c424783 added indicator computation and modified severity indicator constructor
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diff changeset
377 def getPositionAtInstant(self, i):
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diff changeset
378 return self.positions[i-self.getFirstInstant()]
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diff changeset
379
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diff changeset
380 def getVelocityAtInstant(self, i):
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diff changeset
381 return self.velocities[i-self.getFirstInstant()]
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diff changeset
382
21
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diff changeset
383 def getXCoordinates(self):
3c4629550f5f added basic getters for objects
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parents: 19
diff changeset
384 return self.positions.getXCoordinates()
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parents: 19
diff changeset
385
3c4629550f5f added basic getters for objects
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parents: 19
diff changeset
386 def getYCoordinates(self):
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parents: 19
diff changeset
387 return self.positions.getYCoordinates()
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parents: 19
diff changeset
388
25
28e546861263 added Point class and modified trajectory accordingly
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parents: 23
diff changeset
389 def draw(self, options = ''):
28e546861263 added Point class and modified trajectory accordingly
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parents: 23
diff changeset
390 self.positions.draw(options)
22
169cd4679366 made Trajectory iterable
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parents: 21
diff changeset
391
83
41da2cdcd91c re-arranged trajectory intersections
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diff changeset
392 def getInstantsCrossingLane(self, p1, p2):
55
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
393 '''Returns the instant(s)
88d5ee5ac164 updated comments and added shell for interaction between road users
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parents: 54
diff changeset
394 at which the object passes from one side of the segment to the other
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
395 empty list if there is no crossing'''
83
41da2cdcd91c re-arranged trajectory intersections
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diff changeset
396 indices = self.positions.getIntersections(p1, p2)
41da2cdcd91c re-arranged trajectory intersections
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parents: 79
diff changeset
397 return [t+self.getFirstInstant() for t in indices]
27
44689029a86f updated segmentIntersection and other
Nicolas Saunier <nico@confins.net>
parents: 26
diff changeset
398
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
399 @staticmethod
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parents: 66
diff changeset
400 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
401 'A positive result indicates that the road users are getting closer'
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
402 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
403 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
404 return moving.Point.dot(deltap, deltav)
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
405
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
406 @staticmethod
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
407 def collisionCourseCosine(movingObject1, movingObject2, instant):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
408 'A positive result indicates that the road users are getting closer'
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
409 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
410 deltav = movingObject2.getVelocityAtInstant(instant)-movingObject1.getVelocityAtInstant(instant)
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
411 return moving.Point.dot(deltap, deltav)/(deltap.norm2()*deltav.norm2())
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
412
62
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
413 def plotRoadUsers(objects, colors):
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
414 '''Colors is a PlottingPropertyValues instance'''
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
415 from matplotlib.pyplot import figure, axis
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
416 figure()
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
417 for obj in objects:
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
418 obj.draw(colors.get(obj.userType))
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
419 axis('equal')
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
420
290fceb125d2 moved road user types and added plotting for all road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 58
diff changeset
421
13
30559b2cf7a9 minimal code to load UBC data
Nicolas Saunier <nico@confins.net>
parents: 7
diff changeset
422 # need for a class representing the indicators, their units, how to print them in graphs...
6
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
423 class TemporalIndicator:
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
424 '''Class for temporal indicators
30
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
425 i.e. indicators that take a value at specific instants
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
426
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
427 values should be
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
428 * a dict, for the values at specific time instants
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
429 * or a list with a time interval object if continuous measurements
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
430
30
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
431 it should have more information like name, unit'''
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
432
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
433 def __init__(self, name, values, timeInterval=None):
30
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
434 self.name = name
74
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
435 self.isCosine = name.find('Cosine')
30
418b41056e6c after merge
Nicolas Saunier <nico@confins.net>
parents: 28
diff changeset
436 self.values = values
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
437 self.timeInterval = timeInterval
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
438 if timeInterval:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
439 assert len(values) == timeInterval.length()
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
440
68
846fa9dc47de empty method for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 67
diff changeset
441 def empty(self):
846fa9dc47de empty method for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 67
diff changeset
442 return len(self.values) == 0
846fa9dc47de empty method for indicators
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 67
diff changeset
443
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
444 def __getitem__(self, i):
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
445 if self.timeInterval:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
446 if self.timeInterval.contains(i):
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
447 return self.values[i-self.timeInterval.first]
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
448 else:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
449 if i in self.values.keys():
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
450 return self.values[i]
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
451 return None # default
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
452
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
453 def __iter__(self):
cc192d0450b3 added full support for two implementations of indicators, with tests
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parents: 68
diff changeset
454 self.iterInstantNum = 0 # index in the interval or keys of the dict
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
455 return self
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
456
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
457 def next(self):
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
458 if self.iterInstantNum >= len(self.values):#(self.timeInterval and self.iterInstantNum>=self.timeInterval.length())\
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
459 # or (self.iterInstantNum >= self.values)
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
460 raise StopIteration
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
461 else:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
462 self.iterInstantNum += 1
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
463 if self.timeInterval:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
464 return self.values[self.iterInstantNum-1]
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
465 else:
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
466 return self.values.values()[self.iterInstantNum-1]
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
467
74
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
468 def getValues(self):
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
469 if self.timeInterval:
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
470 return self.values
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
471 else:
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
472 return self.values.values()
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
473
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
474 def getAngleValues(self):
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
475 '''if the indicator is a function of an angle,
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
476 transform it to an angle (eg cos)
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
477 (no transformation otherwise)'''
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
478 from numpy import arccos
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
479 values = self.getValues()
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
480 if self.isCosine >= 0:
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
481 return [arccos(c) for c in values]
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
482 else:
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
483 return values
d3e1a7cf3375 added functions to get simply the values of indicators (and arccos transform for cosines
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 71
diff changeset
484
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
485 class SeverityIndicator(TemporalIndicator):
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
486 '''Class for severity indicators
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
487 field mostSevereIsMax is True
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
488 if the most severe value taken by the indicator is the maximum'''
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
489
67
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
490 def __init__(self, name, values, timeInterval=None, mostSevereIsMax=True, ignoredValue = None):
ded58c424783 added indicator computation and modified severity indicator constructor
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 66
diff changeset
491 TemporalIndicator.__init__(self, name, values, timeInterval)
58
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
492 self.mostSevereIsMax = mostSevereIsMax
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
493 self.ignoredValue = ignoredValue
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
494
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
495 def getMostSevereValue(self, minNInstants=1):
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
496 from matplotlib.mlab import find
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
497 from numpy.core.multiarray import array
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
498 from numpy.core.fromnumeric import mean
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
499 values = array(self.values.values())
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
500 if self.ignoredValue:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
501 indices = find(values != self.ignoredValue)
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
502 else:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
503 indices = range(len(values))
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
504 if len(indices) >= minNInstants:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
505 values = sorted(values[indices], reverse = self.mostSevereIsMax) # inverted if most severe is max -> take the first values
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
506 return mean(values[:minNInstants])
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
507 else:
40e1508380ed developed indicator classes
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 56
diff changeset
508 return None
6
597d61c1eebe minor doc update
Nicolas Saunier <nico@confins.net>
parents: 2
diff changeset
509
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
510 def indicatorMap(indicatorValues, trajectory, squareSize):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
511 '''Returns a dictionary
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
512 with keys for the indices of the cells (squares)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
513 in which the trajectory positions are located
69
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
514 at which the indicator values are attached
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
515
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
516 ex: speeds and trajectory'''
cc192d0450b3 added full support for two implementations of indicators, with tests
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 68
diff changeset
517
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
518 from numpy import floor, mean
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
519 assert len(indicatorValues) == trajectory.length()
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
520 indicatorMap = {}
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
521 for k in xrange(trajectory.length()):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
522 p = trajectory[k]
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
523 i = floor(p.x/squareSize)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
524 j = floor(p.y/squareSize)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
525 if indicatorMap.has_key((i,j)):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
526 indicatorMap[(i,j)].append(indicatorValues[k])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
527 else:
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
528 indicatorMap[(i,j)] = [indicatorValues[k]]
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
529 for k in indicatorMap.keys():
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
530 indicatorMap[k] = mean(indicatorMap[k])
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
531 return indicatorMap
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
532
66
56fe4ef1377e generalized map combination to different functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 65
diff changeset
533 def combineIndicatorMaps(maps, squareSize, combinationFunction):
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
534 '''Puts many indicator maps together
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
535 (averaging the values in each cell
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
536 if more than one maps has a value)'''
66
56fe4ef1377e generalized map combination to different functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 65
diff changeset
537 #from numpy import mean
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
538 indicatorMap = {}
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
539 for m in maps:
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
540 for k,v in m.iteritems():
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
541 if indicatorMap.has_key(k):
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
542 indicatorMap[k].append(v)
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
543 else:
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
544 indicatorMap[k] = [v]
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
545 for k in indicatorMap.keys():
66
56fe4ef1377e generalized map combination to different functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 65
diff changeset
546 indicatorMap[k] = combinationFunction(indicatorMap[k])
65
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
547 return indicatorMap
75cf537b8d88 moved and generalized map making functions to the library
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 64
diff changeset
548
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
549 if __name__ == "__main__":
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
550 import doctest
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
551 import unittest
43
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
552 suite = doctest.DocFileSuite('tests/moving.txt')
6d11d9e7ad4e methods for trajectories and objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 41
diff changeset
553 #suite = doctest.DocTestSuite()
2
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
554 unittest.TextTestRunner().run(suite)
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
555 #doctest.testmod()
de5642925615 started implementation of TimeInterval and Spatio-temporal object
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 0
diff changeset
556 #doctest.testfile("example.txt")
55
88d5ee5ac164 updated comments and added shell for interaction between road users
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 54
diff changeset
557