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comparison python/prediction.py @ 336:124f85c6cfae

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modifed default probability to float
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 14 Jun 2013 13:47:00 -0400
parents f65b828e5521
children 7e9ad2d9d79c
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335:3950bfe22768 336:124f85c6cfae
35 35
36 class PredictedTrajectoryConstant(PredictedTrajectory): 36 class PredictedTrajectoryConstant(PredictedTrajectory):
37 '''Predicted trajectory at constant speed or acceleration 37 '''Predicted trajectory at constant speed or acceleration
38 TODO generalize by passing a series of velocities/accelerations''' 38 TODO generalize by passing a series of velocities/accelerations'''
39 39
40 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1, maxSpeed = None): 40 def __init__(self, initialPosition, initialVelocity, control = moving.NormAngle(0,0), probability = 1., maxSpeed = None):
41 self.control = control 41 self.control = control
42 self.maxSpeed = maxSpeed 42 self.maxSpeed = maxSpeed
43 self.probability = probability 43 self.probability = probability
44 self.predictedPositions = {0: initialPosition} 44 self.predictedPositions = {0: initialPosition}
45 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)} 45 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
47 def getControl(self): 47 def getControl(self):
48 return self.control 48 return self.control
49 49
50 class PredictedTrajectoryNormalAdaptation(PredictedTrajectory): 50 class PredictedTrajectoryNormalAdaptation(PredictedTrajectory):
51 '''Random small adaptation of vehicle control ''' 51 '''Random small adaptation of vehicle control '''
52 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1, maxSpeed = None): 52 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1., maxSpeed = None):
53 '''Constructor 53 '''Constructor
54 accelerationDistribution and steeringDistribution are distributions 54 accelerationDistribution and steeringDistribution are distributions
55 that return random numbers drawn from them''' 55 that return random numbers drawn from them'''
56 self.accelerationDistribution = accelerationDistribution 56 self.accelerationDistribution = accelerationDistribution
57 self.steeringDistribution = steeringDistribution 57 self.steeringDistribution = steeringDistribution