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evolution of indicators and their computation in interactions
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 08 Feb 2013 18:35:24 -0500
parents ee3302528cdc
children
comparison
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293:ee3302528cdc 294:1f253f218b9f
15 class Interaction(moving.STObject): 15 class Interaction(moving.STObject):
16 '''Class for an interaction between two road users 16 '''Class for an interaction between two road users
17 or a road user and an obstacle 17 or a road user and an obstacle
18 18
19 link to the moving objects 19 link to the moving objects
20 contains the indicators in a dictionary with the names as keys
20 ''' 21 '''
21 22
22 categories = {'headon': 0, 23 categories = {'headon': 0,
23 'rearend': 1, 24 'rearend': 1,
24 'side': 2, 25 'side': 2,
28 moving.STObject.__init__(self, num, timeInterval) 29 moving.STObject.__init__(self, num, timeInterval)
29 self.roaduserNumbers = set([roaduserNum1, roaduserNum2]) 30 self.roaduserNumbers = set([roaduserNum1, roaduserNum2])
30 self.movingObject1 = movingObject1 31 self.movingObject1 = movingObject1
31 self.movingObject2 = movingObject2 32 self.movingObject2 = movingObject2
32 self.categoryNum = categoryNum 33 self.categoryNum = categoryNum
34 self.indicators = {}
33 35
34 def getIndicator(self, indicatorName): 36 def getIndicator(self, indicatorName):
35 if hasattr(self, 'indicators'): 37 return self.indicators[indicatorName]
36 for i in self.indicators: 38
37 if i.name == indicatorName: 39 def addIndicator(self, indicator):
38 return i 40 self.indicators[indicator.name] = indicator
39 else:
40 return None
41 41
42 def computeIndicators(self): 42 def computeIndicators(self):
43 '''Computes the collision course cosine only if the cosine is positive''' 43 '''Computes the collision course cosine only if the cosine is positive'''
44 collisionCourseDotProduct = [0]*int(self.timeInterval.length()) 44 collisionCourseDotProducts = {}#[0]*int(self.timeInterval.length())
45 collisionCourseCosine = {} 45 collisionCourseCosines = {}
46 distances = [0]*int(self.timeInterval.length()) 46 distances = {}#[0]*int(self.timeInterval.length())
47 for i,instant in enumerate(self.timeInterval): 47 speedDifferentials = {}
48 for instant in self.timeInterval:
48 deltap = self.movingObject1.getPositionAtInstant(instant)-self.movingObject2.getPositionAtInstant(instant) 49 deltap = self.movingObject1.getPositionAtInstant(instant)-self.movingObject2.getPositionAtInstant(instant)
49 deltav = self.movingObject2.getVelocityAtInstant(instant)-self.movingObject1.getVelocityAtInstant(instant) 50 deltav = self.movingObject2.getVelocityAtInstant(instant)-self.movingObject1.getVelocityAtInstant(instant)
50 collisionCourseDotProduct[i] = moving.Point.dot(deltap, deltav) 51 collisionCourseDotProduct[instant] = moving.Point.dot(deltap, deltav)
51 distances[i] = deltap.norm2() 52 distances[instant] = deltap.norm2()
52 if collisionCourseDotProduct[i] > 0: 53 speedDifferentials[instant] = deltav.norm2()
53 collisionCourseCosine[instant] = collisionCourseDotProduct[i]/(distances[i]*deltav.norm2()) 54 if collisionCourseDotProduct[instant] > 0:
54 self.indicators = [moving.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProduct, self.timeInterval), 55 collisionCourseCosine[instant] = collisionCourseDotProduct[instant]/(distances[instant]*speedDifferentials[instant])
55 moving.SeverityIndicator('Distances', distances, self.timeInterval), 56 # todo shorten the time intervals based on the interaction definition
56 moving.SeverityIndicator('Collision Course Cosine', collisionCourseCosine)] 57 self.addIndicator(moving.SeverityIndicator('Collision Course Dot Product', collisionCourseDotProducts))
58 self.addIndicator(moving.SeverityIndicator('Distance', distances))
59 self.addIndicator(moving.SeverityIndicator('Speed Differential', speedDifferentials))
60 self.addIndicator(moving.SeverityIndicator('Collision Course Cosine', collisionCourseCosines))
57 61
58 62
59 def createInteractions(objects): 63 def createInteractions(objects):
60 '''Create all interactions of two co-existing road users 64 '''Create all interactions of two co-existing road users
61 65