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comparison python/prediction.py @ 636:3058e00887bc

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removed all issues because of tests with None, using is instead of == or !=
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 24 Mar 2015 18:11:28 +0100
parents 69a98f84f3eb
children 335f6641bf7a
comparison
equal deleted inserted replaced
635:6ae68383071e 636:3058e00887bc
274 t2 = 0 274 t2 = 0
275 while not cz and t2 < timeHorizon: 275 while not cz and t2 < timeHorizon:
276 #if (et1.predictPosition(t1)-et2.predictPosition(t2)).norm2() < collisionDistanceThreshold: 276 #if (et1.predictPosition(t1)-et2.predictPosition(t2)).norm2() < collisionDistanceThreshold:
277 # cz = (et1.predictPosition(t1)+et2.predictPosition(t2)).multiply(0.5) 277 # cz = (et1.predictPosition(t1)+et2.predictPosition(t2)).multiply(0.5)
278 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1)) 278 cz = moving.segmentIntersection(et1.predictPosition(t1), et1.predictPosition(t1+1), et2.predictPosition(t2), et2.predictPosition(t2+1))
279 if cz != None: 279 if cz is not None:
280 deltaV= (et1.predictPosition(t1)- et1.predictPosition(t1+1) - et2.predictPosition(t2)+ et2.predictPosition(t2+1)).norm2() 280 deltaV= (et1.predictPosition(t1)- et1.predictPosition(t1+1) - et2.predictPosition(t2)+ et2.predictPosition(t2+1)).norm2()
281 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)-(float(collisionDistanceThreshold)/deltaV))) 281 crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)-(float(collisionDistanceThreshold)/deltaV)))
282 t2 += 1 282 t2 += 1
283 t1 += 1 283 t1 += 1
284 284
498 else: 498 else:
499 v1 = obj1.getVelocityAtInstant(currentInstant) 499 v1 = obj1.getVelocityAtInstant(currentInstant)
500 v2 = obj2.getVelocityAtInstant(currentInstant) 500 v2 = obj2.getVelocityAtInstant(currentInstant)
501 intersection = moving.intersection(p1, p1+v1, p2, p2+v2) 501 intersection = moving.intersection(p1, p1+v1, p2, p2+v2)
502 502
503 if intersection != None: 503 if intersection is not None:
504 dp1 = intersection-p1 504 dp1 = intersection-p1
505 dp2 = intersection-p2 505 dp2 = intersection-p2
506 dot1 = moving.Point.dot(dp1, v1) 506 dot1 = moving.Point.dot(dp1, v1)
507 dot2 = moving.Point.dot(dp2, v2) 507 dot2 = moving.Point.dot(dp2, v2)
508 #print dot1, dot2 508 #print dot1, dot2
530 # firstUser = obj1 530 # firstUser = obj1
531 # secondUser = obj2 531 # secondUser = obj2
532 # p2 = secondUser.getPositionAtInstant(currentInstant) 532 # p2 = secondUser.getPositionAtInstant(currentInstant)
533 # v2 = secondUser.getVelocityAtInstant(currentInstant) 533 # v2 = secondUser.getVelocityAtInstant(currentInstant)
534 # indices, intersections = firstUser.getPositions().getLineIntersections(p2, p2+v2) 534 # indices, intersections = firstUser.getPositions().getLineIntersections(p2, p2+v2)
535 # if indices != None: 535 # if indices is not None:
536 # pass 536 # pass
537 # else: # one has to predict !!! 537 # else: # one has to predict !!!
538 538
539 if debug and intersection!= None: 539 if debug and intersection is not None:
540 from matplotlib.pyplot import plot, figure, axis, title 540 from matplotlib.pyplot import plot, figure, axis, title
541 figure() 541 figure()
542 plot([p1.x, intersection.x], [p1.y, intersection.y], 'r') 542 plot([p1.x, intersection.x], [p1.y, intersection.y], 'r')
543 plot([p2.x, intersection.x], [p2.y, intersection.y], 'b') 543 plot([p2.x, intersection.x], [p2.y, intersection.y], 'b')
544 intersection.plot() 544 intersection.plot()
565 p2 = obj2.getPositionAtInstant(currentInstant) 565 p2 = obj2.getPositionAtInstant(currentInstant)
566 v1 = obj1.getVelocityAtInstant(currentInstant) 566 v1 = obj1.getVelocityAtInstant(currentInstant)
567 v2 = obj2.getVelocityAtInstant(currentInstant) 567 v2 = obj2.getVelocityAtInstant(currentInstant)
568 intersection = moving.intersection(p1, p1+v1, p2, p2+v2) 568 intersection = moving.intersection(p1, p1+v1, p2, p2+v2)
569 569
570 if intersection != None: 570 if intersection is not None:
571 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold) 571 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
572 if ttc: 572 if ttc:
573 return [SafetyPoint(intersection, 1., ttc)], [] # (p1+v1.multiply(ttc)+p2+v2.multiply(ttc)).multiply(0.5) 573 return [SafetyPoint(intersection, 1., ttc)], [] # (p1+v1.multiply(ttc)+p2+v2.multiply(ttc)).multiply(0.5)
574 else: 574 else:
575 return [],[] 575 return [],[]