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corrected bug for prediction at constant velocity, exact computation
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 17 Jul 2015 18:00:00 -0400
parents 8d99a9e16644
children 8b74a5176549
comparison
equal deleted inserted replaced
700:0f1b6907643a 701:4cc56ff82c3c
553 Warning: the computed time to collision may be higher than timeHorizon (not used)''' 553 Warning: the computed time to collision may be higher than timeHorizon (not used)'''
554 554
555 def __init__(self): 555 def __init__(self):
556 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None) 556 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None)
557 557
558 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False): 558 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
559 'TODO add collision point coordinates, compute pPET' 559 'TODO add collision point coordinates, compute pPET'
560 #collisionPoints = [] 560 #collisionPoints = []
561 #crossingZones = [] 561 #crossingZones = []
562 562
563 p1 = obj1.getPositionAtInstant(currentInstant) 563 p1 = obj1.getPositionAtInstant(currentInstant)
567 intersection = moving.intersection(p1, p1+v1, p2, p2+v2) 567 intersection = moving.intersection(p1, p1+v1, p2, p2+v2)
568 568
569 if intersection is not None: 569 if intersection is not None:
570 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold) 570 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
571 if ttc: 571 if ttc:
572 return [SafetyPoint(intersection, 1., ttc)], [] # (p1+v1.multiply(ttc)+p2+v2.multiply(ttc)).multiply(0.5) 572 return currentInstant, [SafetyPoint(intersection, 1., ttc)], [] # (p1+v1.multiply(ttc)+p2+v2.multiply(ttc)).multiply(0.5)
573 else: 573 else:
574 return [],[] 574 return currentInstant, [],[]
575 575
576 #### 576 ####
577 # Other Methods 577 # Other Methods
578 #### 578 ####
579 class PrototypePredictionParameters(PredictionParameters): 579 class PrototypePredictionParameters(PredictionParameters):