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comparison scripts/safety-analysis.py @ 359:619ae9a9a788

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implemented prediction method at constant velocity with direct intersection computation
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 11 Jul 2013 02:17:12 -0400
parents e5fe0e6d48a1
children 91679eb2ff2c
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358:c41ff9f3c263 359:619ae9a9a788
10 # todo: very slow if too many predicted trajectories 10 # todo: very slow if too many predicted trajectories
11 # add computation of probality of unsucessful evasive action 11 # add computation of probality of unsucessful evasive action
12 12
13 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene') 13 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene')
14 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file') 14 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file')
15 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity, normal adaptation, point set prediction)', choices = ['cv', 'na', 'ps']) 15 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity (vector computation), constant velocity, normal adaptation, point set prediction)', choices = ['cvd', 'cv', 'na', 'ps'])
16 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points') 16 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points')
17 args = parser.parse_args() 17 args = parser.parse_args()
18 18
19 params = utils.TrackingParameters() 19 params = utils.TrackingParameters()
20 params.loadConfigFile(args.configFilename) 20 params.loadConfigFile(args.configFilename)
23 if args.predictionMethod: 23 if args.predictionMethod:
24 predictionMethod = args.predictionMethod 24 predictionMethod = args.predictionMethod
25 else: 25 else:
26 predictionMethod = params.predictionMethod 26 predictionMethod = params.predictionMethod
27 27
28 if predictionMethod == 'cv': 28 if predictionMethod == 'cvd':
29 predictionParameters = prediction.CVDirectPredictionParameters(params.maxPredictedSpeed)
30 elif predictionMethod == 'cv':
29 predictionParameters = prediction.ConstantPredictionParameters(params.maxPredictedSpeed) 31 predictionParameters = prediction.ConstantPredictionParameters(params.maxPredictedSpeed)
30 elif predictionMethod == 'na': 32 elif predictionMethod == 'na':
31 predictionParameters = prediction.NormalAdaptationPredictionParameters(params.maxPredictedSpeed, 33 predictionParameters = prediction.NormalAdaptationPredictionParameters(params.maxPredictedSpeed,
32 params.nPredictedTrajectories, 34 params.nPredictedTrajectories,
33 params.maxAcceleration, 35 params.maxAcceleration,