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comparison python/extrapolation.py @ 265:7a3bf04cf016

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added plotting of indicators
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 26 Jul 2012 19:46:36 -0400
parents a04a6af4b810
children aba9711b3149
comparison
equal deleted inserted replaced
264:a04a6af4b810 265:7a3bf04cf016
165 # pPETs[i] = extrapolation.computeExpectedIndicator(crossingZones[i]) 165 # pPETs[i] = extrapolation.computeExpectedIndicator(crossingZones[i])
166 saveSafetyPoints(outCP, obj1.num, obj2.num, i, collisionPoints[i]) 166 saveSafetyPoints(outCP, obj1.num, obj2.num, i, collisionPoints[i])
167 saveSafetyPoints(outCZ, obj1.num, obj2.num, i, crossingZones[i]) 167 saveSafetyPoints(outCZ, obj1.num, obj2.num, i, crossingZones[i])
168 168
169 if debug: 169 if debug:
170 from matplotlib.pyplot import figure, axis 170 from matplotlib.pyplot import figure, axis, title
171 figure() 171 figure()
172 obj1.draw('r') 172 obj1.draw('r')
173 obj2.draw('b') 173 obj2.draw('b')
174 for et in extrapolatedTrajectories1: 174 for et in extrapolatedTrajectories1:
175 et.predictPosition(timeHorizon) 175 et.predictPosition(timeHorizon)
176 et.draw('rx') 176 et.draw('rx')
177
177 for et in extrapolatedTrajectories2: 178 for et in extrapolatedTrajectories2:
178 et.predictPosition(timeHorizon) 179 et.predictPosition(timeHorizon)
179 et.draw('bx') 180 et.draw('bx')
181 title('instant {0}'.format(i))
180 axis('equal') 182 axis('equal')
181 183
182 184
183 # probability of successful evasive action = 1-P(Collision) using larger control values 185 # probability of successful evasive action = 1-P(Collision) using larger control values
184 186