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comparison python/prediction.py @ 881:8ba82b371eea

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work on storing PET
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 14 Mar 2017 17:48:40 -0400
parents 07c5eab11eba
children 40994bb43148
comparison
equal deleted inserted replaced
880:000555430b28 881:8ba82b371eea
556 556
557 def __init__(self): 557 def __init__(self):
558 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None) 558 PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None)
559 559
560 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs): 560 def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
561 'TODO add collision point coordinates, compute pPET' 561 'TODO compute pPET'
562 #collisionPoints = [] 562 collisionPoints = []
563 #crossingZones = [] 563 crossingZones = []
564 564
565 p1 = obj1.getPositionAtInstant(currentInstant) 565 p1 = obj1.getPositionAtInstant(currentInstant)
566 p2 = obj2.getPositionAtInstant(currentInstant) 566 p2 = obj2.getPositionAtInstant(currentInstant)
567 v1 = obj1.getVelocityAtInstant(currentInstant) 567 v1 = obj1.getVelocityAtInstant(currentInstant)
568 v2 = obj2.getVelocityAtInstant(currentInstant) 568 v2 = obj2.getVelocityAtInstant(currentInstant)
569 intersection = moving.intersection(p1, p1+v1, p2, p2+v2) 569 intersection = moving.intersection(p1, p1+v1, p2, p2+v2)
570 570
571 if intersection is not None: 571 if intersection is not None:
572 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold) 572 ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
573 if ttc: 573 if ttc is not None:
574 return currentInstant, [SafetyPoint(intersection, 1., ttc)], [] # (p1+v1.multiply(ttc)+p2+v2.multiply(ttc)).multiply(0.5) 574 collisionPoints = SafetyPoint(intersection, 1., ttc)
575 else: 575 else:
576 return currentInstant, [],[] 576 pass # compute pPET
577
578 return currentInstant, collisionPoints, crossingZones
577 579
578 #### 580 ####
579 # Other Methods 581 # Other Methods
580 #### 582 ####
581 class PrototypePredictionParameters(PredictionParameters): 583 class PrototypePredictionParameters(PredictionParameters):