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comparison python/events.py @ 998:933670761a57

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updated code to python 3 (tests pass and scripts run, but non-executed parts of code are probably still not correct)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 27 May 2018 23:22:48 -0400
parents 030b16ab4f64
children
comparison
equal deleted inserted replaced
997:4f3387a242a1 998:933670761a57
19 else: 19 else:
20 prototypesRoutes=[x for x in sorted(prototypes.keys())] 20 prototypesRoutes=[x for x in sorted(prototypes.keys())]
21 routeSim={} 21 routeSim={}
22 lcss = utils.LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta) 22 lcss = utils.LCSS(similarityFunc=lambda x,y: (distanceForLCSS(x,y) <= spatialThreshold),delta=delta)
23 for y in prototypesRoutes: 23 for y in prototypesRoutes:
24 if y in prototypes.keys(): 24 if y in prototypes:
25 prototypesIDs=prototypes[y] 25 prototypesIDs=prototypes[y]
26 similarity=[] 26 similarity=[]
27 for x in prototypesIDs: 27 for x in prototypesIDs:
28 s=lcss.computeNormalized(objects[j].positions, objects[x].positions) 28 s=lcss.computeNormalized(objects[j].positions, objects[x].positions)
29 similarity.append(s) 29 similarity.append(s)
35 return i 35 return i
36 36
37 def getRoute(obj,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination=True): 37 def getRoute(obj,prototypes,objects,noiseEntryNums,noiseExitNums,useDestination=True):
38 route=(obj.startRouteID,obj.endRouteID) 38 route=(obj.startRouteID,obj.endRouteID)
39 if useDestination: 39 if useDestination:
40 if route not in prototypes.keys(): 40 if route not in prototypes:
41 route= findRoute(prototypes,objects,route,obj.getNum(),noiseEntryNums,noiseExitNums) 41 route= findRoute(prototypes,objects,route,obj.getNum(),noiseEntryNums,noiseExitNums)
42 return route 42 return route
43 43
44 class Interaction(moving.STObject, VideoFilenameAddable): 44 class Interaction(moving.STObject, VideoFilenameAddable):
45 '''Class for an interaction between two road users 45 '''Class for an interaction between two road users
151 151
152 def getIndicatorValuesAtInstant(self, instant): 152 def getIndicatorValuesAtInstant(self, instant):
153 '''Returns list of indicator values at instant 153 '''Returns list of indicator values at instant
154 as dict (with keys from indicators dict)''' 154 as dict (with keys from indicators dict)'''
155 values = {} 155 values = {}
156 for k, indicator in self.indicators.iteritems(): 156 for k, indicator in self.indicators.items():
157 values[k] = indicator[instant] 157 values[k] = indicator[instant]
158 return values 158 return values
159 159
160 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs): 160 def plot(self, options = '', withOrigin = False, timeStep = 1, withFeatures = False, **kwargs):
161 self.roadUser1.plot(options, withOrigin, timeStep, withFeatures, **kwargs) 161 self.roadUser1.plot(options, withOrigin, timeStep, withFeatures, **kwargs)
223 if timeInterval is not None: 223 if timeInterval is not None:
224 commonTimeInterval = timeInterval 224 commonTimeInterval = timeInterval
225 else: 225 else:
226 commonTimeInterval = self.timeInterval 226 commonTimeInterval = self.timeInterval
227 self.collisionPoints, crossingZones = predictionParameters.computeCrossingsCollisions(self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, commonTimeInterval) 227 self.collisionPoints, crossingZones = predictionParameters.computeCrossingsCollisions(self.roadUser1, self.roadUser2, collisionDistanceThreshold, timeHorizon, computeCZ, debug, commonTimeInterval)
228 for i, cps in self.collisionPoints.iteritems(): 228 for i, cps in self.collisionPoints.items():
229 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cps) 229 TTCs[i] = prediction.SafetyPoint.computeExpectedIndicator(cps)
230 collisionProbabilities[i] = sum([p.probability for p in cps]) 230 collisionProbabilities[i] = sum([p.probability for p in cps])
231 if len(TTCs) > 0: 231 if len(TTCs) > 0:
232 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs, mostSevereIsMax=False)) 232 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[7], TTCs, mostSevereIsMax=False))
233 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[6], collisionProbabilities)) 233 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[6], collisionProbabilities))
234 234
235 # crossing zones and pPET 235 # crossing zones and pPET
236 if computeCZ: 236 if computeCZ:
237 self.crossingZones = crossingZones 237 self.crossingZones = crossingZones
238 pPETs = {} 238 pPETs = {}
239 for i, cz in self.crossingZones.iteritems(): 239 for i, cz in self.crossingZones.items():
240 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz) 240 pPETs[i] = prediction.SafetyPoint.computeExpectedIndicator(cz)
241 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs, mostSevereIsMax=False)) 241 self.addIndicator(indicators.SeverityIndicator(Interaction.indicatorNames[9], pPETs, mostSevereIsMax=False))
242 # TODO add probability of collision, and probability of successful evasive action 242 # TODO add probability of collision, and probability of successful evasive action
243 243
244 def computePET(self, collisionDistanceThreshold): 244 def computePET(self, collisionDistanceThreshold):
267 if _others is not None: 267 if _others is not None:
268 others = _others 268 others = _others
269 269
270 interactions = [] 270 interactions = []
271 num = 0 271 num = 0
272 for i in xrange(len(objects)): 272 for i in range(len(objects)):
273 if _others is None: 273 if _others is None:
274 others = objects[:i] 274 others = objects[:i]
275 for j in xrange(len(others)): 275 for j in range(len(others)):
276 commonTimeInterval = objects[i].commonTimeInterval(others[j]) 276 commonTimeInterval = objects[i].commonTimeInterval(others[j])
277 if not commonTimeInterval.empty(): 277 if not commonTimeInterval.empty():
278 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, others[j].num, objects[i], others[j])) 278 interactions.append(Interaction(num, commonTimeInterval, objects[i].num, others[j].num, objects[i], others[j]))
279 num += 1 279 num += 1
280 return interactions 280 return interactions