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comparison python/prediction.py @ 470:a84b9ba9631f

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small progress
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 11 Mar 2014 23:50:15 -0400
parents 08b67c9baca2
children 6464e4f0cc26
comparison
equal deleted inserted replaced
467:08b67c9baca2 470:a84b9ba9631f
63 self.prototypeTrajectory = prototypeTrajectory 63 self.prototypeTrajectory = prototypeTrajectory
64 self.constantSpeed = constantSpeed 64 self.constantSpeed = constantSpeed
65 self.probability = probability 65 self.probability = probability
66 self.predictedPositions = {0: initialPosition} 66 self.predictedPositions = {0: initialPosition}
67 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)} 67 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
68
69 def predictPosition(self, nTimeSteps):
70 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
71 if constantSpeed:
72 # calculate cumulative distance
73 pass
74 else: # see c++ code, calculate ratio
75 pass
76 return self.predictedPositions[nTimeSteps]
68 77
69 class PredictedTrajectoryRandomControl(PredictedTrajectory): 78 class PredictedTrajectoryRandomControl(PredictedTrajectory):
70 '''Random vehicle control: suitable for normal adaptation''' 79 '''Random vehicle control: suitable for normal adaptation'''
71 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1., maxSpeed = None): 80 def __init__(self, initialPosition, initialVelocity, accelerationDistribution, steeringDistribution, probability = 1., maxSpeed = None):
72 '''Constructor 81 '''Constructor