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comparison python/tests/prediction.txt @ 941:c5191acb025f

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added test for motion prediction at constant speed with prototype
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 18 Jul 2017 16:21:39 -0400
parents 72174e66aba5
children ab13aaf41432
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940:d8ab183a7351 941:c5191acb025f
1 >>> from prediction import * 1 >>> from prediction import *
2 >>> import moving 2 >>> import moving, storage
3 >>> from numpy import absolute, array
3 4
4 >>> et = PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0)) 5 >>> et = PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0))
5 >>> et.predictPosition(4) # doctest:+ELLIPSIS 6 >>> et.predictPosition(4) # doctest:+ELLIPSIS
6 (4.0...,0.0...) 7 (4.0...,0.0...)
7 >>> et.predictPosition(1) # doctest:+ELLIPSIS 8 >>> et.predictPosition(1) # doctest:+ELLIPSIS
42 >>> t 43 >>> t
43 5 44 5
44 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 4) 45 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 4)
45 >>> collision 46 >>> collision
46 False 47 False
48
49 >>> proto = storage.loadTrajectoriesFromSqlite('../samples/laurier.sqlite', 'feature', [1204])[0]
50 >>> proto.getPositions().computeCumulativeDistances()
51 >>> et = PredictedTrajectoryPrototype(proto.getPositionAt(10)+moving.Point(0.5, 0.5), proto.getVelocityAt(10)*0.9, proto, True)
52 >>> absolute(et.initialSpeed - proto.getVelocityAt(10).norm2()*0.9) < 1e-5
53 True
54 >>> for t in xrange(int(proto.length())): x=et.predictPosition(t)
55 >>> traj = et.getPredictedTrajectory()
56 >>> traj.computeCumulativeDistances()
57 >>> (absolute(array(traj.distances) - et.initialSpeed) < 1e-5).all()
58 True
59