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comparison python/moving.py @ 464:dcc821b98efc

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integrated and reorganized Sohail s work on exact ttc computation
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 23 Feb 2014 23:18:08 -0500
parents cd342a774806
children 6464e4f0cc26
comparison
equal deleted inserted replaced
463:cb9683f9efe7 464:dcc821b98efc
263 scatter([p.x for p in points],[p.y for p in points], **kwargs) 263 scatter([p.x for p in points],[p.y for p in points], **kwargs)
264 264
265 def similarOrientation(self, refDirection, cosineThreshold): 265 def similarOrientation(self, refDirection, cosineThreshold):
266 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold' 266 'Indicates whether the cosine of the vector and refDirection is smaller than cosineThreshold'
267 return Point.cosine(self, refDirection) >= cosineThreshold 267 return Point.cosine(self, refDirection) >= cosineThreshold
268
269 @staticmethod
270 def timeToCollision(p1, p2, v1, v2):
271 from math import sqrt
272 a = pow(v1.x-v2.x,2) + pow(v1.y-v2.y,2)
273 b = 2 * ((p1.x-p2.x) * (v1.x-v2.x) + (p1.y-p2.y) * (v1.y-v2.y))
274 c = pow(p1.x-p2.x,2) + pow(p1.y-p2.y,2) - pow(l,2)
275
276 if pow(b,2) >= 4*a*c:
277 ttc1 = (-b + sqrt(pow(b,2) - 4*a*c)) / (2*a)
278 ttc2 = (-b - sqrt(pow(b,2) - 4*a*c)) / (2*a)
279 if ttc1 >= 0 and ttc2 >= 0:
280 ttc = min(ttc1,ttc2)
281 else:
282 if ttc1 < 0:
283 ttc = ttc2
284 if ttc2 < 0:
285 ttc = ttc1
286 if ttc1 < 0 and ttc2 < 0:
287 ttc = None
288 else:
289 ttc = None
290 return ttc
291
268 292
269 if shapelyAvailable: 293 if shapelyAvailable:
270 def pointsInPolygon(points, polygon): 294 def pointsInPolygon(points, polygon):
271 '''Optimized tests of a series of points within (Shapely) polygon ''' 295 '''Optimized tests of a series of points within (Shapely) polygon '''
272 prepared_polygon = prep(polygon) 296 prepared_polygon = prep(polygon)