Mercurial Hosting > traffic-intelligence
comparison scripts/safety-analysis.py @ 533:e37f38274d4f
fixed compiling issue with size()
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Sun, 29 Jun 2014 14:27:18 -0400 |
parents | 000bddf84ad0 |
children | 95276d310972 |
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532:018653d1db3c | 533:e37f38274d4f |
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1 #! /usr/bin/env python | 1 #! /usr/bin/env python |
2 | 2 |
3 import utils, storage, prediction, events, moving | 3 import storage, prediction, events, moving |
4 | 4 |
5 import sys, argparse, random | 5 import sys, argparse, random |
6 | 6 |
7 import matplotlib.pyplot as plt | 7 import matplotlib.pyplot as plt |
8 import numpy as np | 8 import numpy as np |
14 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file', required = True) | 14 parser.add_argument('--cfg', dest = 'configFilename', help = 'name of the configuration file', required = True) |
15 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity (vector computation), constant velocity, normal adaptation, point set prediction)', choices = ['cvd', 'cv', 'na', 'ps']) | 15 parser.add_argument('--prediction-method', dest = 'predictionMethod', help = 'prediction method (constant velocity (vector computation), constant velocity, normal adaptation, point set prediction)', choices = ['cvd', 'cv', 'na', 'ps']) |
16 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points', action = 'store_true') | 16 parser.add_argument('--display-cp', dest = 'displayCollisionPoints', help = 'display collision points', action = 'store_true') |
17 args = parser.parse_args() | 17 args = parser.parse_args() |
18 | 18 |
19 params = utils.TrackingParameters() | 19 params = storage.TrackingParameters() |
20 params.loadConfigFile(args.configFilename) | 20 params.loadConfigFile(args.configFilename) |
21 | 21 |
22 # parameters for prediction methods | 22 # parameters for prediction methods |
23 if args.predictionMethod: | 23 if args.predictionMethod: |
24 predictionMethod = args.predictionMethod | 24 predictionMethod = args.predictionMethod |
26 predictionMethod = params.predictionMethod | 26 predictionMethod = params.predictionMethod |
27 | 27 |
28 accelerationDistribution = lambda: random.triangular(-params.maxNormalAcceleration, params.maxNormalAcceleration, 0.) | 28 accelerationDistribution = lambda: random.triangular(-params.maxNormalAcceleration, params.maxNormalAcceleration, 0.) |
29 steeringDistribution = lambda: random.triangular(-params.maxNormalSteering, params.maxNormalSteering, 0.) | 29 steeringDistribution = lambda: random.triangular(-params.maxNormalSteering, params.maxNormalSteering, 0.) |
30 | 30 |
31 if predictionMethod == 'cvd': | 31 if predictionMethod == 'cvd': # TODO add cve: constant velocity exact (Sohail's) |
32 predictionParameters = prediction.CVDirectPredictionParameters() | 32 predictionParameters = prediction.CVDirectPredictionParameters() |
33 elif predictionMethod == 'cv': | 33 elif predictionMethod == 'cv': |
34 predictionParameters = prediction.ConstantPredictionParameters(params.maxPredictedSpeed) | 34 predictionParameters = prediction.ConstantPredictionParameters(params.maxPredictedSpeed) |
35 elif predictionMethod == 'na': | 35 elif predictionMethod == 'na': |
36 predictionParameters = prediction.NormalAdaptationPredictionParameters(params.maxPredictedSpeed, | 36 predictionParameters = prediction.NormalAdaptationPredictionParameters(params.maxPredictedSpeed, |