--- a/python/extrapolation.py	Sat Jul 28 02:58:47 2012 -0400
+++ b/python/extrapolation.py	Sun Jul 29 04:09:43 2012 -0400
@@ -106,6 +106,7 @@
         return extrapolatedTrajectories
 
 class PointSetExtrapolationParameters(ExtrapolationParameters):
+    # todo generate several trajectories with normal adaptatoins from each position (feature)
     def __init__(self, maxSpeed):
         ExtrapolationParameters.__init__(self, 'point set', maxSpeed)
     
@@ -185,8 +186,10 @@
         t += 1
     return t, p1, p2
 
-def computeCrossingsCollisionsAtInstant(i, obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon):
-    '''returns the lists of collision points and crossing zones '''
+def computeCrossingsCollisionsAtInstant(i, obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon, debug = False):
+    '''returns the lists of collision points and crossing zones
+    
+    Check: Extrapolating all the points together, as if they represent the whole vehicle'''
     extrapolatedTrajectories1 = extrapolationParameters.generateExtrapolatedTrajectories(obj1, i)
     extrapolatedTrajectories2 = extrapolationParameters.generateExtrapolatedTrajectories(obj2, i)
 
@@ -214,6 +217,22 @@
                             crossingZones.append(SafetyPoint(cz, et1.probability*et2.probability, abs(t1-t2)))
                         t2 += 1
                     t1 += 1                        
+
+    if debug:
+        from matplotlib.pyplot import figure, axis, title
+        figure()
+        for et in extrapolatedTrajectories1:
+            et.predictPosition(timeHorizon)
+            et.draw('rx')
+
+        for et in extrapolatedTrajectories2:
+            et.predictPosition(timeHorizon)
+            et.draw('bx')
+        obj1.draw('r')
+        obj2.draw('b')
+        title('instant {0}'.format(i))
+        axis('equal')
+
     return collisionPoints, crossingZones
     
 def computeCrossingsCollisions(obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon, outCP, outCZ, debug = False, timeInterval = None):
@@ -225,25 +244,10 @@
         commonTimeInterval = obj1.commonTimeInterval(obj2)
     for i in list(commonTimeInterval)[:-1]: # do not look at the 1 last position/velocities, often with errors
         print(obj1.num, obj2.num, i)
-        collisionPoints[i], crossingZones[i] = computeCrossingsCollisionsAtInstant(i, obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon)
+        collisionPoints[i], crossingZones[i] = computeCrossingsCollisionsAtInstant(i, obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon, debug)
         SafetyPoint.save(outCP, collisionPoints[i], obj1.num, obj2.num, i)
         SafetyPoint.save(outCZ, crossingZones[i], obj1.num, obj2.num, i)
 
-        if debug:
-            from matplotlib.pyplot import figure, axis, title
-            figure()
-            obj1.draw('r')
-            obj2.draw('b')
-            for et in extrapolatedTrajectories1:
-                et.predictPosition(timeHorizon)
-                et.draw('rx')
-                
-            for et in extrapolatedTrajectories2:
-                et.predictPosition(timeHorizon)
-                et.draw('bx')
-            title('instant {0}'.format(i))
-            axis('equal')
-
     return collisionPoints, crossingZones
  
 def computeCollisionProbability(obj1, obj2, extrapolationParameters, collisionDistanceThreshold, timeHorizon, out, debug = False, timeInterval = None):
@@ -270,8 +274,6 @@
         if debug:
             from matplotlib.pyplot import figure, axis, title
             figure()
-            obj1.draw('r')
-            obj2.draw('b')
             for et in extrapolatedTrajectories1:
                 et.predictPosition(timeHorizon)
                 et.draw('rx')
@@ -279,171 +281,13 @@
             for et in extrapolatedTrajectories2:
                 et.predictPosition(timeHorizon)
                 et.draw('bx')
+            obj1.draw('r')
+            obj2.draw('b')
             title('instant {0}'.format(i))
             axis('equal')
 
     return collisionProbabilities
 
-###############
-
-# Default values: to remove because we cannot tweak that from a script where the value may be different
-FPS= 25  # No. of frame per second (FPS) 
-vLimit= 25/FPS    #assume limit speed is 90km/hr = 25 m/sec
-deltaT= FPS*5    # extrapolatation time Horizon = 5 second    
-            
-def motion (position, velocity, acceleration):
-    ''' extrapolation hypothesis: constant acceleration'''
-    from math import atan2,cos,sin
-    vInit= velocity
-    vInitial= velocity.norm2()
-    theta= atan2(velocity.y,velocity.x)
-    vFinal= vInitial+acceleration
-    
-    if acceleration<= 0:
-        v= max(0,vFinal)
-        velocity= moving.Point(v* cos(theta),v* sin(theta))
-        position= position+ (velocity+vInit). multiply(0.5)
-    else:
-        v= min(vLimit,vFinal)
-        velocity= moving.Point(v* cos(theta),v* sin(theta))
-        position= position+ (velocity+vInit). multiply(0.5)
-    return(position,velocity)    
-
-def motionPET (position, velocity, acceleration, deltaT):
-    ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
-    from math import atan2,cos,sin,fabs
-    vInit= velocity
-    vInitial= velocity.norm2()
-    theta= atan2(velocity.y,velocity.x)
-    vFinal= vInitial+acceleration * deltaT
-    if acceleration< 0:
-        if vFinal> 0:    
-            velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
-            position= position+ (vInit+ velocity). multiply(0.5*deltaT)
-        else:
-            T= fabs(vInitial/acceleration)
-            position= position + vInit. multiply(0.5*T)
-    elif acceleration> 0 :
-        if vFinal<= vLimit:
-            velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
-            position= position+ (vInit+ velocity). multiply(0.5*deltaT)
-        else:
-            time1= fabs((vLimit-vInitial)/acceleration)
-            velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta))
-            position= (position+ (velocity+vInit). multiply(0.5*time1)) + (velocity.multiply (deltaT-time1))
-    elif acceleration == 0:
-        position= position + velocity. multiply(deltaT)
-    
-    return position
-
-def timePET (position, velocity, acceleration, intersectedPoint ):
-    ''' extrapolation hypothesis: constant acceleration for calculating pPET '''
-    from math import atan2,cos,sin,fabs
-    vInit= velocity
-    vInitial= velocity.norm2()
-    theta= atan2(velocity.y,velocity.x)
-    vFinal= vInitial+acceleration * deltaT
-    if acceleration< 0:
-        if vFinal> 0:    
-            velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
-            time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
-        else:
-            time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x)))
-    elif acceleration> 0 :
-        if vFinal<= vLimit:
-            velocity= moving.Point(vFinal* cos(theta),vFinal* sin(theta))
-            time= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
-        else:
-            time1= fabs((vLimit-vInitial)/acceleration) 
-            velocity= moving.Point(vLimit* cos(theta),vLimit* sin(theta))
-            time2= fabs((intersectedPoint.x-position.x)/(0.5*(vInit.x+ velocity.x)))
-            if time2<=time1:
-                time= time2
-            else:
-                position2= (position+ (velocity+vInit). multiply(0.5*time1)) 
-                time= time1+fabs((intersectedPoint.x-position2.x)/( velocity.x))
-    elif acceleration == 0:
-        time= fabs((intersectedPoint.x-position.x)/(velocity.x))
-    
-    return time
-    
-def motionSteering (position, velocity, deltaTheta, deltaT ):
-    ''' extrapolation hypothesis: steering with deltaTheta'''
-    from math import atan2,cos,sin
-    vInitial= velocity.norm2()
-    theta= atan2(velocity.y,velocity.x)
-    newTheta= theta + deltaTheta
-    velocity= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta))
-    position= position+ (velocity). multiply(deltaT)
-    return position    
-    
-def MonteCarlo(movingObject1,movingObject2, instant):
-    ''' Monte Carlo Simulation :  estimate the probability of collision'''
-    from random import uniform
-    from math import pow, sqrt, sin, cos,atan2        
-    N=1000
-    ProbOfCollision = 0
-    for n in range (1, N):
-        # acceleration limit    
-        acc1 = uniform(-0.040444,0)
-        acc2 = uniform(-0.040444,0)    
-        p1= movingObject1.getPositionAtInstant(instant)
-        p2= movingObject2.getPositionAtInstant(instant)
-        v1= movingObject1.getVelocityAtInstant(instant)
-        v2= movingObject2.getVelocityAtInstant(instant)
-        distance= (p1-p2).norm2()
-        distanceThreshold= 1.8    
-        t=1                
-        while distance > distanceThreshold and t <= deltaT:
-            # Extrapolation position
-            (p1,v1) = motion(p1,v1,acc1)
-            (p2,v2) = motion(p2,v2,acc2)
-            distance= (p1-p2).norm2()
-            if distance <=distanceThreshold:
-                ProbOfCollision= ProbOfCollision+1
-            t+=1
-    POC= float(ProbOfCollision)/N
-    return POC
-    
-def velocitySteering(velocity,steering):
-    from math import atan2,cos,sin
-    vInitial= velocity.norm2()
-    theta= atan2(velocity.y,velocity.x)
-    newTheta= theta + steering
-    v= moving.Point(vInitial* cos(newTheta),vInitial* sin(newTheta))
-    return v
-
-def MonteCarloSteering(movingObject1,movingObject2, instant,steering1,steering2):
-    ''' Monte Carlo Simulation :  estimate the probability of collision in case of steering'''
-    from random import uniform
-    from math import pow, sqrt, sin, cos,atan2        
-    N=1000
-    L= 2.4
-    ProbOfCollision = 0
-    for n in range (1, N):
-        # acceleration limit    
-        acc1 = uniform(-0.040444,0)
-        acc2 = uniform(-0.040444,0)    
-        p1= movingObject1.getPositionAtInstant(instant)
-        p2= movingObject2.getPositionAtInstant(instant)
-        vInit1= movingObject1.getVelocityAtInstant(instant)
-        v1= velocitySteering (vInit1,steering1)
-        vInit2= movingObject2.getVelocityAtInstant(instant)
-        v2= velocitySteering (vInit2,steering2)
-        distance= (p1-p2).norm2()
-        distanceThreshold= 1.8    
-        t=1                
-        while distance > distanceThreshold and t <= deltaT:
-            # Extrapolation position
-            (p1,v1) = motion(p1,v1,acc1)
-            (p2,v2) = motion(p2,v2,acc2)
-            distance= (p1-p2).norm2()
-            if distance <=distanceThreshold:
-                ProbOfCollision= ProbOfCollision+1
-            t+=1
-    POC= float(ProbOfCollision)/N
-    return POC
-
 
 if __name__ == "__main__":
     import doctest