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view python/tests/prediction.txt @ 816:0b03218cd008
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author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Sat, 18 Jun 2016 14:26:50 -0400 |
parents | 72174e66aba5 |
children | c5191acb025f |
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>>> from prediction import * >>> import moving >>> et = PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0)) >>> et.predictPosition(4) # doctest:+ELLIPSIS (4.0...,0.0...) >>> et.predictPosition(1) # doctest:+ELLIPSIS (1.0...,0.0...) >>> et = PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0), moving.NormAngle(0.1,0), maxSpeed = 2) >>> et.predictPosition(10) # doctest:+ELLIPSIS (15.5...,0.0...) >>> et.predictPosition(11) # doctest:+ELLIPSIS (17.5...,0.0...) >>> et.predictPosition(12) # doctest:+ELLIPSIS (19.5...,0.0...) >>> import random >>> acceleration = lambda: random.uniform(-0.5,0.5) >>> steering = lambda: random.uniform(-0.1,0.1) >>> et = PredictedTrajectoryRandomControl(moving.Point(0,0),moving.Point(1,1), acceleration, steering, maxSpeed = 2) >>> p = et.predictPosition(500) >>> from numpy import max >>> max(et.getPredictedSpeeds()) <= 2. True >>> p = moving.Point(3,4) >>> sp = SafetyPoint(p, 0.1, 0) >>> print(sp) 3 4 0.1 0 >>> et1 = PredictedTrajectoryConstant(moving.Point(-5.,0.), moving.Point(1.,0.)) >>> et2 = PredictedTrajectoryConstant(moving.Point(0.,-5.), moving.Point(0.,1.)) >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 10) >>> collision True >>> t 5 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 5) >>> collision True >>> t 5 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 4) >>> collision False