>>> from trafficintelligence.moving import *
>>> from trafficintelligence import storage
>>> import numpy as np

>>> Interval().empty()
True
>>> Interval(0,1).empty()
False
>>> Interval(0,1)
0-1
>>> Interval(0,1).length()
1.0
>>> Interval(23.2,24.9).length()
1.6999999999999993
>>> Interval(10,8).length()
0.0

>>> i = Interval.parse('3-5')
>>> i.first == 3 and i.last == 5
True
>>> type(i)
<class 'trafficintelligence.moving.Interval'>
>>> i = TimeInterval.parse('3-5')
>>> type(i)
<class 'trafficintelligence.moving.TimeInterval'>
>>> list(i)
[3, 4, 5]

>>> TimeInterval(0,1).length()
2.0
>>> TimeInterval(10,8).length()
0.0
>>> TimeInterval(10,8) == TimeInterval(10,8)
True
>>> TimeInterval(10,8) == TimeInterval(8,10)
True
>>> TimeInterval(11,8) == TimeInterval(10,8)
False

>>> [i for i in TimeInterval(9,13)]
[9, 10, 11, 12, 13]

>>> TimeInterval(2,5).equal(TimeInterval(2,5))
True
>>> TimeInterval(2,5).equal(TimeInterval(2,4))
False
>>> TimeInterval(2,5).equal(TimeInterval(5,2))
False

>>> TimeInterval(3,6).distance(TimeInterval(4,6))
0
>>> TimeInterval(3,6).distance(TimeInterval(6,10))
0
>>> TimeInterval(3,6).distance(TimeInterval(8,10))
2
>>> TimeInterval(20,30).distance(TimeInterval(3,15))
5
>>> TimeInterval.unionIntervals([TimeInterval(3,6), TimeInterval(8,10),TimeInterval(11,15)])
3-15

>>> Point(0,3) == Point(0,3)
True
>>> Point(0,3) == Point(0,3.2)
False
>>> Point(3,4)-Point(1,7)
(2.000000,-3.000000)
>>> -Point(1,2)
(-1.000000,-2.000000)
>>> Point(1,2)*0.5
(0.500000,1.000000)

>>> Point(3,2).norm2Squared()
13

>>> Point.distanceNorm2(Point(3,4),Point(1,7))
3.605551275463989

>>> Point.boundingRectangle([Point(0,0), Point(1,0), Point(0,1), Point(1,1)], Point(1, 1))
[(0.500000,1.500000), (1.500000,0.500000), (0.500000,-0.500000), (-0.500000,0.500000)]
>>> Point.boundingRectangle([Point(0,0), Point(1,0), Point(0,1), Point(1,1)], Point(-1, -1))
[(0.500000,-0.500000), (-0.500000,0.500000), (0.500000,1.500000), (1.500000,0.500000)]


>>> Point(3,2).inPolygon(np.array([[0,0],[1,0],[1,1],[0,1]]))
False
>>> Point(3,2).inPolygon(np.array([[0,0],[4,0],[4,3],[0,3]]))
True

>>> predictPositionNoLimit(10, Point(0,0), Point(1,1)) # doctest:+ELLIPSIS
((1.0...,1.0...), (10.0...,10.0...))

>>> segmentIntersection(Point(0,0), Point(0,1), Point(1,1), Point(2,3))
(None, None)
>>> segmentIntersection(Point(0,1), Point(0,3), Point(1,0), Point(3,1))
(None, None)
>>> segmentIntersection(Point(0.,0.), Point(2.,2.), Point(0.,2.), Point(2.,0.))
((1.000000,1.000000), 0.5)
>>> segmentIntersection(Point(0,0), Point(4,4), Point(0,4), Point(4,0))
((2.000000,2.000000), 0.5)
>>> segmentIntersection(Point(0,0), Point(0,3), Point(1,1), Point(-1,1)) # doctest:+ELLIPSIS
((0.000000,1.000000), 0.333...)
>>> segmentIntersection(Point(0,1), Point(1,2), Point(2,0), Point(3,2))
(None, None)

>>> segmentOrientationCrossing(Point(0.,0.), Point(2.,2.), Point(0.,2.), Point(2.,0.))
False
>>> segmentOrientationCrossing(Point(0.,0.), Point(2.,2.), Point(2.,0.), Point(0.,2.))
True
>>> segmentOrientationCrossing(Point(0,0), Point(0,3), Point(1,1), Point(-1,1))
True

>>> o1 = MovingObject.generate(1, Point(1.,0.), Point(1.,0.), TimeInterval(0,10))
>>> instants, intersections, rightToLeftOrientations = o1.getInstantsCrossingLine(Point(0.,3.5), Point(2.,3.5))
>>> rightToLeftOrientations == []
True
>>> len(instants)
0
>>> o1 = MovingObject.generate(1, Point(0.,1.), Point(1.,0.), TimeInterval(0,10))	
>>> instants, intersections, rightToLeftOrientations = o1.getInstantsCrossingLine(Point(3.5,0.), Point(3.5, 2.), False)
>>> rightToLeftOrientations == []
True
>>> instants[0]
3.5
>>> instants, intersections, rightToLeftOrientations = o1.getInstantsCrossingLine(Point(3.5,0.), Point(3.5, 2.), True)
>>> len(rightToLeftOrientations)
1
>>> rightToLeftOrientations[0]
False

>>> t1 = Trajectory.fromPointList([(92.2, 102.9), (56.7, 69.6)])
>>> t2 = Trajectory.fromPointList([(92.2, 102.9), (56.7, 69.6)])
>>> t1 == t2
True
>>> t3 = Trajectory.fromPointList([(92.24, 102.9), (56.7, 69.6)])
>>> t1 == t3
False
>>> t3 = Trajectory.fromPointList([(92.2, 102.9), (56.7, 69.6), (56.7, 69.6)])
>>> t1 == t3
False
>>> t1.append(t2)
>>> t1.length()
4

>>> left = Trajectory.fromPointList([(92.291666666666686, 102.99239033124439), (56.774193548387103, 69.688898836168306)])
>>> middle = Trajectory.fromPointList([(87.211021505376351, 93.390778871978512), (59.032258064516128, 67.540286481647257)])
>>> right = Trajectory.fromPointList([(118.82392473118281, 115.68263205013426), (63.172043010752688, 66.600268576544309)])
>>> alignments = [left, middle, right]
>>> for a in alignments: a.computeCumulativeDistances()
>>> getSYfromXY(Point(73, 82), alignments)
[1, 0, (73.819977,81.106170), 18.172277808821125, 18.172277808821125, 1.2129694042343868]
>>> getSYfromXY(Point(78, 83), alignments, 0.5)
[1, 0, (77.033188,84.053889), 13.811799123113715, 13.811799123113715, -1.4301775140225983]

>>> Trajectory().length()
0
>>> t1 = Trajectory([[0.5,1.5,2.5],[0.5,3.5,6.5]])
>>> t1.length()
3
>>> t1[1]
(1.500000,3.500000)

>>> t1.differentiate()
(1.000000,3.000000) (1.000000,3.000000)
>>> t1.differentiate(True)
(1.000000,3.000000) (1.000000,3.000000) (1.000000,3.000000)
>>> t1 = Trajectory([[0.5,1.5,3.5],[0.5,2.5,7.5]])
>>> t1.differentiate()
(1.000000,2.000000) (2.000000,5.000000)

>>> t1.computeCumulativeDistances()
>>> t1.getDistance(0)
2.23606797749979
>>> t1.getDistance(1)
5.385164807134504
>>> t1.getDistance(2)
Index 2 beyond trajectory length 3-1
>>> t1.getCumulativeDistance(0)
0.0
>>> t1.getCumulativeDistance(1)
2.23606797749979
>>> t1.getCumulativeDistance(2)
7.6212327846342935
>>> t1.getCumulativeDistance(3)
Index 3 beyond trajectory length 3


>>> from utils import LCSS
>>> lcss = LCSS(lambda x,y: Point.distanceNorm2(x,y) <= 0.1)
>>> Trajectory.lcss(t1, t1, lcss)
3
>>> lcss = LCSS(lambda p1, p2: (p1-p2).normMax() <= 0.1)
>>> Trajectory.lcss(t1, t1, lcss)
3

>>> p1=Point(0,0)
>>> p2=Point(1,0)
>>> v1 = Point(0.1,0.1)
>>> v2 = Point(-0.1, 0.1)
>>> abs(Point.timeToCollision(p1, p2, v1, v2, 0.)-5.0) < 0.00001
True
>>> abs(Point.timeToCollision(p1, p2, v1, v2, 0.1)-4.5) < 0.00001
True
>>> p1=Point(0,1)
>>> p2=Point(1,0)
>>> v1 = Point(0,0.1)
>>> v2 = Point(0.1, 0)
>>> Point.timeToCollision(p1, p2, v1, v2, 0.) == None
True
>>> Point.timeToCollision(p2, p1, v2, v1, 0.) == None
True
>>> Point.midPoint(p1, p2)
(0.500000,0.500000)
>>> p1=Point(0.,0.)
>>> p2=Point(5.,0.)
>>> v1 = Point(2.,0.)
>>> v2 = Point(1.,0.)
>>> Point.timeToCollision(p1, p2, v1, v2, 0.)
5.0
>>> Point.timeToCollision(p1, p2, v1, v2, 1.)
4.0

>>> t = Trajectory.generate(Point(0.1,-1.), Point(1.,0.), 22)
>>> t[0].x == 0.1
True
>>> x = 1.
>>> t.reset(x, x)
>>> t[0].x == x
True
>>> t[10].y == x
True
>>> o1 = MovingObject.generate(1, Point(-5.,0.), Point(1.,0.), TimeInterval(0,10))
>>> o1.getVelocityAt(1).x == 1.
True
>>> o1.setStationary()
>>> o1.getVelocityAt(1).x == 0
True

>>> objects = storage.loadTrajectoriesFromSqlite('../samples/laurier.sqlite', 'object')
>>> len(objects)
5
>>> objects[0].hasFeatures()
False
>>> features = storage.loadTrajectoriesFromSqlite('../samples/laurier.sqlite', 'feature')
>>> for o in objects: o.setFeatures(features)
>>> objects[0].hasFeatures()
True

>>> o1 = MovingObject.generate(1, Point(-5.,0.), Point(1.,0.), TimeInterval(0,10))
>>> o1.getNObjects() is None
True
>>> o1.setNObjects(1.1)
>>> o1.setNObjects(0.5)
Number of objects represented by object 1 must be greater or equal to 1 (0.5)
>>> o2 = MovingObject.generate(2, Point(0.,-5.), Point(0.,1.), TimeInterval(0,10))
>>> MovingObject.computePET(o1, o2, 0.1)
(0.0, 5, 5)
>>> o2 = MovingObject.generate(2, Point(0.,-5.), Point(0.,1.), TimeInterval(5,15))
>>> MovingObject.computePET(o1, o2, 0.1)
(5.0, 5, 10)
>>> o2 = MovingObject.generate(2, Point(0.,-5.), Point(0.,1.), TimeInterval(15,30))
>>> MovingObject.computePET(o1, o2, 0.1)
(15.0, 5, 20)

>>> o1 = MovingObject(1, TimeInterval(0,10), features=[MovingObject.generate(1, Point(0., 3.), Point(1., 0.), TimeInterval(0,10)), MovingObject.generate(2, Point(2., 3.), Point(1., 0.), TimeInterval(0,10)), MovingObject.generate(3, Point(2., 4.), Point(1., 0.), TimeInterval(0,10)), MovingObject.generate(4, Point(0., 4.), Point(1., 0.), TimeInterval(0,10))])
>>> o2 = MovingObject(2, TimeInterval(0,10), features=[MovingObject.generate(5, Point(6., 0.), Point(0., 1.), TimeInterval(0,10)), MovingObject.generate(6, Point(7., 0.), Point(0., 1.), TimeInterval(0,10)), MovingObject.generate(7, Point(7., 2.), Point(0., 1.), TimeInterval(0,10)), MovingObject.generate(8, Point(6., 2.), Point(0., 1.), TimeInterval(0,10))])
>>> MovingObject.computePET(o1, o2, useBoundingPoly = True)
(2.0, 5, 3)

>>> t1 = CurvilinearTrajectory.generate(3, 1., 10, 'b')
>>> t1.length()
10
>>> t1[3]
[6.0, 0, 'b']
>>> t2 = CurvilinearTrajectory.generate(15, 1., 10, 'a', 1.)
>>> t2[4]
[19.0, 1.0, 'a']
>>> t1.append(t2)
>>> t1.length()
20
>>> t1[9]
[12.0, 0, 'b']
>>> o = MovingObject(0, TimeInterval(1,21))
>>> o.curvilinearPositions = t1
>>> o.interpolateCurvilinearPositions(2.3)
[4.3, 0.0, 'b']
>>> o.interpolateCurvilinearPositions(9.7) # doctest:+ELLIPSIS
[11.7..., 0.0..., 'b']
>>> o.interpolateCurvilinearPositions(10.7)
Object 0 changes lane at 10.7 and alignments are not provided
>>> t2 = CurvilinearTrajectory.generate(0, 1., 10, 'a', 1.)

>>> t1 = CurvilinearTrajectory.generate(3, 1., 10, 'b')
>>> t1.duplicateLastPosition()
>>> t1[-1] == t1[-2]
True

>>> a = Trajectory.generate(Point(0.,0.), Point(10.,0.), 4)
>>> t = Trajectory.generate(Point(0.1,-1.), Point(1.,0.), 22)
>>> prepareAlignments([a])
>>> ct = CurvilinearTrajectory.fromTrajectoryProjection(t, [a])
>>> ct[3]
[3.1, 1.0, 0]
>>> p = getXYfromSY(ct[3][0], ct[3][1], ct[3][2], [a])
>>> (Point(p[0], p[1])-t[3]).norm2() < 1e-10
True
>>> p = getXYfromSY(ct[21][0], ct[21][1], ct[21][2], [a])
>>> (Point(p[0], p[1])-t[21]).norm2() < 1e-10
True

>>> t = CurvilinearTrajectory(S = [1., 2., 3., 5.], Y = [0.5, 0.5, 0.6, 0.7], lanes = ['1']*4)
>>> t.differentiate() # doctest:+ELLIPSIS
[1.0, 0.0, None] [1.0, 0.099..., None] [2.0, 0.099..., None]
>>> t.differentiate(True) # doctest:+ELLIPSIS
[1.0, 0.0, None] [1.0, 0.099..., None] [2.0, 0.099..., None] [2.0, 0.099..., None]
>>> t = CurvilinearTrajectory(S = [1.], Y = [0.5], lanes = ['1'])
>>> t.differentiate().empty()
True

>>> o1 = MovingObject.generate(1, Point(1., 2.), Point(1., 1.), TimeInterval(0,10))
>>> o1.features = [o1]
>>> o2 = MovingObject.generate(2, Point(14., 14.), Point(1., 0.), TimeInterval(14,20))
>>> o2.features = [o2]
>>> o3 = MovingObject.generate(3, Point(2., 2.), Point(1., 1.), TimeInterval(2,12))
>>> o3.features = [o3]
>>> o4 = MovingObject.generate(4, Point(4., 4.), Point(1., 1.), TimeInterval(11,20))
>>> o4.features = [o4]
>>> o5 = MovingObject.generate(5, Point(5., 5.), Point(1., 1.), TimeInterval(12,22))
>>> o5.features = [o5]

>>> objNum = 14
>>> o13, f13 = MovingObject.concatenate(o1, o3, objNum)
>>> o13.getNum() == objNum
True
>>> o13.getTimeInterval() == TimeInterval(0,12)
True
>>> t=5
>>> o13.getPositionAtInstant(t) == (o1.getPositionAtInstant(t)+o3.getPositionAtInstant(t)).divide(2)
True
>>> len(o13.getFeatures())
2

>>> o12, f12 = MovingObject.concatenate(o1, o2, 15, 15)
>>> o12.getTimeInterval() == TimeInterval(o1.getFirstInstant(), o2.getLastInstant())
True
>>> v = o12.getVelocityAtInstant(12)
>>> v == Point(3./4, 2./4)
True
>>> o12.getPositionAtInstant(11) == o1.getPositionAtInstant(10)+v
True
>>> len(o12.getFeatures())
3
>>> f12.length()
5.0
>>> f12.getPositions().length()
5
>>> f12.getVelocities().length()
5

>>> o14, f14 = MovingObject.concatenate(o1, o4, 16, 16)
>>> len(o14.getFeatures())
3
>>> o14.getPositionAtInstant(10) == o1.getPositionAtInstant(10)
True
>>> o14.getPositionAtInstant(11) == o4.getPositionAtInstant(11)
True

>>> o15, f15 = MovingObject.concatenate(o1, o5, 17, 17)
>>> len(o15.getFeatures())
3
>>> f15.length()
3.0
>>> o15.getFeatures()[-1] == f15
True
>>> o1.getPositionAtInstant(10) == o15.getPositionAtInstant(10)
True
>>> f15.getPositionAtInstant(11) == o15.getPositionAtInstant(11)
True
>>> o5.getPositionAtInstant(12) == o15.getPositionAtInstant(12)
True
>>> o15.updatePositions()
>>> o1.getPositionAtInstant(10) == o15.getPositionAtInstant(10)
True
>>> f15.getPositionAtInstant(11) == o15.getPositionAtInstant(11)
True
>>> o5.getPositionAtInstant(12) == o15.getPositionAtInstant(12)
True

>>> o1 = MovingObject.generate(1, Point(0., 2.), Point(0., 1.), TimeInterval(0,2))
>>> o1.classifyUserTypeSpeedMotorized(0.5, np.median)
>>> userTypeNames[o1.getUserType()]
'car'
>>> o1.classifyUserTypeSpeedMotorized(1.5, np.median)
>>> userTypeNames[o1.getUserType()]
'pedestrian'

>>> o1 = MovingObject.generate(1, Point(0.,0.), Point(1.,0.), TimeInterval(0,10))
>>> gt1 = BBMovingObject(MovingObject.generate(1, Point(0.2,0.6), Point(1.,0.), TimeInterval(0,10)), MovingObject.generate(2, Point(-0.2,-0.4), Point(1.,0.), TimeInterval(0,10)), 1, TimeInterval(0,10), )
>>> gt1.computeCentroidTrajectory()
>>> computeClearMOT([gt1], [], 0.2, 0, 10)
(None, 0.0, 11, 0, 0, 11, None, None)
>>> computeClearMOT([], [o1], 0.2, 0, 10)
(None, None, 0, 0, 11, 0, None, None)
>>> computeClearMOT([gt1], [o1], 0.2, 0, 10) # doctest:+ELLIPSIS
(0.0999..., 1.0, 0, 0, 0, 11, None, None)
>>> computeClearMOT([gt1], [o1], 0.05, 0, 10)
(None, -1.0, 11, 0, 11, 11, None, None)

>>> o1 = MovingObject(1, TimeInterval(0,3), positions = Trajectory([list(range(4)), [0.1, 0.1, 1.1, 1.1]]))
>>> o2 = MovingObject(2, TimeInterval(0,3), positions = Trajectory([list(range(4)), [0.9, 0.9, -0.1, -0.1]]))
>>> gt1 = BBMovingObject(MovingObject(positions = Trajectory([list(range(4)), [0.]*4])), MovingObject(positions = Trajectory([list(range(4)), [0.]*4])), 1, TimeInterval(0,3))
>>> gt1.computeCentroidTrajectory()
>>> gt2 = BBMovingObject(MovingObject(positions = Trajectory([list(range(4)), [1.]*4])), MovingObject(positions = Trajectory([list(range(4)), [1.]*4])), 2, TimeInterval(0,3))
>>> gt2.computeCentroidTrajectory()
>>> computeClearMOT([gt1, gt2], [o1, o2], 0.2, 0, 3) # doctest:+ELLIPSIS
(0.1..., 0.75, 0, 2, 0, 8, None, None)
>>> computeClearMOT([gt2, gt1], [o2, o1], 0.2, 0, 3) # doctest:+ELLIPSIS
(0.1..., 0.75, 0, 2, 0, 8, None, None)
>>> computeClearMOT([gt1], [o1, o2], 0.2, 0, 3)
(0.1, -0.25, 0, 1, 4, 4, None, None)
>>> computeClearMOT([gt1], [o2, o1], 0.2, 0, 3) # symmetry
(0.1, -0.25, 0, 1, 4, 4, None, None)
>>> computeClearMOT([gt1, gt2], [o1], 0.2, 0, 3) # doctest:+ELLIPSIS
(0.100..., 0.375, 4, 1, 0, 8, None, None)
>>> computeClearMOT([gt2, gt1], [o1], 0.2, 0, 3) # doctest:+ELLIPSIS
(0.100..., 0.375, 4, 1, 0, 8, None, None)
>>> computeClearMOT([gt1, gt2], [o1, o2], 0.08, 0, 3)
(None, -1.0, 8, 0, 8, 8, None, None)