Mercurial > hg > nsaunier > traffic-intelligence

comparison python/extrapolation.py @ 255:13ec22bec5d4

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corrected typos and bugs and added a test
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 23 Jul 2012 23:07:19 -0400
parents 59f547aebaac
children dc1faa7287bd
comparison
equal deleted inserted replaced
254:4b71e81e3383 255:13ec22bec5d4
24 self.predictedPositions = {0: initialPosition} 24 self.predictedPositions = {0: initialPosition}
25 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)} 25 self.predictedSpeedOrientations = {0: moving.NormAngle.fromPoint(initialVelocity)}
26 26
27 def predictPosition(self, nTimeSteps): 27 def predictPosition(self, nTimeSteps):
28 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys(): 28 if nTimeSteps > 0 and not nTimeSteps in self.predictedPositions.keys():
29 self.predictedPositions[nTimeSteps], self.predictedspeedOrientations[nTimeSteps] = predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedspeedOrientations[nTimeSteps-1], self.control, maxSpeed) 29 self.predictPosition(nTimeSteps-1)
30 self.predictedPositions[nTimeSteps], self.predictedSpeedOrientations[nTimeSteps] = moving.predictPosition(self.predictedPositions[nTimeSteps-1], self.predictedSpeedOrientations[nTimeSteps-1], self.control, self.maxSpeed)
30 return self.predictedPositions[nTimeSteps] 31 return self.predictedPositions[nTimeSteps]
31 32
32 class ExtrapolatedTrajectoryAdaptation(ExtrapolatedTrajectoryConstant): 33 class ExtrapolatedTrajectoryAdaptation(ExtrapolatedTrajectoryConstant):
33 '''Random small adaptation of vehicle control ''' 34 '''Random small adaptation of vehicle control '''
34 def __init__(self, initialPosition, initialVelocity, accelerationBounds, steeringBounds, probability = 1, maxSpeed = None): 35 def __init__(self, initialPosition, initialVelocity, accelerationBounds, steeringBounds, probability = 1, maxSpeed = None):
202 t+=1 203 t+=1
203 POC= float(ProbOfCollision)/N 204 POC= float(ProbOfCollision)/N
204 return POC 205 return POC
205 206
206 207
208 if __name__ == "__main__":
209 import doctest
210 import unittest
211 suite = doctest.DocFileSuite('tests/extrapolation.txt')
212 #suite = doctest.DocTestSuite()
213 unittest.TextTestRunner().run(suite)
214 #doctest.testmod()
215 #doctest.testfile("example.txt")
216