Mercurial > hg > nsaunier > traffic-intelligence

comparison python/moving.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
243 angle = atan2(p.x, p.y) 243 angle = atan2(p.x, p.y)
244 return NormAngle(norm, angle) 244 return NormAngle(norm, angle)
245 245
246 def __add__(self, other): 246 def __add__(self, other):
247 'a norm cannot become negative' 247 'a norm cannot become negative'
248 return NormAngle(max(self.norm+other.norm, 0), self.orientation+other.orientation) 248 return NormAngle(max(self.norm+other.norm, 0), self.angle+other.angle)
249 249
250 def getPoint(self): 250 def getPoint(self):
251 from math import cos, sin 251 from math import cos, sin
252 return Point(self.norm*cos(self.orientation), self.norm*sin(self.orientation)) 252 return Point(self.norm*cos(self.angle), self.norm*sin(self.angle))
253 253
254 254
255 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)): 255 def predictPositionNoLimit(nTimeSteps, initialPosition, initialVelocity, initialAcceleration = Point(0,0)):
256 '''Predicts the position in nTimeSteps at constant speed/acceleration''' 256 '''Predicts the position in nTimeSteps at constant speed/acceleration'''
257 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5) 257 return initialVelocity + initialAcceleration.multiply(nTimeSteps),initialPosition+initialVelocity.multiply(nTimeSteps) + initialAcceleration.multiply(nTimeSteps**2*0.5)
569 return [t+self.getFirstInstant() for t in indices] 569 return [t+self.getFirstInstant() for t in indices]
570 570
571 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)): 571 def predictPosition(self, instant, nTimeSteps, externalAcceleration = Point(0,0)):
572 '''Predicts the position of object at instant+deltaT, 572 '''Predicts the position of object at instant+deltaT,
573 at constant speed''' 573 at constant speed'''
574 return predictPosition(nTimeSteps, self.getPositionAtInstant(instant), self.getVelocityAtInstant(instant), externalAcceleration) 574 return predictPositionNoLimit(nTimeSteps, self.getPositionAtInstant(instant), self.getVelocityAtInstant(instant), externalAcceleration)
575 575
576 @staticmethod 576 @staticmethod
577 def collisionCourseDotProduct(movingObject1, movingObject2, instant): 577 def collisionCourseDotProduct(movingObject1, movingObject2, instant):
578 'A positive result indicates that the road users are getting closer' 578 'A positive result indicates that the road users are getting closer'
579 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant) 579 deltap = movingObject1.getPositionAtInstant(instant)-movingObject2.getPositionAtInstant(instant)