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comparison python/tests/prediction.txt @ 662:72174e66aba5

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corrected bug that increased TTC by 1 frame and structure to store collision points and crossing zones
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 18 May 2015 17:17:06 +0200
parents e891a41c6c75
children c5191acb025f
comparison
equal deleted inserted replaced
661:dc70d9e711f5 662:72174e66aba5
1 >>> import prediction 1 >>> from prediction import *
2 >>> import moving 2 >>> import moving
3 3
4 >>> et = prediction.PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0)) 4 >>> et = PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0))
5 >>> et.predictPosition(4) # doctest:+ELLIPSIS 5 >>> et.predictPosition(4) # doctest:+ELLIPSIS
6 (4.0...,0.0...) 6 (4.0...,0.0...)
7 >>> et.predictPosition(1) # doctest:+ELLIPSIS 7 >>> et.predictPosition(1) # doctest:+ELLIPSIS
8 (1.0...,0.0...) 8 (1.0...,0.0...)
9 9
10 >>> et = prediction.PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0), moving.NormAngle(0.1,0), maxSpeed = 2) 10 >>> et = PredictedTrajectoryConstant(moving.Point(0,0), moving.Point(1,0), moving.NormAngle(0.1,0), maxSpeed = 2)
11 >>> et.predictPosition(10) # doctest:+ELLIPSIS 11 >>> et.predictPosition(10) # doctest:+ELLIPSIS
12 (15.5...,0.0...) 12 (15.5...,0.0...)
13 >>> et.predictPosition(11) # doctest:+ELLIPSIS 13 >>> et.predictPosition(11) # doctest:+ELLIPSIS
14 (17.5...,0.0...) 14 (17.5...,0.0...)
15 >>> et.predictPosition(12) # doctest:+ELLIPSIS 15 >>> et.predictPosition(12) # doctest:+ELLIPSIS
16 (19.5...,0.0...) 16 (19.5...,0.0...)
17 17
18 >>> import random 18 >>> import random
19 >>> acceleration = lambda: random.uniform(-0.5,0.5) 19 >>> acceleration = lambda: random.uniform(-0.5,0.5)
20 >>> steering = lambda: random.uniform(-0.1,0.1) 20 >>> steering = lambda: random.uniform(-0.1,0.1)
21 >>> et = prediction.PredictedTrajectoryRandomControl(moving.Point(0,0),moving.Point(1,1), acceleration, steering, maxSpeed = 2) 21 >>> et = PredictedTrajectoryRandomControl(moving.Point(0,0),moving.Point(1,1), acceleration, steering, maxSpeed = 2)
22 >>> p = et.predictPosition(500) 22 >>> p = et.predictPosition(500)
23 >>> from numpy import max 23 >>> from numpy import max
24 >>> max(et.getPredictedSpeeds()) <= 2. 24 >>> max(et.getPredictedSpeeds()) <= 2.
25 True 25 True
26 26
27 >>> p = moving.Point(3,4) 27 >>> p = moving.Point(3,4)
28 >>> sp = prediction.SafetyPoint(p, 0.1, 0) 28 >>> sp = SafetyPoint(p, 0.1, 0)
29 >>> print(sp) 29 >>> print(sp)
30 3 4 0.1 0 30 3 4 0.1 0
31
32 >>> et1 = PredictedTrajectoryConstant(moving.Point(-5.,0.), moving.Point(1.,0.))
33 >>> et2 = PredictedTrajectoryConstant(moving.Point(0.,-5.), moving.Point(0.,1.))
34 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 10)
35 >>> collision
36 True
37 >>> t
38 5
39 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 5)
40 >>> collision
41 True
42 >>> t
43 5
44 >>> collision, t, cp1, cp2 = computeCollisionTime(et1, et2, 0.1, 4)
45 >>> collision
46 False