# HG changeset patch
# User Nicolas Saunier <nicolas.saunier@polymtl.ca>
# Date 1372307151 14400
# Node ID 891858351bcb4934a14b06a2fa32e76d23b391fd
# Parent  7e9ad2d9d79c0e34e719c8f241a46d5677bf5a94
added new parameter (use features) for safety analysis

diff -r 7e9ad2d9d79c -r 891858351bcb c/Parameters.cpp
--- a/c/Parameters.cpp	Thu Jun 27 00:18:39 2013 -0400
+++ b/c/Parameters.cpp	Thu Jun 27 00:25:51 2013 -0400
@@ -67,6 +67,7 @@
     ("min-acceleration", po::value<float>(&minAcceleration)->default_value(-9.1), "minimum acceleration for input distribution (m/s2) (used only for evasive action distributions)")
     ("max-acceleration", po::value<float>(&maxAcceleration)->default_value(2.), "maximum acceleration for input distribution (m/s2)")
     ("max-steering", po::value<float>(&maxSteering)->default_value(0.5), "maximum steering for input distribution (rad/s)")
+    ("use-features-prediction", po::value<bool>(&useFeaturesForPrediction)->default_value(false), "use feature positions and velocities for prediction")
     ;
   
   po::options_description cmdLine;
diff -r 7e9ad2d9d79c -r 891858351bcb include/Parameters.hpp
--- a/include/Parameters.hpp	Thu Jun 27 00:18:39 2013 -0400
+++ b/include/Parameters.hpp	Thu Jun 27 00:25:51 2013 -0400
@@ -57,6 +57,7 @@
   float minAcceleration;
   float maxAcceleration;
   float maxSteering;
+  float useFeaturesForPrediction;
 
   std::string parameterDescription;
 
diff -r 7e9ad2d9d79c -r 891858351bcb python/utils.py
--- a/python/utils.py	Thu Jun 27 00:18:39 2013 -0400
+++ b/python/utils.py	Thu Jun 27 00:25:51 2013 -0400
@@ -460,6 +460,7 @@
         self.minAcceleration = config.getfloat(self.sectionHeader, 'min-acceleration')/self.videoFrameRate**2
         self.maxAcceleration = config.getfloat(self.sectionHeader, 'max-acceleration')/self.videoFrameRate**2
         self.maxSteering = config.getfloat(self.sectionHeader, 'max-steering')/self.videoFrameRate
+        self.useFeaturesForPrediction = config.getboolean(self.sectionHeader, 'use-features-prediction')
 
 #########################
 # sqlite
diff -r 7e9ad2d9d79c -r 891858351bcb scripts/safety-analysis.py
--- a/scripts/safety-analysis.py	Thu Jun 27 00:18:39 2013 -0400
+++ b/scripts/safety-analysis.py	Thu Jun 27 00:25:51 2013 -0400
@@ -25,23 +25,25 @@
 normalAdaptationPredictionParameters = prediction.NormalAdaptationPredictionParameters(params.maxPredictedSpeed, 
                                                                                        params.nPredictedTrajectories, 
                                                                                        params.maxAcceleration,
-                                                                                       params.maxSteering)
+                                                                                       params.maxSteering,
+                                                                                       params.useFeaturesForPrediction)
 
-featurePredictionParameters = prediction.PointSetPredictionParameters(params.maxPredictedSpeed, params.nPredictedTrajectories)
+featurePredictionParameters = prediction.PointSetPredictionParameters(params.maxPredictedSpeed, 
+                                                                      params.nPredictedTrajectories)
 
 evasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(params.maxPredictedSpeed, 
                                                                                  params.nPredictedTrajectories, 
                                                                                  params.minAcceleration,
                                                                                  params.maxAcceleration,
                                                                                  params.maxSteering,
-                                                                                 False)
+                                                                                 params.useFeaturesForPrediction)
 
 featureEvasiveActionPredictionParameters = prediction.EvasiveActionPredictionParameters(params.maxPredictedSpeed, 
                                                                                         params.nPredictedTrajectories, 
                                                                                         params.minAcceleration,
                                                                                         params.maxAcceleration,
                                                                                         params.maxSteering,
-                                                                                        True)
+                                                                                        params.useFeaturesForPrediction)
 
 
 
diff -r 7e9ad2d9d79c -r 891858351bcb tracking.cfg
--- a/tracking.cfg	Thu Jun 27 00:18:39 2013 -0400
+++ b/tracking.cfg	Thu Jun 27 00:25:51 2013 -0400
@@ -78,4 +78,6 @@
 # maximum acceleration for input distribution (m/s2)
 max-acceleration = 2
 # maximum steering for input distribution (rad/s)
-max-steering = 0.5
\ No newline at end of file
+max-steering = 0.5
+# use feature positions and velocities for prediction
+use-features-prediction = false
\ No newline at end of file