def addObstacle(self,vstate):
# model all sensor errors as Gaussian
positionErrorSD = 4. * .25 / 2. # meters
speedErrorSD = 5.*.447 * .25 / 2. # meters/second
detected = (distance(self.state, vstate) <= self.commRange1 and
self.inScope(vstate,self.scope1) ) or (
distance(self.state, vstate) <= self.commRange2 and
self.inScope(vstate,self.scope2) )
if not detected:
if self.allowComm: # using DSRC instead
positionErrorSD = 4. * 1.1 / 2.
speedErrorSD = 5.*.447 * 1.1 / 2.
else:
return
if self.realign:
trueObstacle = realignV(self.state, vstate)
else:
trueObstacle = vstate.copy()
trueObstacle.x = random.gauss(trueObstacle.x, positionErrorSD)
trueObstacle.y = random.gauss(trueObstacle.y, positionErrorSD)
trueObstacle.speed = random.gauss(trueObstacle.speed, speedErrorSD)
self.obstacles.append(trueObstacle)
def addObstacle(self, vstate):
# model all sensor errors as Gaussian
positionErrorSD = 4. * .25 / 2. # meters
speedErrorSD = 5. * .447 * .25 / 2. # meters/second
detected = (distance(self.state, vstate) <= self.commRange1
and self.inScope(vstate, self.scope1)) or (
distance(self.state, vstate) <= self.commRange2
and self.inScope(vstate, self.scope2))
if not detected:
if self.allowComm: # using DSRC instead
positionErrorSD = 4. * 1.1 / 2.
speedErrorSD = 5. * .447 * 1.1 / 2.
else:
return
if self.realign:
trueObstacle = realignV(self.state, vstate)
else:
trueObstacle = vstate.copy()
trueObstacle.x = random.gauss(trueObstacle.x, positionErrorSD)
trueObstacle.y = random.gauss(trueObstacle.y, positionErrorSD)
trueObstacle.speed = random.gauss(trueObstacle.speed, speedErrorSD)
self.obstacles.append(trueObstacle)
def addObstacle(self,vstate):
# model all sensor errors as Gaussian
positionErrorSD = 4. * self.noiseLevel / 2. # meters
speedErrorSD = 5.*.447 * self.noiseLevel / 2. # meters/second
#angleErrorSD = .1 * self.noiseLevel # radians
#accelErrorSD = .2 * self.noiseLevel # meters/second^2
# not sending acceleration atm...
# if vstate.vehID == self.state.vehID: # accidentally sensing yourself
# return
if distance(self.state, vstate) > self.maxCommunicationRange:
return
if random.uniform(0,1) < self.packetLossRate:
return
if self.realign:
trueObstacle = realignV(self.state, vstate)
else:
trueObstacle = vstate.copy()
trueObstacle.x = random.gauss(trueObstacle.x, positionErrorSD)
trueObstacle.y = random.gauss(trueObstacle.y, positionErrorSD)
trueObstacle.speed = random.gauss(trueObstacle.speed, speedErrorSD)
# for now ignore angle error, since we're dealing with straight roads
self.obstacles.append(trueObstacle)
def addObstacle(self, vstate):
# model all sensor errors as Gaussian
positionErrorSD = 2. * self.noiseLevel / 2. # meters
speedErrorSD = 2.*.447 * self.noiseLevel / 2. # meters/second
#angleErrorSD = .1 * self.noiseLevel # radians
#accelErrorSD = .2 * self.noiseLevel # meters/second^2
# not sending acceleration atm...
unitThatWorks = None
unitsThatWork = (unit for unit in self.units if
self._withinRSUrange(unit, vstate))
try:
while unitThatWorks is None:
unit = unitsThatWork.next()
#unitState = {'x':unit[0], 'y':unit[1], 'angle':unit[2]}
unitState = Series(unit,index=['x','y','angle'])
if distance(self.state, unitState) <= self.maxCommunicationRange:
unitThatWorks = unit
except StopIteration:
return # no units detected this vehicle, and can communicate
if random.uniform(0,1) < self.packetLossRate:
return
if self.realign:
trueObstacle = realignV(self.state, vstate)
else:
trueObstacle = vstate.copy()
trueObstacle.x = random.gauss(trueObstacle.x, positionErrorSD)
trueObstacle.y = random.gauss(trueObstacle.y, positionErrorSD)
trueObstacle.speed = random.gauss(trueObstacle.speed, speedErrorSD)
#trueObstacle.Acceleration is same
# for now ignore angle error, since we're dealing with straight roads
self.obstacles.append(trueObstacle)
def addObstacle(self,vstate):
radius = 20 # meters
positionSD = .25
if vstate.vehID == self.state.vehID:
return
if distance(self.state, vstate) > radius:
return
trueObstacle = realignV(self.state, vstate)
trueObstacle.x = random.gauss(trueObstacle.x, positionSD)
trueObstacle.y = random.gauss(trueObstacle.y, positionSD)
self.obstacles.append(trueObstacle)
def addObstacle(self, vstate):
radius = 20 # meters
positionSD = .25
if vstate.vehID == self.state.vehID:
return
if distance(self.state, vstate) > radius:
return
trueObstacle = realignV(self.state, vstate)
trueObstacle.x = random.gauss(trueObstacle.x, positionSD)
trueObstacle.y = random.gauss(trueObstacle.y, positionSD)
self.obstacles.append(trueObstacle)
def addObstacle(self,vstate):
# model all sensor errors as Gaussian
positionErrorSD = 4. * self.noiseLevel / 2. # meters
speedErrorSD = 5.*.447 * self.noiseLevel / 2. # meters/second
if distance(self.state, vstate) > self.maxCommunicationRange:
return
if not self.inRange(realignV(self.state,vstate)):
return
if random.uniform(0,1) < self.packetLossRate:
return
if self.realign:
trueObstacle = realignV(self.state, vstate)
else:
trueObstacle = vstate.copy()
trueObstacle.x = random.gauss(trueObstacle.x, positionErrorSD)
trueObstacle.y = random.gauss(trueObstacle.y, positionErrorSD)
trueObstacle.speed = random.gauss(trueObstacle.speed, speedErrorSD)
# for now ignoring angle error
self.obstacles.append(trueObstacle)
