def pruneContainment(scenario, verbosity):
"""Prune based on the requirement that individual Objects fit within their container.
Specifically, if O is positioned uniformly in region B and has container C, then we
can instead pick a position uniformly in their intersection. If we can also lower
bound the radius of O, then we can first erode C by that distance.
"""
for obj in scenario.objects:
base = matchInRegion(obj.position)
if base is None: # match objects positioned uniformly in a Region
continue
basePoly = regions.toPolygon(base)
if basePoly is None: # to prune, the Region must be polygonal
continue
container = scenario.containerOfObject(obj)
containerPoly = regions.toPolygon(container)
if containerPoly is None: # the object's container must also be polygonal
return None
minRadius, _ = supportInterval(obj.inradius)
if minRadius is not None: # if we can lower bound the radius, erode the container
containerPoly = containerPoly.buffer(-minRadius)
elif base is container:
continue
newBasePoly = basePoly & containerPoly # restrict the base Region to the container
if verbosity >= 1:
percent = 100 * (1.0 - (newBasePoly.area / basePoly.area))
print(
f' Region containment constraint pruned {percent:.1f}% of space.'
)
newBase = regions.PolygonalRegion(polygon=newBasePoly,
orientation=base.orientation)
newPos = regions.Region.uniformPointIn(newBase)
obj.position.conditionTo(newPos)
def visibilityBound(obj, target):
"""Upper bound the distance from an Object to another it can see."""
# Upper bound on visible distance is a sum of several terms:
# 1. obj.visibleDistance
_, maxVisibleDistance = supportInterval(obj.visibleDistance)
if maxVisibleDistance is None:
return None
# 2. distance from obj's center to its camera
_, maxCameraX = supportInterval(obj.cameraOffset.x)
_, maxCameraY = supportInterval(obj.cameraOffset.y)
if maxCameraX is None or maxCameraY is None:
return None
maxVisibleDistance += math.hypot(maxCameraX, maxCameraY)
# 3. radius of target
_, maxRadius = supportInterval(target.radius)
if maxRadius is None:
return None
maxVisibleDistance += maxRadius
return maxVisibleDistance
def maxDistanceBetween(scenario, obj, target):
# TODO also infer from requirements
ego = scenario.egoObject
if not ((obj is ego and target.requireVisible) or
(target is ego and obj.requireVisible)):
return None
# Upper bound on visible distance is a sum of several terms:
# 1. obj.visibleDistance
_, maxVisibleDistance = supportInterval(obj.visibleDistance)
if maxVisibleDistance is None:
return None
# 2. distance from obj's center to its camera
_, maxCameraX = supportInterval(obj.cameraOffset.x)
_, maxCameraY = supportInterval(obj.cameraOffset.y)
if maxCameraX is None or maxCameraY is None:
return None
maxVisibleDistance += math.hypot(maxCameraX, maxCameraY)
# 3. radius of target
_, maxRadius = supportInterval(target.radius)
if maxRadius is None:
return None
maxVisibleDistance += maxRadius
return maxVisibleDistance
def matchPolygonalField(heading, position):
if (isMethodCall(heading, VectorField.__getitem__)
and isinstance(heading.object, PolygonalVectorField)
and heading.arguments == (position.toVector(), )):
return heading.object, 0, 0
elif isinstance(heading,
OperatorDistribution) and heading.operator in ('__add__',
'__radd__'):
field, lower, upper = matchPolygonalField(heading.object, position)
if field is not None:
assert len(heading.operands) == 1
offset = heading.operands[0]
ol, oh = supportInterval(offset)
if ol is not None and oh is not None:
return field, lower + ol, upper + oh
return None, 0, 0
def matchPolygonalField(heading, position):
"""Match headings defined by a PolygonalVectorField at the given position.
Matches headings exactly equal to a PolygonalVectorField, or offset by a
bounded disturbance. Returns a triplet consisting of the matched field if
any, together with lower/upper bounds on the disturbance.
"""
if (isMethodCall(heading, VectorField.__getitem__)
and isinstance(heading.object, PolygonalVectorField)
and heading.arguments == (position.toVector(),)):
return heading.object, 0, 0
elif isinstance(heading, OperatorDistribution) and heading.operator in ('__add__', '__radd__'):
field, lower, upper = matchPolygonalField(heading.object, position)
if field is not None:
assert len(heading.operands) == 1
offset = heading.operands[0]
ol, oh = supportInterval(offset)
if ol is not None and oh is not None:
return field, lower + ol, upper + oh
return None, 0, 0