process_traj_logs Namespace Reference

Classes
class	DataSource

Functions
def	binarySearch (a, x)
def	xy_scatter_with_slider (figure_num, data, key, title, xlabel, ylabel)
def	index_plot_with_slider (figure_num, data, key, title, xlabel, ylabel)

Variables
list	data = []
dictionary	core_data
	traj_data = csv.reader(csv_file, delimiter='|')
int	i = 0
	start_index = max(binarySearch(core_data["times"], float(sys.argv[2])) - 1, 0)
	end_index = min(binarySearch(core_data["times"], float(sys.argv[3])) + 1, len(core_data["times"]))
	data_source = DataSource.NONE
	point_speed = content.split(':')
	point = point_speed[1].split('Speed')
	xy = point[0].split(',')
	x = float(xy[0])
	y = float(xy[1])
	split = content.split(':')
	c = float(split[1])
def	plot1
def	plot2
def	plot3
def	plot4
def	plot5
def	plot6
def	plot7
def	plot8
def	plot9
def	plot10
def	plot11
def	plot12
def	plot13
def	plot14
def	plot15

Function Documentation

binarySearch()

def process_traj_logs.binarySearch	(		a,
			x
	)

Definition at line 24 of file process_traj_logs.py.

def binarySearch(a, x): 
    i = bisect_left(a, x) 
    if i: 
        return (i-1) 
    else: 
        return -1
# Usage
# process_traj_logs.py <file name> <start time> <end_time>
#
# Read the file until start_time is found.
# Read the file until end_time is found
# Grab all lines between start and end time
# Print layered graphs of all trajectories between those times

index_plot_with_slider()

def process_traj_logs.index_plot_with_slider	(		figure_num,
			data,
			key,
			title,
			xlabel,
			ylabel
	)

Definition at line 261 of file process_traj_logs.py.

def index_plot_with_slider(figure_num, data, key, title, xlabel, ylabel):
 
  fig = plt.figure(figure_num)
 
  plt.title(title)
  plt.xlabel(xlabel)
  plt.ylabel(ylabel)
  time_step = data[0]
  l, = plt.plot(range(len(time_step[key])), time_step[key])
 
  time_step_ax = plt.axes([0.20, 0.01, 0.65, 0.03])
  time_step_sldr = Slider(time_step_ax, 'Time Step', 0.0, len(data) - 1.0, valinit=0, valstep=1)
 
  def update_timestep(val):
    time_step = data[int(time_step_sldr.val)]
    l.set_xdata(range(len(time_step[key])))
    l.set_ydata(time_step[key])
    fig.canvas.draw_idle()
 
  time_step_sldr.on_changed(update_timestep)
 
  return (fig, l, time_step_sldr)
 

xy_scatter_with_slider()

def process_traj_logs.xy_scatter_with_slider	(		figure_num,
			data,
			key,
			title,
			xlabel,
			ylabel
	)

Definition at line 237 of file process_traj_logs.py.

def xy_scatter_with_slider(figure_num, data, key, title, xlabel, ylabel):
 
  fig = plt.figure(figure_num)
 
  plt.title(title)
  plt.xlabel(xlabel)
  plt.ylabel(ylabel)
  time_step = data[0]
  l, = plt.plot([xy[0] for xy in time_step[key]], [xy[1] for xy in time_step[key]], '.')
 
  time_step_ax = plt.axes([0.20, 0.001, 0.65, 0.03])
  time_step_sldr = Slider(time_step_ax, 'Time Step', 0.0, len(data) - 1.0, valinit=0, valstep=1)
 
  def update_timestep(val):
    time_step = data[int(time_step_sldr.val)]
    l.set_xdata([xy[0] for xy in time_step[key]])
    l.set_ydata([xy[1] for xy in time_step[key]])
    fig.canvas.draw_idle()
 
  time_step_sldr.on_changed(update_timestep)
 
  return (fig, l, time_step_sldr)
 
# Takes list of dictionary

Variable Documentation

c

process_traj_logs.c = float(split[1])

Definition at line 166 of file process_traj_logs.py.

Referenced by basic_autonomy::waypoint_generation.compose_lanefollow_trajectory_from_path(), stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin.compose_trajectory_from_centerline(), carma_wm_ctrl::WMBroadcaster.getPointsInLocalFrame(), and carma_cloud_client::CarmaCloudClient.parse_hex().

core_data

dictionary process_traj_logs.core_data

Initial value:

=  {
  "times": [],
  "content": []
}

Definition at line 49 of file process_traj_logs.py.

data

list process_traj_logs.data = []

Definition at line 41 of file process_traj_logs.py.

Referenced by carma_wm::geometry.compute_arc_lengths(), carma_wm::geometry.compute_finite_differences(), carma_wm::geometry.compute_templated_arc_lengths(), and carma_wm::geometry.compute_templated_finite_differences().

data_source

process_traj_logs.data_source = DataSource.NONE

Definition at line 98 of file process_traj_logs.py.

end_index

process_traj_logs.end_index = min(binarySearch(core_data["times"], float(sys.argv[3])) + 1, len(core_data["times"]))

Definition at line 71 of file process_traj_logs.py.

i

int process_traj_logs.i = 0

Definition at line 55 of file process_traj_logs.py.

plot1

def process_traj_logs.plot1

Initial value:

=  xy_scatter_with_slider(1, core_data["time_steps"], DataSource.RAW_POINTS, 
  "Raw Downsampled Points from Lanelet Centerlines", "X (m)", "Y (m)")

Definition at line 284 of file process_traj_logs.py.

plot10

def process_traj_logs.plot10

Initial value:

=  index_plot_with_slider(10, core_data["time_steps"], DataSource.SPEED_OP_REVERSE_STEP, 
  "Speed Optimization Reverse Step", "Index", "Velocity (m/s)")

Definition at line 311 of file process_traj_logs.py.

plot11

def process_traj_logs.plot11

Initial value:

=  index_plot_with_slider(11, core_data["time_steps"], DataSource.SPEED_OP_FORWARD, 
  "Speed Optimization Forward Step", "Index", "Velocity (m/s)")

Definition at line 314 of file process_traj_logs.py.

plot12

def process_traj_logs.plot12

Initial value:

=  index_plot_with_slider(12, core_data["time_steps"], DataSource.AFTER_SPEED_OP, 
  "Speed Optimization Output", "Index", "Velocity (m/s)")

Definition at line 317 of file process_traj_logs.py.

plot13

def process_traj_logs.plot13

Initial value:

=  index_plot_with_slider(13, core_data["time_steps"], DataSource.AFTER_AVERAGE, 
  "Speed after Moving Average", "Index", "Velocity (m/s)")

Definition at line 320 of file process_traj_logs.py.

plot14

def process_traj_logs.plot14

Initial value:

=  index_plot_with_slider(14, core_data["time_steps"], DataSource.AFTER_MIN_SPEED, 
  "Speed after applying minimum speed (FINAL SPEED)", "Index", "Velocity (m/s)")

Definition at line 323 of file process_traj_logs.py.

plot15

def process_traj_logs.plot15

Initial value:

=  index_plot_with_slider(15, core_data["time_steps"], DataSource.FINAL_TIMES, 
  "Final Times", "Index", "Seconds (s)")

Definition at line 326 of file process_traj_logs.py.

plot2

def process_traj_logs.plot2

Initial value:

=  xy_scatter_with_slider(2, core_data["time_steps"], DataSource.TIME_BOUND_POINTS, 
  "Time Bound Points from Lanelet Centerlines", "X (m)", "Y (m)")

Definition at line 287 of file process_traj_logs.py.

plot3

def process_traj_logs.plot3

Initial value:

=  xy_scatter_with_slider(3, core_data["time_steps"], DataSource.BACK_AND_FRONT_POINTS, 
  "Back and front points from Lanelet Centerlines", "X (m)", "Y (m)")

Definition at line 290 of file process_traj_logs.py.

plot4

def process_traj_logs.plot4

Initial value:

=  xy_scatter_with_slider(4, core_data["time_steps"], DataSource.SAMPLED_POINTS, 
  "Sampled points from spline fitting", "X (m)", "Y (m)")

Definition at line 293 of file process_traj_logs.py.

plot5

def process_traj_logs.plot5

Initial value:

=  index_plot_with_slider(5, core_data["time_steps"], DataSource.RAW_CURVATURES, 
  "Raw Curvatures", "Index", "Curvature (1/r) (m)")

Definition at line 296 of file process_traj_logs.py.

plot6

def process_traj_logs.plot6

Initial value:

=  index_plot_with_slider(6, core_data["time_steps"], DataSource.PROCESSED_CURVATURES, 
  "Processed Curvatures", "Index", "Curvature (1/r) (m)")

Definition at line 299 of file process_traj_logs.py.

plot7

def process_traj_logs.plot7

Initial value:

=  index_plot_with_slider(7, core_data["time_steps"], DataSource.CURVATURE_CONSTRAINED_SPEEDS, 
  "Curvature constrained speeds", "Index", "Velocity (m/s)")

Definition at line 302 of file process_traj_logs.py.

plot8

def process_traj_logs.plot8

Initial value:

=  index_plot_with_slider(8, core_data["time_steps"], DataSource.FINAL_YAWS, 
  "Final Yaw values", "Index", "Yaw (rad)")

Definition at line 305 of file process_traj_logs.py.

plot9

def process_traj_logs.plot9

Initial value:

=  index_plot_with_slider(9, core_data["time_steps"], DataSource.SPEED_LIMIT_CONSTRAINED_SPEEDS, 
  "Speed Limit Constrained Speeds", "Index", "Velocity (m/s)")

Definition at line 308 of file process_traj_logs.py.

point

process_traj_logs.point = point_speed[1].split('Speed')

Definition at line 126 of file process_traj_logs.py.

Referenced by light_controlled_intersection_tactical_plugin::LightControlledIntersectionTacticalPlugin.applyTrajectorySmoothingAlgorithm(), basic_autonomy::waypoint_generation.attach_past_points(), basic_autonomy::log.basicPointToStream(), inlanecruising_plugin::log.basicPointToStream(), object::ObjectDetectionTrackingWorker.detectedObjectCallback(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin.generateErvRoute(), basic_autonomy::waypoint_generation.get_nearest_index_by_downtrack(), carma_wm::CARMAWorldModel.getLaneletsFromPoint(), carma_wm::query.getLaneletsFromPoint(), traffic_incident_parser.getNearestPointIndex(), approximate_intersection::LookupGrid< PointT >.insert(), approximate_intersection::LookupGrid< PointT >.intersects(), points_map_filter::Node.map_callback(), carma_wm::query.nonConnectedAdjacentLeft(), carma_cooperative_perception::MetricSe2.operator()(), inlanecruising_plugin::log.pointSpeedPairToStream(), basic_autonomy::log.pointSpeedPairToStream(), points_map_filter::Node.recompute_lookup_grid(), pure_pursuit_wrapper::PurePursuitWrapperNode.remove_repeated_timestamps(), carma_wm::CARMAWorldModel.routeTrackPos(), route::RouteGeneratorWorker.routing(), basic_autonomy::smoothing::BSpline.setPoints(), inlanecruising_plugin::smoothing::BSpline.setPoints(), and carma_wm::geometry.trackPos().

point_speed

process_traj_logs.point_speed = content.split(':')

Definition at line 125 of file process_traj_logs.py.

split

process_traj_logs.split = content.split(':')

Definition at line 165 of file process_traj_logs.py.

Referenced by subsystem_controllers::PluginManager.get_control_plugins_by_capability(), subsystem_controllers::BaseSubsystemController.get_nodes_in_namespace(), subsystem_controllers::PluginManager.get_strategic_plugins_by_capability(), subsystem_controllers::PluginManager.get_tactical_plugins_by_capability(), platoon_strategic_ihp::PlatoonManager.hostMemberUpdates(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin.mob_op_cb(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin.mob_op_cb_leader(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin.mob_op_find_ecef_from_INFO_params(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin.mob_op_find_ecef_from_STATUS_params(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin.mob_op_find_platoon_length_from_INFO_params(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin.mob_req_cb_follower(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin.mob_req_cb_leader(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin.mob_req_cb_leadwithoperation(), platoon_strategic_ihp::PlatoonManager.neighborMemberUpdates(), lci_strategic_plugin::LCIStrategicPlugin.parseStrategyParams(), and sci_strategic_plugin::SCIStrategicPlugin.parseStrategyParams().

start_index

process_traj_logs.start_index = max(binarySearch(core_data["times"], float(sys.argv[2])) - 1, 0)

Definition at line 70 of file process_traj_logs.py.

Referenced by basic_autonomy::smoothing.moving_average_filter(), and inlanecruising_plugin::smoothing.moving_average_filter().

traj_data

process_traj_logs.traj_data = csv.reader(csv_file, delimiter='|')

Definition at line 54 of file process_traj_logs.py.

x

process_traj_logs.x = float(xy[0])

Definition at line 128 of file process_traj_logs.py.

Referenced by basic_autonomy::waypoint_generation.compose_lanefollow_trajectory_from_path(), carma_wm::geometry.compute_finite_differences(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin.filter_points_ahead(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin.findLaneWidth(), lci_strategic_plugin::LCIStrategicPlugin.get_earliest_entry_time(), lci_strategic_plugin::LCIStrategicPlugin.get_inflection_speed_value(), carma_wm::query.getAffectedLaneletOrAreas(), carma_wm::test.getBasicPoint(), carma_wm::test.getPoint(), carma_wm::CARMAWorldModel.pointFromRouteTrackPos(), yield_plugin::YieldPlugin.polynomial_calc(), yield_plugin::YieldPlugin.polynomial_calc_d(), basic_autonomy::waypoint_generation.process_trajectory_plan(), carma_wm::geometry.safeAcos(), carma_wm::geometry.safeAsin(), motion_computation::conversion::impl.sample_2d_linear_motion(), motion_computation::conversion::impl.sample_2d_path_from_radius(), carma_wm::collision_detection.WorldCollisionDetection(), and carma_cloud_client::CarmaCloudClient.XMLconversion().

xy

process_traj_logs.xy = point[0].split(',')

Definition at line 127 of file process_traj_logs.py.

Referenced by object::ObjectDetectionTrackingWorker.detectedObjectCallback().

y

process_traj_logs.y = float(xy[1])

Definition at line 129 of file process_traj_logs.py.

Referenced by basic_autonomy::waypoint_generation.compose_lanefollow_trajectory_from_path(), carma_wm::geometry.compute_finite_differences(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin.filter_points_ahead(), platoon_strategic_ihp::PlatoonStrategicIHPPlugin.findLaneWidth(), carma_wm::query.getAffectedLaneletOrAreas(), carma_wm::test.getBasicPoint(), carma_wm::test.getPoint(), carma_wm::CARMAWorldModel.pointFromRouteTrackPos(), basic_autonomy::waypoint_generation.process_trajectory_plan(), motion_computation::conversion::impl.sample_2d_path_from_radius(), and carma_wm::collision_detection.WorldCollisionDetection().