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path_disturb.py
This script is used to determine the path-dependent disturbances. For details see section #PATH-DEPENDENT DISTURBANCES IDENTIFICATION.
util/predictor.py and test_supervisor.py and
The code in "scripts/util/predictor.py
This " is a reimplementation in Python of the supervisor algorithms in "src/car_src/supervisor.c". It is very helpful for testing the supervisor offline instead of running the experiment on the test-bed over and over. This speed allows to analyze the very same experiment instead of a series of similar executions and speeds up considerably the debugging of the supervisor. Of course, this script is useful only as long as it is kept updated with the changes of "src/car_src/supervisor.c". The Config section of the script contains various constants that in the car code are defined in both "src/car_src/supervisor.c" and "src/util/constants.c". Be sure that these values are updated too if you want to use this script.
In particular, the script implements two useful routines.
test_long_term_prediction: test that in each point the robust prediction (i.e. that include the effect of the disturbances) of the time at which the car enters and exits the intersection is correct. This is useful to check that the upper and lower bounds given to the disturbances are effective for the prediction.test_exact_supervisor: simulate the execution of the exact supervisor and print in detail the status of the internal variables. This is useful to debug the supervisor.
The script "test_supervisor.py" is a simple piece of code that calls these two functions. Open it, set the car number and the debug file path in the configuration section and run it on the console to see the result of the test.
predictor_disturb.py
view_paths.py
This simply plots the paths in "Andrea/paths".
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