1 files changed, 130 insertions, 112 deletions

diff --git a/Domains/crossingScenario/queries/crossingScenarioQueries.vql b/Domains/crossingScenario/queries/crossingScenarioQueries.vql
index 32348399..0a28d774 100644
--- a/Domains/crossingScenario/queries/crossingScenarioQueries.vql
+++ b/Domains/crossingScenario/queries/crossingScenarioQueries.vql
@@ -91,6 +91,23 @@ pattern define_actor_minYp(cs:CrossingScenario, a:Actor) {
         find helper_vert_getYAndBounds(cs, a, yMax, yP); 

         check(yP <= 0-yMax);}

         

+////////////ADDED

+//to reduce overlap

+//NEEDED

+@Constraint(severity="error", key={a}, message="5 Actor")

+pattern define_actor_wrtLane(a:Actor) {

+        Actor.placedOn(a, lane);

+        Lane_Vertical(lane);

+    Actor.yPos(a, yP);

+    check(yP > 0.0-1.0);

+} or {

+        Actor.placedOn(a, lane);

+        Lane_Horizontal(lane);

+    Actor.xPos(a, xP);

+    check(xP > 0.0-1.0);

+}

+////////////ADDED

+        

 //Minimum Distances

 private pattern helper_getCoords(a1:Actor, 

         a2: Actor, x1:java Double, x2:java Double, y1:java Double, y2:java Double) {

@@ -105,8 +122,8 @@ private pattern helper_getCoords(a1:Actor,
 pattern define_actor_minimumDistance(a1: Actor, a2: Actor) {

         find helper_getCoords(a1, a2, x1, x2, y1, y2);

         a1 != a2;

-        //check(dx^2 + dy^2 < 5^2)

-        check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 5*5);

+        //check(dx^2 + dy^2 < 3^2)

+        check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 3*3);

 }

 

 /////----------------   

@@ -219,47 +236,38 @@ pattern define_actor_vehicleLength(v:Vehicle) {
     check(l != 2.0);

 }

 

-///////----------------

-///////DERIVED FEATURES

-///////----------------

-//

-//@QueryBasedFeature 

-//pattern dist_near(a1: Actor, a2: Actor) {

-//      find helper_actorsAreNear(a1, a2);

-//      Actor.dist_near(a1, a2);

-//}

-//

-//private pattern helper_actorsAreNear(a1: Actor, a2: Actor) {

-//      find helper_getCoords(a1, a2, x1, x2, y1, y2);

-//      //check(dx^2 + dy^2 < 10^2)

-//      check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 10*10);       

-//}

-//

-//@QueryBasedFeature

-//pattern dist_med(a1: Actor, a2: Actor) {

-//      find helper_actorsAreMed(a1, a2);

-//      Actor.dist_med(a1, a2);

-//}

-//

-//private pattern helper_actorsAreMed(a1: Actor, a2: Actor) {

-//      find helper_getCoords(a1, a2, x1, x2, y1, y2);

-//      //check(10^2 < dx^2 + dy^2 < 15^2)

-//      check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) > 10*10);

-//      check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 15*15);

-//}

-//

-//@QueryBasedFeature

-//pattern dist_far(a1: Actor, a2: Actor) {

-//      find helper_actorsAreFar(a1, a2);

-//      Actor.dist_far(a1, a2);

-//}

-//

-//private pattern helper_actorsAreFar(a1: Actor, a2: Actor) {

-//      find helper_getCoords(a1, a2, x1, x2, y1, y2);

-//      //check(dx^2 + dy^2 > 20^2)

-//      check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) > 20*20);       

-//}

-
+/////----------------

+/////DERIVED FEATURES

+/////----------------

+/*

+@QueryBasedFeature 

+pattern dist_near(a1: Actor, a2: Actor) {

+        find helper_getCoords(a1, a2, x1, x2, y1, y2);

+        

+        //check(dx^2 + dy^2 < 10^2)

+        check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 10*10);       

+        Actor.dist_near(a1, a2);

+}

+

+@QueryBasedFeature

+pattern dist_med(a1: Actor, a2: Actor) {

+        find helper_getCoords(a1, a2, x1, x2, y1, y2);

+        

+        //check(10^2 < dx^2 + dy^2 < 15^2)

+        check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) > 10*10);

+        check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 15*15);

+        Actor.dist_med(a1, a2);

+}

+

+@QueryBasedFeature

+pattern dist_far(a1: Actor, a2: Actor) {

+        find helper_getCoords(a1, a2, x1, x2, y1, y2);

+        

+        //check(dx^2 + dy^2 > 20^2)

+        check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) > 20*20);       

+        Actor.dist_far(a1, a2);

+}

+*/
 ///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////

 //Relation

 ///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////

@@ -278,7 +286,7 @@ pattern define_actor_vehicleLength(v:Vehicle) {
 

 

 //<<QUALTATIF ABSTRACTION>>

-

+/*

 @Constraint(severity="error", key={a1, a2}, message="x")

 pattern collisionExists_qualAbstr(a1:Actor, a2:Actor) {

         CollisionExists.source(ce, a1);

@@ -295,72 +303,9 @@ pattern collisionExists_qualAbstr(a1:Actor, a2:Actor) {
         Actor.placedOn(a2, hl2);

         Lane_Horizontal(hl2);

 }

-

+*/

 //<<END TEMP QUALITATIF ABSTRACTION>>

 

-////

-//VS VisionBlocked

-////

-//TODO Very prone to corner cases

-/*

-@Constraint(severity="error", key={a1}, message="x")

-pattern collisionExists_vsVisionBlockedX1(a1:Actor) {   

-        VisionBlocked.blockedBy(_, a1);

-        CollisionExists.target(_, a1);

-}

-@Constraint(severity="error", key={a1}, message="x")

-pattern collisionExists_vsVisionBlockedX2(a1:Actor) {   

-        VisionBlocked.blockedBy(_, a1);

-        CollisionExists.source(_, a1);

-}

-

-@Constraint(severity="error", key={a1}, message="x")

-pattern collisionExists_vsVisionBlocked1(a1:Actor) {    

-        VisionBlocked.source(_, a1);

-        neg find helper_source(a1);

-}

-private pattern helper_source(a1:Actor) {

-        CollisionExists.source(_, a1);

-}

-

-@Constraint(severity="error", key={a1}, message="x")

-pattern collisionExists_vsVisionBlocked2(a1:Actor) {    

-        VisionBlocked.target(_, a1);

-        neg find helper_target(a1);

-}

-private pattern helper_target(a1:Actor) {

-        CollisionExists.target(_, a1);

-}

-*/

-/*

-@Constraint(severity="error", key={a1}, message="x")

-pattern collisionExists_vsVisionBlocked(a1:Actor) {     

-        VisionBlocked.source(vb, a1);

-        VisionBlocked.target(vb, a2);

-        CollisionExists.source(ce, a1);

-        CollisionExists.target(ce, a3);

-        a2 != a3;

-} or {

-        VisionBlocked.source(vb, a1);

-        VisionBlocked.target(vb, a2);

-        CollisionExists.source(ce, a3);

-        CollisionExists.target(ce, a1);

-        a2 != a3;

-} or {

-        VisionBlocked.source(vb, a2);

-        VisionBlocked.target(vb, a1);

-        CollisionExists.source(ce, a3);

-        CollisionExists.target(ce, a1);

-        a2 != a3;

-} or {

-        VisionBlocked.source(vb, a2);

-        VisionBlocked.target(vb, a1);

-        CollisionExists.source(ce, a1);

-        CollisionExists.target(ce, a3);

-        a2 != a3;

-}

-*/

-//<<END QUALITATIF ABSTRACTION>>

 

 ////

 //CollisionExists - Time

@@ -407,10 +352,10 @@ private pattern helper_getAllYCoords(a1:Actor, a2: Actor,
         find helper_getYCoords(a2, l2, yPos2, ySpeed2);

 }

 

-private pattern helper_getXCoords(a:Actor, l:java Double, 

+private pattern helper_getXCoords(a:Actor, w:java Double, 

         xPos:java Double, xSpeed:java Double) {

 

-        Actor.length(a, l);

+        Actor.width(a, w);

         Actor.xPos(a, xPos);

         Actor.xSpeed(a, xSpeed);

 }

@@ -473,7 +418,7 @@ pattern collisionExists_defineCollision_x2(a1:Actor, a2:Actor) {
 ///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////

 

 //<<QUALTATIF ABSTRACTION>>

-

+/*

 @Constraint(severity="error", key={a1, a2}, message="on 3 different lanes")

 pattern visionBlocked_qualAbstr(a1:Actor, a2:Actor) {

         VisionBlocked.source(vb, a1);

@@ -491,7 +436,7 @@ pattern visionBlocked_qualAbstr(a1:Actor, a2:Actor) {
         Actor.placedOn(a1, l);

         Actor.placedOn(a2, l);

 }

-

+*/

 @Constraint(severity="error", key={a1, a2}, message="on lanes with different orientation")

 pattern visionBlocked_qualAbstr2(a1:Actor, a2:Actor) {

         VisionBlocked.source(ce, a1);

@@ -509,6 +454,30 @@ pattern visionBlocked_qualAbstr2(a1:Actor, a2:Actor) {
         Lane_Horizontal(hl2);

 }

 

+////////////ADDED

+//to make decision for ITE

+//NOT NEEDED

+/*

+@Constraint(severity="error", key={a}, message="5 Actor")

+pattern define_vb_blvssrc(a:Actor) {

+        VisionBlocked.source(vb, a);

+        VisionBlocked.blockedBy(vb, b);

+        Actor.placedOn(a, lane);

+        Lane_Vertical(lane);

+    Actor.yPos(a, yPa);

+    Actor.yPos(b, yPb);

+    check(yPb <= yPa);

+} or {

+        VisionBlocked.source(vb, a);

+        VisionBlocked.blockedBy(vb, b);

+        Actor.placedOn(a, lane);

+        Lane_Horizontal(lane);

+    Actor.xPos(a, xPa);

+    Actor.xPos(a, xPb);

+    check(xPb <= xPa);

+}

+*/

+////////////ADDED

 //<<END QUALITATIF ABSTRACTION>>

 

 @Constraint(severity="error", key={a1, a2}, message="x")

@@ -582,6 +551,9 @@ pattern visionBlocked_ites_bottom(a1:Actor, a2:Actor) {
                 > ((y1-y2)/(x1-x2)));   

 }

 

+///////

+//BLOCKER IN BETWEEN

+///////

 

 private pattern helper_VB_getJustCoords(a1:Actor, a2: Actor,

         x1:java Double, y1:java Double, 

@@ -600,6 +572,7 @@ private pattern helper_VB_getJustCoords(a1:Actor, a2: Actor,
         Actor.yPos(aBlocker, yBlocker);

 }

 

+/*

 //INFO may use approximation instead

 @Constraint(severity="error", key={a1}, message="x")

 pattern visionBlocked_xdistBSlargerThanxdistTS(a1:Actor, a2:Actor) {

@@ -621,4 +594,49 @@ pattern visionBlocked_xdistBTlargerThanxdistST(a1:Actor, a2:Actor) {
         //check(dist(A2, ABlocker) > dist(A2, A1))

         check((x2-xBlocker)*(x2-xBlocker) + (y2-yBlocker)*(y2-yBlocker) > (x2-x1)*(x2-x1) + (y2-y1)*(y2-y1));

 }

+*/

+

+//INFO may use approximation instead

+@Constraint(severity="error", key={a1}, message="x")

+pattern visionBlocked_xdistBSlargerThanxdistTS(a1:Actor, a2:Actor) {

+

+        find helper_VB_getJustCoords(a1, a2, 

+        x1, _, x2, _,   xBlocker, _);

+        

+        //check(dist(A1, ABlocker) > dist(A1, A2))

+        check((x1-xBlocker)*(x1-xBlocker) > (x1-x2)*(x1-x2));

+}

+

+//INFO may use approximation instead

+@Constraint(severity="error", key={a1}, message="x")

+pattern visionBlocked_xdistBTlargerThanxdistST(a1:Actor, a2:Actor) {

+

+        find helper_VB_getJustCoords(a1, a2, 

+        x1, _, x2, _,   xBlocker, _);

+        

+        //check(dist(A2, ABlocker) > dist(A2, A1))

+        check((x2-xBlocker)*(x2-xBlocker) > (x2-x1)*(x2-x1));

+}

+

+//INFO may use approximation instead

+@Constraint(severity="error", key={a1}, message="x")

+pattern visionBlocked_ydistBSlargerThanydistTS(a1:Actor, a2:Actor) {

+

+        find helper_VB_getJustCoords(a1, a2, 

+        _, y1, _, y2, _, yBlocker);

+        

+        //check(dist(A1, ABlocker) > dist(A1, A2))

+        check((y1-yBlocker)*(y1-yBlocker) > (y1-y2)*(y1-y2));

+}

+

+//INFO may use approximation instead

+@Constraint(severity="error", key={a1}, message="x")

+pattern visionBlocked_ydistBTlargerThanydistST(a1:Actor, a2:Actor) {

+

+        find helper_VB_getJustCoords(a1, a2, 

+        _, y1, _, y2, _, yBlocker);

+        

+        //check(dist(A2, ABlocker) > dist(A2, A1))

+        check((y2-yBlocker)*(y2-yBlocker) > (y2-y1)*(y2-y1));

+}