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222325b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 | """Independent validator for URB-02, including the previously omitted start check."""
from common import base_result, in_aabb
from dev15_common import (
first_region_time, height_span, lateral_span, maximum_tilt,
terminal_in_region, terminal_stopped,
)
class IntersectionValidator:
def validate(self, raw, spec, gold):
frames = raw["frames"]
threshold = gold["thresholds"]
start_ok = in_aabb(frames[0]["bodies"]["base"]["position"], gold["regions"]["west_start"])
road_t = first_region_time(frames, "base", gold["regions"]["road_crossing"])
goal_t = first_region_time(frames, "base", gold["regions"]["east_sidewalk"])
lateral = lateral_span(frames, "base", 0)
height = height_span(frames, "base")
tilt = maximum_tilt(frames, "base")
predicates = [
{"id": "west_sidewalk_start", "pass": start_ok, "mandatory": True},
{"id": "road_crossing", "pass": road_t is not None, "value_s": road_t, "mandatory": True},
{"id": "east_sidewalk_hold", "pass": terminal_in_region(frames, "base", threshold["terminal_hold_s"], gold["regions"]["east_sidewalk"]), "value_s": goal_t, "mandatory": True},
{"id": "crosswalk_corridor", "pass": lateral <= threshold["maximum_lateral_span_m"], "value_m": lateral, "mandatory": True},
{"id": "height_stability", "pass": height <= threshold["maximum_height_span_m"], "value_m": height, "mandatory": True},
{"id": "tilt_limit", "pass": tilt <= threshold["maximum_tilt_rad"], "value_rad": tilt, "mandatory": True},
{"id": "terminal_stop", "pass": terminal_stopped(frames, "base", threshold["terminal_hold_s"], threshold["maximum_terminal_speed_mps"]), "mandatory": True},
{"id": "event_order", "pass": start_ok and road_t is not None and goal_t is not None and road_t <= goal_t, "mandatory": True},
]
return base_result(raw, predicates)
VALIDATOR_CLASS = IntersectionValidator
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