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fix bug

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Atsushi Sakai
2018-07-16 10:46:38 +09:00
parent 3c891fe199
commit 0a60f28578
1 changed files with 1 additions and 6 deletions
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7
PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
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@@ -88,17 +88,12 @@ def get_linear_model_matrix(v, phi, delta):
A[0, 3] = - DT * v * math.sin(phi)
A[1, 2] = DT * math.sin(phi)
A[1, 3] = DT * v * math.cos(phi)
A[3, 2] = DT * math.tan(delta)
A[3, 2] = DT * math.tan(delta) / WB
B = np.matrix(np.zeros((NX, NU)))
B[2, 0] = DT
B[3, 1] = DT * v / (WB * math.cos(delta) ** 2)
# C = np.matrix(np.zeros((NX, 1)))
# C[0, 0] = DT * v * math.sin(phi) * phi
# C[1, 0] = - DT * v * math.cos(phi) * phi
# C[3, 0] = v * delta / (WB * math.cos(delta) ** 2)
C = np.zeros(NX)
C[0] = DT * v * math.sin(phi) * phi
C[1] = - DT * v * math.cos(phi) * phi