From 0a60f28578f3f1463f81b39d217f63aa49718976 Mon Sep 17 00:00:00 2001 From: Atsushi Sakai Date: Mon, 16 Jul 2018 10:46:38 +0900 Subject: [PATCH] fix bug --- .../model_predictive_speed_and_steer_control.py | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py b/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py index aea426c8..458a9d31 100644 --- a/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py +++ b/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py @@ -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