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161 Commits

Author SHA1 Message Date
Zichao Yang
a8a45033c6 feat: Add reverse mode in pure pursuit (#1194) 
* feat: Add vehicle model rendering function and pause simulation function

* feat: Add support for reverse mode and related function adjustments

* feat: Add reverse mode test case

* feat: Limit the maximum steering angle to improve path tracking control

* feat: Add a newline for improved readability in plot_arrow function

* fix: Replace max/min with np.clip for steering angle limitation in pure pursuit control
 2025-06-07 20:05:32 +09:00
Atsushi Sakai
a38da41baf Add code links to documentation and fix naming inconsistencies (#1213) 
Added references to related Python functions in documentation for better navigation and usability. Corrected inconsistencies in module and test names to align with their respective directories and improve clarity.
 2025-05-04 20:32:11 +09:00
Atsushi Sakai
22cbee4921 Standardize "Ref:" to "Reference" across files (#1210) 
Updated all instances of "Ref:" to "Reference" for consistency in both code and documentation. This change improves clarity and aligns with standard terminology practices.
 2025-05-02 10:01:19 +09:00
Zichao Yang
41187d67b1 fix "ModuleNotFoundError: No module named 'utils'" (#1188) 2025-03-16 22:40:11 +09:00
Atsushi Sakai
64779298ff refactor: rename files and update references for inverted pendulum an… (#1171) 
* refactor: rename files and update references for inverted pendulum and path tracking modules

* refactor: rename inverted pendulum control files and update type check references

* refactor: update import statements to use consistent casing for InvertedPendulum module
 2025-02-21 21:40:21 +09:00
parmaski
2a489b3b82 Fix: dead link URL in doc (#1087) 
* fix dead url links

* change link to MPC course

* remove dead link
 2025-01-24 13:28:12 +09:00
Atsushi Sakai
1e101d1f8a improve LQT steering and speed control document (#1047) 
* improve LQT steering and speed control

* improve LQT steering and speed control

* improve LQT steering and speed control doc

* improve LQT steering and speed control doc

* improve LQT steering and speed control doc

* improve LQT steering and speed control doc
 2024-07-16 23:02:31 +09:00
Atsushi Sakai
5751829bab Enhance lqr steering control docs (#1015) 
* enhance lqr steering control docs

* enhance lqr steering control docs

* enhance lqr steering control docs

* enhance lqr steering control docs

* improve lqr steering control docs
 2024-05-25 23:31:54 +09:00
dependabot[bot]
36b6300402 Bump cvxpy from 1.4.3 to 1.5.1 in /requirements (#1016) 
* Bump cvxpy from 1.4.3 to 1.5.1 in /requirements

Bumps [cvxpy](https://github.com/cvxpy/cvxpy) from 1.4.3 to 1.5.1.
- [Release notes](https://github.com/cvxpy/cvxpy/releases)
- [Commits](https://github.com/cvxpy/cvxpy/compare/v1.4.3...v1.5.1)

---
updated-dependencies:
- dependency-name: cvxpy
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <support@github.com>

* fix cvxpy update issue

---------

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com>
 2024-05-19 20:54:57 +09:00
Videh Patel
cc3fd0c55e Using util.angle_mod in all codes. #684 (#946) 
* switched to using utils.angle_mod()

* switched to using utils.angle_mod()

* renamed mod2pi to pi_2_pi

* Removed linting errors

* switched to using utils.angle_mod()

* switched to using utils.angle_mod()

* renamed mod2pi to pi_2_pi

* Removed linting errors

* annotation changes and round precision

* Reverted to mod2pi

---------

Co-authored-by: Videh Patel <videh.patel@fluxauto.xyz>
 2024-01-02 22:39:48 +09:00
Atsushi Sakai
033e301498 Cleanup cvxpy related codes (#823) 
* add normal_vector_estimation_main.rst

* add normal_vector_estimation_main.rst

* cleanup cvxpy related codes

* cleanup cvxpy related codes
 2023-05-02 20:54:45 +09:00
Atsushi Sakai
76b0d04a3c using pathlib based local module import (#722) 
* using pathlib based local module import

* remove unused import
 2022-09-11 07:21:37 +09:00
Trung Kien
c05a4fdada Fix ModuleNotFoundError when executing test in the tests folder and little improve MPC controller (#619) 
* Fix ModuleNotFoundError when executing test in the tests folder

Signed-off-by: Trung Kien <letrungkien.k53.hut@gmail.com>

* Improve model_predictive_speed_and_steer_control

- Fix typo
- Using @ for matrix multiplication instead of * with have been deprecated in CVXPY1.1
- Fix missing conftest module in test file

Signed-off-by: Trung Kien <letrungkien.k53.hut@gmail.com>
 2022-01-08 08:44:42 +09:00
Atsushi Sakai
d183a00a1c Adding all gifs to the doc (#586) 
* update docs

* update docs

* update docs

* update docs
 2021-11-29 00:01:06 +09:00
Atsushi Sakai
50ba79a3f5 Fix clean up other docs (#580) 
* update docs

* update docs

* update docs

* update docs
 2021-11-27 20:10:45 +09:00
Geonhee
4fe851cc1d Correct typos (#542) 
* Update cubic_spline_planner.py

* Update rear_wheel_feedback.py
 2021-09-06 20:46:28 +09:00
Trung Kien
06b2450591 Fix markdown equations syntax (#535) 2021-08-29 13:49:15 +09:00
Atsushi Sakai
67d7d5c610 Test code clean up (#456) 
* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up
 2021-01-12 22:13:46 +09:00
Atsushi Sakai
fa1585d880 fix scanning error (#339) 2020-06-08 21:43:37 +09:00
Chachay
b6e89c6d8b rename a variable 2020-03-25 16:42:00 +01:00
Chachay
9b22d3fb88 rename yaw_r to yaw_ref 2020-03-24 20:12:26 +01:00
Chachay
6d178e1feb rename yaw_r to yaw_ref 2020-03-24 16:33:43 +01:00
Chachay
7005a664e1 - Changed Class name (CubicSplinePath) 
- remove unnecessary else case
 2020-03-23 16:10:11 +01:00
Chachay
a7c82ccb9e - remove unsued import and variable 
- rename functions
- add target speed controller (as the substitute of calc speed profile)
 2020-03-23 16:00:19 +01:00
Chachay
74739078fd Replace Spline module to Scipy interpolate 2020-03-20 12:08:19 +01:00
Chachay
19630bc0ce Integrate update function into state class 2020-03-20 10:13:41 +01:00
Atsushi Sakai
2e188f866b To fix #298 2020-02-26 22:27:25 +09:00
Guillaume Jacquenot
08428bed15 📝 Added Gjacquenot as author as suggested by @AtsushiSakai 2020-01-04 09:57:47 +01:00
Guillaume Jacquenot
3bdf255534 🔨 Removed unnecessary parenthesis in pure_pursuit.py 2020-01-04 09:57:30 +01:00
Guillaume Jacquenot
bfc8744923 🔨 Refcatored modification in pure_pursuit.py 
Thanks to @AtsushiSakai remark

https://github.com/AtsushiSakai/PythonRobotics/pull/269#discussion_r363005775
 2020-01-04 09:52:31 +01:00
Guillaume Jacquenot
f81140e65b 📝 Renamed method name __call__ with search_target_index in Trajectory class 
Thanks to @AtsushiSakai remarks

https://github.com/AtsushiSakai/PythonRobotics/pull/269#discussion_r363005681
 2020-01-04 09:52:31 +01:00
Guillaume Jacquenot
811bdc1d49 🔨 Refactored pure_pursuit.py 
- Added new method to state class
- Removed global variable old_nearest_point_index
- Created a class States that store the results
 2020-01-04 09:41:21 +01:00
Atsushi Sakai
ad5e1aa070 Merge pull request #259 from goktug97/close_on_key 
Close on key
 2019-12-14 21:33:26 +09:00
Göktuğ Karakaşlı
9ca7d8f148 add comment for stopping the simulation 2019-12-14 14:50:32 +03:00
Guillaume Jacquenot
bc2b7c969c Replaced sqrt(x**2+y**2) with hypot in PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py 2019-12-07 22:20:12 +01:00
Guillaume Jacquenot
db78f07c0b Replaced sqrt(x**2+y**2) with hypot in PathTracking/lqr_steer_control/lqr_steer_control.py 2019-12-07 22:19:41 +01:00
Guillaume Jacquenot
9f5b0a25cc Replaced sqrt(x**2+y**2) with hypot in PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py 2019-12-07 22:19:05 +01:00
Guillaume Jacquenot
4ef4658f82 Replaced sqrt(x**2+y**2) with hypot in PathTracking/move_to_pose/move_to_pose.py 2019-12-07 22:18:00 +01:00
Guillaume Jacquenot
e500f65d7f Replaced sqrt(x**2+y**2) with hypot in PathTracking/pure_pursuit/pure_pursuit.py 2019-12-07 22:16:12 +01:00
Guillaume Jacquenot
41bcdf8573 Replaced sqrt(x**2+y**2) with hypot in PathTracking/rear_wheel_feedback/rear_wheel_feedback.py 2019-12-07 22:14:48 +01:00
Guillaume Jacquenot
22e92ed558 Simplified calc_target_index function in stanley_controller.py 
Used:

- np.hypot to replace np.sqrt(x**2 + y**2) 
- np.argmin to find location of a minimum in a numpy array
 2019-12-07 14:40:28 +01:00
Guillaume Jacquenot
8c701762b4 Fixed typo in stanley_controller.py 2019-12-07 13:54:35 +01:00
Göktuğ Karakaşlı
d019e416ba exit on key 2019-12-07 14:30:18 +03:00
Atsushi Sakai
80d0be2baf Fix RRT Star algorithm 2019-07-15 08:31:46 +09:00
Atsushi Sakai
3c6833210b release grid based_sweep_coverage_path_planner.py 2019-07-12 20:46:32 +09:00
Atsushi Sakai
9d81a98b57 add grid map lib and code clean up 2019-06-29 21:11:39 +09:00
Atsushi Sakai
a5db2fe793 tuned parameter 2019-05-11 08:21:58 +09:00
Kitsunow
58c2a80e97 Set index to ind 2019-05-09 15:16:07 +02:00
Kitsunow
54c872aa2b Use correct name 2019-05-09 15:03:42 +02:00
Kitsunow
82c55d42c4 Made old index global 2019-05-09 14:49:56 +02:00