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Cleanup cvxpy related codes (#823)

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* add normal_vector_estimation_main.rst

* add normal_vector_estimation_main.rst

* cleanup cvxpy related codes

* cleanup cvxpy related codes
This commit is contained in:
Atsushi Sakai
2023-05-02 20:54:45 +09:00
committed by GitHub
parent 80124f20e8
commit 033e301498
2 changed files with 13 additions and 10 deletions
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6
PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
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@@ -225,8 +225,9 @@ def predict_motion(x0, oa, od, xref):
def iterative_linear_mpc_control(xref, x0, dref, oa, od):
"""
MPC contorl with updating operational point iteraitvely
MPC control with updating operational point iteratively
"""
ox, oy, oyaw, ov = None, None, None, None
if oa is None or od is None:
oa = [0.0] * T
@@ -406,10 +407,11 @@ def do_simulation(cx, cy, cyaw, ck, sp, dl, initial_state):
oa, odelta, ox, oy, oyaw, ov = iterative_linear_mpc_control(
xref, x0, dref, oa, odelta)
di, ai = 0.0, 0.0
if odelta is not None:
di, ai = odelta[0], oa[0]
state = update_state(state, ai, di)
state = update_state(state, ai, di)
time = time + DT
x.append(state.x)