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fix bipedal_planner and add its test (#332)

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Atsushi Sakai
2020-05-28 22:03:17 +09:00
committed by GitHub
parent 3607d72b60
commit 03a92fc23e
4 changed files with 101 additions and 42 deletions
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20
PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py
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@@ -369,13 +369,21 @@ def reeds_shepp_path_planning(sx, sy, syaw,
def main():
print("Reeds Shepp path planner sample start!!")
start_x = -1.0 # [m]
start_y = -4.0 # [m]
start_yaw = np.deg2rad(-20.0) # [rad]
# start_x = -1.0 # [m]
# start_y = -4.0 # [m]
# start_yaw = np.deg2rad(-20.0) # [rad]
#
# end_x = 5.0 # [m]
# end_y = 5.0 # [m]
# end_yaw = np.deg2rad(25.0) # [rad]
end_x = 5.0 # [m]
end_y = 5.0 # [m]
end_yaw = np.deg2rad(25.0) # [rad]
start_x = 0.0 # [m]
start_y = 0.0 # [m]
start_yaw = np.deg2rad(0.0) # [rad]
end_x = 0.0 # [m]
end_y = 0.0 # [m]
end_yaw = np.deg2rad(0.0) # [rad]
curvature = 1.0
step_size = 0.1