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remove depricated warning

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Atsushi Sakai
2018-01-17 23:00:18 -08:00
parent 8535f38583
commit 298145ea94
2 changed files with 7 additions and 5 deletions
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6
PathPlanning/ModelPredictiveTrajectoryGenerator/model_predictive_trajectory_generator.py
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@@ -1,7 +1,7 @@
"""
Model trajectory generator
author: Atsushi Sakai
author: Atsushi Sakai(@Atsushi_twi)
"""
import numpy as np
@@ -14,7 +14,7 @@ max_iter = 100
h = np.matrix([0.5, 0.02, 0.02]).T # parameter sampling distanse
cost_th = 0.1
show_graph = False
show_animation = False
def plot_arrow(x, y, yaw, length=1.0, width=0.5, fc="r", ec="k"):
@@ -122,7 +122,7 @@ def optimize_trajectory(target, k0, p):
p += alpha * np.array(dp)
# print(p.T)
if show_graph:
if show_animation:
show_trajectory(target, xc, yc)
else:
xc, yc, yawc, p = None, None, None, None

6
PathPlanning/ModelPredictiveTrajectoryGenerator/motion_model.py
View File

@@ -45,7 +45,8 @@ def generate_trajectory(s, km, kf, k0):
tk = np.array([0.0, time / 2.0, time])
kk = np.array([k0, km, kf])
t = np.arange(0.0, time, time / n)
kp = scipy.interpolate.spline(tk, kk, t, order=2)
fkp = scipy.interpolate.interp1d(tk, kk, kind="quadratic")
kp = [fkp(ti) for ti in t]
dt = float(time / n)
# plt.plot(t, kp)
@@ -70,7 +71,8 @@ def generate_last_state(s, km, kf, k0):
tk = np.array([0.0, time / 2.0, time])
kk = np.array([k0, km, kf])
t = np.arange(0.0, time, time / n)
kp = scipy.interpolate.spline(tk, kk, t, order=2)
fkp = scipy.interpolate.interp1d(tk, kk, kind="quadratic")
kp = [fkp(ti) for ti in t]
dt = time / n
# plt.plot(t, kp)