github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-04-22 03:00:22 -04:00
Code Issues Packages Projects Releases Wiki Activity

code clean up for lgtm

Browse Source
This commit is contained in:
Atsushi Sakai
2018-11-23 11:03:50 +09:00
parent 8dcc6f0f22
commit 3a7f3c5587
18 changed files with 69 additions and 80 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
PathTracking/lqr_steer_control/lqr_steer_control.py
View File

@@ -171,7 +171,6 @@ def closed_loop_prediction(cx, cy, cyaw, ck, speed_profile, goal):
yaw = [state.yaw]
v = [state.v]
t = [0.0]
target_ind = calc_nearest_index(state, cx, cy, cyaw)
e, e_th = 0.0, 0.0
@@ -237,10 +236,6 @@ def calc_speed_profile(cx, cy, cyaw, target_speed):
speed_profile[-1] = 0.0
# flg, ax = plt.subplots(1)
# plt.plot(speed_profile, "-r")
# plt.show()
return speed_profile
@@ -260,7 +255,7 @@ def main():
if show_animation:
plt.close()
flg, _ = plt.subplots(1)
plt.subplots(1)
plt.plot(ax, ay, "xb", label="input")
plt.plot(cx, cy, "-r", label="spline")
plt.plot(x, y, "-g", label="tracking")
@@ -270,14 +265,14 @@ def main():
plt.ylabel("y[m]")
plt.legend()
flg, ax = plt.subplots(1)
plt.subplots(1)
plt.plot(s, [np.rad2deg(iyaw) for iyaw in cyaw], "-r", label="yaw")
plt.grid(True)
plt.legend()
plt.xlabel("line length[m]")
plt.ylabel("yaw angle[deg]")
flg, ax = plt.subplots(1)
plt.subplots(1)
plt.plot(s, ck, "-r", label="curvature")
plt.grid(True)
plt.legend()