From 4264cb8b1010e5eaa448b3ef6d0a1c096bba65e8 Mon Sep 17 00:00:00 2001
From: Atsushi Sakai <asakai.amsl+github@gmail.com>
Date: Sun, 20 Dec 2020 20:29:36 +0900
Subject: [PATCH] fix pure_pursuit sample (#445)

---
 .../ClosedLoopRRTStar/pure_pursuit.py         | 41 +------------------
 1 file changed, 2 insertions(+), 39 deletions(-)

diff --git a/PathPlanning/ClosedLoopRRTStar/pure_pursuit.py b/PathPlanning/ClosedLoopRRTStar/pure_pursuit.py
index f3984f87..ca763f0d 100644
--- a/PathPlanning/ClosedLoopRRTStar/pure_pursuit.py
+++ b/PathPlanning/ClosedLoopRRTStar/pure_pursuit.py
@@ -250,7 +250,7 @@ def main():  # pragma: no cover
     yaw = [state.yaw]
     v = [state.v]
     t = [0.0]
-    target_ind = calc_target_index(state, cx, cy)
+    target_ind, dis = calc_target_index(state, cx, cy)
 
     while T >= time and lastIndex > target_ind:
         ai = PIDControl(target_speed, state.v)
@@ -291,43 +291,6 @@ def main():  # pragma: no cover
     plt.show()
 
 
-def main2():  # pragma: no cover
-    import pandas as pd
-    data = pd.read_csv("rrt_course.csv")
-    cx = np.array(data["x"])
-    cy = np.array(data["y"])
-    cyaw = np.array(data["yaw"])
-
-    target_speed = 10.0 / 3.6
-
-    goal = [cx[-1], cy[-1]]
-
-    cx, cy, cyaw = extend_path(cx, cy, cyaw)
-
-    speed_profile = calc_speed_profile(cx, cy, cyaw, target_speed)
-
-    t, x, y, yaw, v, a, d, flag = closed_loop_prediction(
-        cx, cy, cyaw, speed_profile, goal)
-
-    plt.subplots(1)
-    plt.plot(cx, cy, ".r", label="course")
-    plt.plot(x, y, "-b", label="trajectory")
-    plt.plot(goal[0], goal[1], "xg", label="goal")
-    plt.legend()
-    plt.xlabel("x[m]")
-    plt.ylabel("y[m]")
-    plt.axis("equal")
-    plt.grid(True)
-
-    plt.subplots(1)
-    plt.plot(t, [iv * 3.6 for iv in v], "-r")
-    plt.xlabel("Time[s]")
-    plt.ylabel("Speed[km/h]")
-    plt.grid(True)
-    plt.show()
-
-
 if __name__ == '__main__':  # pragma: no cover
     print("Pure pursuit path tracking simulation start")
-    #  main()
-    main2()
+    main()