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📝 Removed unused attribute in classes in frenet_optimal_trajectory.py

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Guillaume Jacquenot
2020-01-03 21:53:40 +01:00
committed by GitHub
parent 8b3e6fa551
commit 48cdd08173
1 changed files with 2 additions and 14 deletions
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16
PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py
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@@ -49,13 +49,6 @@ class quintic_polynomial:
def __init__(self, xs, vxs, axs, xe, vxe, axe, T):
# calc coefficient of quintic polynomial
self.xs = xs
self.vxs = vxs
self.axs = axs
self.xe = xe
self.vxe = vxe
self.axe = axe
self.a0 = xs
self.a1 = vxs
self.a2 = axs / 2.0
@@ -99,12 +92,7 @@ class quartic_polynomial:
def __init__(self, xs, vxs, axs, vxe, axe, T):
# calc coefficient of quintic polynomial
self.xs = xs
self.vxs = vxs
self.axs = axs
self.vxe = vxe
self.axe = axe
# calc coefficient of quartic polynomial
self.a0 = xs
self.a1 = vxs
@@ -184,7 +172,7 @@ def calc_frenet_paths(c_speed, c_d, c_d_d, c_d_dd, s0):
fp.d_dd = [lat_qp.calc_second_derivative(t) for t in fp.t]
fp.d_ddd = [lat_qp.calc_third_derivative(t) for t in fp.t]
# Loongitudinal motion planning (Velocity keeping)
# Longitudinal motion planning (Velocity keeping)
for tv in np.arange(TARGET_SPEED - D_T_S * N_S_SAMPLE, TARGET_SPEED + D_T_S * N_S_SAMPLE, D_T_S):
tfp = copy.deepcopy(fp)
lon_qp = quartic_polynomial(s0, c_speed, 0.0, tv, 0.0, Ti)