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remove all dependency

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Atsushi Sakai
2018-02-11 10:41:31 -08:00
parent 0a42ae7b9d
commit 4a8be2705e
6 changed files with 22 additions and 23 deletions
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9
PathTracking/rear_wheel_feedback/rear_wheel_feedback.py
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@@ -5,9 +5,13 @@ Path tracking simulation with rear wheel feedback steering control and PID speed
author: Atsushi Sakai(@Atsushi_twi)
"""
import sys
sys.path.append("../../PathPlanning/CubicSpline/")
import math
import matplotlib.pyplot as plt
from pycubicspline import pycubicspline
import cubic_spline_planner
Kp = 1.0 # speed propotional gain
# steering control parameter
@@ -188,7 +192,8 @@ def main():
ay = [0.0, 0.0, 5.0, 6.5, 3.0, 5.0, -2.0]
goal = [ax[-1], ay[-1]]
cx, cy, cyaw, ck, s = pycubicspline.calc_spline_course(ax, ay, ds=0.1)
cx, cy, cyaw, ck, s = cubic_spline_planner.calc_spline_course(
ax, ay, ds=0.1)
target_speed = 10.0 / 3.6
sp = calc_speed_profile(cx, cy, cyaw, target_speed)