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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/stanley_controller/stanley_controller.py
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@@ -5,10 +5,12 @@ Path tracking simulation with Stanley steering control and PID speed control.
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
k = 0.5 # control gain
@@ -100,7 +102,8 @@ def main():
ax = [0.0, 100.0, 100.0, 50.0, 60.0]
ay = [0.0, 0.0, -30.0, -20.0, 0.0]
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 = 30.0 / 3.6 # [m/s]