github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-02-16 14:45:41 -05:00
Code Issues Packages Projects Releases Wiki Activity

Test code clean up (#456)

Browse Source 
* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up

* Test code clean up
This commit is contained in:
Atsushi Sakai
2021-01-12 22:13:46 +09:00
committed by GitHub
parent 8861977e8c
commit 67d7d5c610
88 changed files with 831 additions and 1291 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py
View File

@@ -6,25 +6,13 @@ author: AtsushiSakai(@Atsushi_twi)
"""
import os
import sys
import matplotlib.pyplot as plt
import numpy as np
import reeds_shepp_path_planning
from rrt_star_reeds_shepp import RRTStarReedsShepp
import pure_pursuit
sys.path.append(os.path.dirname(
os.path.abspath(__file__)) + "/../ReedsSheppPath/")
sys.path.append(os.path.dirname(
os.path.abspath(__file__)) + "/../RRTStarReedsShepp/")
try:
import reeds_shepp_path_planning
import unicycle_model
from rrt_star_reeds_shepp import RRTStarReedsShepp
except ImportError:
raise
import unicycle_model
show_animation = True
@@ -77,7 +65,8 @@ class ClosedLoopRRTStar(RRTStarReedsShepp):
for ind in path_indexs:
path = self.generate_final_course(ind)
flag, x, y, yaw, v, t, a, d = self.check_tracking_path_is_feasible(path)
flag, x, y, yaw, v, t, a, d = self.check_tracking_path_is_feasible(
path)
if flag and best_time >= t[-1]:
print("feasible path is found")
@@ -186,7 +175,8 @@ def main(gx=6.0, gy=7.0, gyaw=np.deg2rad(90.0), max_iter=100):
obstacle_list,
[-2.0, 20.0],
max_iter=max_iter)
flag, x, y, yaw, v, t, a, d = closed_loop_rrt_star.planning(animation=show_animation)
flag, x, y, yaw, v, t, a, d = closed_loop_rrt_star.planning(
animation=show_animation)
if not flag:
print("cannot find feasible path")