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- Changed Class name (CubicSplinePath)

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- remove unnecessary else case
This commit is contained in:
Chachay
2020-03-23 16:10:11 +01:00
parent a7c82ccb9e
commit 7005a664e1
1 changed files with 4 additions and 4 deletions
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8
PathTracking/rear_wheel_feedback/rear_wheel_feedback.py
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@@ -36,7 +36,7 @@ class State:
self.yaw = self.yaw + self.v / L * math.tan(delta) * dt
self.v = self.v + a * dt
class TrackSpline:
class CubicSplinePath:
def __init__(self, x, y):
x, y = map(np.asarray, (x, y))
s = np.append([0],(np.cumsum(np.diff(x)**2) + np.cumsum(np.diff(y)**2))**0.5)
@@ -187,8 +187,8 @@ def calc_target_speed(state, yaw_r):
if state.direction != 1:
return -target_speed
else:
return target_speed
return target_speed
def main():
print("rear wheel feedback tracking start!!")
@@ -196,7 +196,7 @@ def main():
ay = [0.0, 0.0, 5.0, 6.5, 3.0, 5.0, -2.0]
goal = [ax[-1], ay[-1]]
track = TrackSpline(ax, ay)
track = CubicSplinePath(ax, ay)
s = np.arange(0, track.length, 0.1)
t, x, y, yaw, v, goal_flag = simulate(track, goal)