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fix typo

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Atsushi Sakai
2018-06-19 21:47:19 +09:00
parent ba2247c1b0
commit 7008ef89b3
1 changed files with 7 additions and 6 deletions
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13
PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py
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@@ -42,11 +42,11 @@ KLON = 1.0
show_animation = True
class quinic_polynomial:
class quintic_polynomial:
def __init__(self, xs, vxs, axs, xe, vxe, axe, T):
# calc coefficient of quinic polynomial
# calc coefficient of quintic polynomial
self.xs = xs
self.vxs = vxs
self.axs = axs
@@ -86,17 +86,18 @@ class quinic_polynomial:
xt = 2 * self.a2 + 6 * self.a3 * t + 12 * self.a4 * t**2 + 20 * self.a5 * t**3
return xt
def calc_third_derivative(self, t):
xt = 6 * self.a3 + 24 * self.a4 * t + 60 * self.a5 * t**2
return xt
class quartic_polynomial:
def __init__(self, xs, vxs, axs, vxe, axe, T):
# calc coefficient of quinic polynomial
# calc coefficient of quintic polynomial
self.xs = xs
self.vxs = vxs
self.axs = axs
@@ -132,7 +133,7 @@ class quartic_polynomial:
xt = 2 * self.a2 + 6 * self.a3 * t + 12 * self.a4 * t**2
return xt
def calc_third_derivative(self, t):
xt = 6 * self.a3 + 24 * self.a4 * t
@@ -173,7 +174,7 @@ def calc_frenet_paths(c_speed, c_d, c_d_d, c_d_dd, s0):
for Ti in np.arange(MINT, MAXT, DT):
fp = Frenet_path()
lat_qp = quinic_polynomial(c_d, c_d_d, c_d_dd, di, 0.0, 0.0, Ti)
lat_qp = quintic_polynomial(c_d, c_d_d, c_d_dd, di, 0.0, 0.0, Ti)
fp.t = [t for t in np.arange(0.0, Ti, DT)]
fp.d = [lat_qp.calc_point(t) for t in fp.t]