add forward driving but back is not

PathTracking/unicycle_model.py

@@ -1,68 +0,0 @@
-#! /usr/bin/python
-# -*- coding: utf-8 -*-
-"""
-
-
-author Atsushi Sakai
-"""
-
-import math
-
-dt = 0.1  # [s]
-L = 2.9  # [m]
-
-
-class State:
-
-    def __init__(self, x=0.0, y=0.0, yaw=0.0, v=0.0):
-        self.x = x
-        self.y = y
-        self.yaw = yaw
-        self.v = v
-
-
-def update(state, a, delta):
-
-    state.x = state.x + state.v * math.cos(state.yaw) * dt
-    state.y = state.y + state.v * math.sin(state.yaw) * dt
-    state.yaw = state.yaw + state.v / L * math.tan(delta) * dt
-    state.v = state.v + a * dt
-
-    return state
-
-
-if __name__ == '__main__':
-    print("start unicycle simulation")
-    import matplotlib.pyplot as plt
-
-    T = 100
-    a = [1.0] * T
-    delta = [math.radians(1.0)] * T
-    #  print(delta)
-    #  print(a, delta)
-
-    state = State()
-
-    x = []
-    y = []
-    yaw = []
-    v = []
-
-    for (ai, di) in zip(a, delta):
-        state = update(state, ai, di)
-
-        x.append(state.x)
-        y.append(state.y)
-        yaw.append(state.yaw)
-        v.append(state.v)
-
-    flg, ax = plt.subplots(1)
-    plt.plot(x, y)
-    plt.axis("equal")
-    plt.grid(True)
-
-    flg, ax = plt.subplots(1)
-    plt.plot(v)
-    plt.grid(True)
-
-    plt.show()