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Update motion_model.py

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fix the problem of the unsafe type in the `scipy.interpolate`
This commit is contained in:
Zhao Zihe
2019-09-07 16:28:06 +08:00
committed by GitHub
parent 02c197d699
commit 7c1a1ddd66
1 changed files with 10 additions and 0 deletions
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10
PathPlanning/ModelPredictiveTrajectoryGenerator/motion_model.py
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@@ -36,6 +36,11 @@ def generate_trajectory(s, km, kf, k0):
n = s / ds
time = s / v # [s]
if isinstance(time, type(np.array([]))): time = time[0]
if isinstance(km, type(np.array([]))): km = km[0]
if isinstance(kf, type(np.array([]))): kf = kf[0]
tk = np.array([0.0, time / 2.0, time])
kk = np.array([k0, km, kf])
t = np.arange(0.0, time, time / n)
@@ -62,6 +67,11 @@ def generate_last_state(s, km, kf, k0):
n = s / ds
time = s / v # [s]
if isinstance(time, type(np.array([]))): time = time[0]
if isinstance(km, type(np.array([]))): km = km[0]
if isinstance(kf, type(np.array([]))): kf = kf[0]
tk = np.array([0.0, time / 2.0, time])
kk = np.array([k0, km, kf])
t = np.arange(0.0, time, time / n)