From 7c1a1ddd66eca65c6e1b7eb3ddec555cd7c02066 Mon Sep 17 00:00:00 2001 From: Zhao Zihe <2809075376@qq.com> Date: Sat, 7 Sep 2019 16:28:06 +0800 Subject: [PATCH] Update motion_model.py fix the problem of the unsafe type in the `scipy.interpolate` --- .../ModelPredictiveTrajectoryGenerator/motion_model.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/PathPlanning/ModelPredictiveTrajectoryGenerator/motion_model.py b/PathPlanning/ModelPredictiveTrajectoryGenerator/motion_model.py index bb66d1fb..f6c78d3b 100644 --- a/PathPlanning/ModelPredictiveTrajectoryGenerator/motion_model.py +++ b/PathPlanning/ModelPredictiveTrajectoryGenerator/motion_model.py @@ -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)