github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-04-22 03:00:22 -04:00
Code Issues Packages Projects Releases Wiki Activity

fix LQR rrt star

Browse Source
This commit is contained in:
Atsushi Sakai
2019-07-27 16:32:40 +09:00
parent 0937486803
commit 8061e73337
4 changed files with 146 additions and 228 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
PathPlanning/LQRPlanner/LQRplanner.py
View File

@@ -6,19 +6,20 @@ author: Atsushi Sakai (@Atsushi_twi)
"""
import matplotlib.pyplot as plt
import numpy as np
import scipy.linalg as la
import math
import random
show_animation = True
import matplotlib.pyplot as plt
import numpy as np
import scipy.linalg as la
SHOW_ANIMATION = True
MAX_TIME = 100.0 # Maximum simulation time
DT = 0.1 # Time tick
def LQRplanning(sx, sy, gx, gy):
def LQRplanning(sx, sy, gx, gy, show_animation=SHOW_ANIMATION):
rx, ry = [sx], [sy]
@@ -129,7 +130,7 @@ def main():
rx, ry = LQRplanning(sx, sy, gx, gy)
if show_animation: # pragma: no cover
if SHOW_ANIMATION: # pragma: no cover
plt.plot(sx, sy, "or")
plt.plot(gx, gy, "ob")
plt.plot(rx, ry, "-r")