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replace math.radians to np.deg2rad

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Atsushi Sakai
2018-10-23 21:06:44 +09:00
parent f55c0b8dd8
commit 815f0fd475
1 changed files with 20 additions and 20 deletions
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40
PathPlanning/StateLatticePlanner/state_lattice_planner.py
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@@ -2,7 +2,7 @@
State lattice planner with model predictive trajectory generator
author: Atsushi Sakai(Atsushi_twi)
author: Atsushi Sakai (@Atsushi_twi)
"""
import sys
@@ -180,10 +180,10 @@ def uniform_terminal_state_sampling_test1():
nxy = 5
nh = 3
d = 20
a_min = - math.radians(45.0)
a_max = math.radians(45.0)
p_min = - math.radians(45.0)
p_max = math.radians(45.0)
a_min = - np.deg2rad(45.0)
a_max = np.deg2rad(45.0)
p_min = - np.deg2rad(45.0)
p_max = np.deg2rad(45.0)
states = calc_uniform_polar_states(nxy, nh, d, a_min, a_max, p_min, p_max)
result = generate_path(states, k0)
@@ -207,10 +207,10 @@ def uniform_terminal_state_sampling_test2():
nxy = 6
nh = 3
d = 20
a_min = - math.radians(-10.0)
a_max = math.radians(45.0)
p_min = - math.radians(20.0)
p_max = math.radians(20.0)
a_min = - np.deg2rad(-10.0)
a_max = np.deg2rad(45.0)
p_min = - np.deg2rad(20.0)
p_max = np.deg2rad(20.0)
states = calc_uniform_polar_states(nxy, nh, d, a_min, a_max, p_min, p_max)
result = generate_path(states, k0)
@@ -234,12 +234,12 @@ def biased_terminal_state_sampling_test1():
nxy = 30
nh = 2
d = 20
a_min = math.radians(-45.0)
a_max = math.radians(45.0)
p_min = - math.radians(20.0)
p_max = math.radians(20.0)
a_min = np.deg2rad(-45.0)
a_max = np.deg2rad(45.0)
p_min = - np.deg2rad(20.0)
p_max = np.deg2rad(20.0)
ns = 100
goal_angle = math.radians(0.0)
goal_angle = np.deg2rad(0.0)
states = calc_biased_polar_states(
goal_angle, ns, nxy, nh, d, a_min, a_max, p_min, p_max)
result = generate_path(states, k0)
@@ -261,12 +261,12 @@ def biased_terminal_state_sampling_test2():
nxy = 30
nh = 1
d = 20
a_min = math.radians(0.0)
a_max = math.radians(45.0)
p_min = - math.radians(20.0)
p_max = math.radians(20.0)
a_min = np.deg2rad(0.0)
a_max = np.deg2rad(45.0)
p_min = - np.deg2rad(20.0)
p_max = np.deg2rad(20.0)
ns = 100
goal_angle = math.radians(30.0)
goal_angle = np.deg2rad(30.0)
states = calc_biased_polar_states(
goal_angle, ns, nxy, nh, d, a_min, a_max, p_min, p_max)
result = generate_path(states, k0)
@@ -288,7 +288,7 @@ def lane_state_sampling_test1():
k0 = 0.0
l_center = 10.0
l_heading = math.radians(90.0)
l_heading = np.deg2rad(90.0)
l_width = 3.0
v_width = 1.0
d = 10