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Merge pull request #222 from zhkmxx9302013/master

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Update motion_model.py
This commit is contained in:
Atsushi Sakai
2019-09-07 19:45:16 +09:00
committed by GitHub
parent 57e0dd2c1a 7c1a1ddd66
commit 86cf6f96f4
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)