From 0de06534d22e22d84b4fe65ad973525e16e312c0 Mon Sep 17 00:00:00 2001 From: Yilun Chen Date: Fri, 17 Jan 2020 19:17:28 -0500 Subject: [PATCH 1/2] cleanup in dynamic window approach --- .../DynamicWindowApproach/dynamic_window_approach.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py b/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py index 92fd08bb..9e9d34d7 100644 --- a/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py +++ b/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py @@ -22,7 +22,7 @@ def dwa_control(x, config, goal, ob): dw = calc_dynamic_window(x, config) - u, trajectory = calc_final_input(x, dw, config, goal, ob) + u, trajectory = calc_control_and_trajectory(x, dw, config, goal, ob) return u, trajectory @@ -77,9 +77,9 @@ def motion(x, u, dt): motion model """ - x[2] += u[1] * dt x[0] += u[0] * math.cos(x[2]) * dt x[1] += u[0] * math.sin(x[2]) * dt + x[2] += u[1] * dt x[3] = u[0] x[4] = u[1] @@ -101,7 +101,7 @@ def calc_dynamic_window(x, config): x[4] - config.max_dyawrate * config.dt, x[4] + config.max_dyawrate * config.dt] - # [vmin,vmax, yaw_rate min, yaw_rate max] + # [vmin, vmax, yaw_rate min, yaw_rate max] dw = [max(Vs[0], Vd[0]), min(Vs[1], Vd[1]), max(Vs[2], Vd[2]), min(Vs[3], Vd[3])] @@ -124,7 +124,7 @@ def predict_trajectory(x_init, v, y, config): return traj -def calc_final_input(x, dw, config, goal, ob): +def calc_control_and_trajectory(x, dw, config, goal, ob): """ calculation final input with dynamic window """ From 1c081ed3e0ccfbc20214a505b2fbd925427e0fa1 Mon Sep 17 00:00:00 2001 From: Yilun Chen Date: Sun, 19 Jan 2020 18:35:52 -0500 Subject: [PATCH 2/2] address the comment --- PathPlanning/DynamicWindowApproach/dynamic_window_approach.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py b/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py index 9e9d34d7..b8395e5f 100644 --- a/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py +++ b/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py @@ -77,9 +77,9 @@ def motion(x, u, dt): motion model """ + x[2] += u[1] * dt x[0] += u[0] * math.cos(x[2]) * dt x[1] += u[0] * math.sin(x[2]) * dt - x[2] += u[1] * dt x[3] = u[0] x[4] = u[1]