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add comment for stopping the simulation

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Göktuğ Karakaşlı
2019-12-14 14:44:01 +03:00
parent 25cffd70d2
commit 9ca7d8f148
53 changed files with 54 additions and 0 deletions
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1
PathTracking/cgmres_nmpc/cgmres_nmpc.py
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@@ -546,6 +546,7 @@ def animation(plant, controller, dt):
steer = math.atan2(controller.history_u_2[t] * WB / v, 1.0)
plt.cla()
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
plt.plot(plant.history_x, plant.history_y, "-r", label="trajectory")

1
PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py
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@@ -224,6 +224,7 @@ def do_simulation(cx, cy, cyaw, ck, speed_profile, goal):
if target_ind % 1 == 0 and show_animation:
plt.cla()
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
plt.plot(cx, cy, "-r", label="course")

1
PathTracking/lqr_steer_control/lqr_steer_control.py
View File

@@ -203,6 +203,7 @@ def closed_loop_prediction(cx, cy, cyaw, ck, speed_profile, goal):
if target_ind % 1 == 0 and show_animation:
plt.cla()
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
plt.plot(cx, cy, "-r", label="course")

1
PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
View File

@@ -429,6 +429,7 @@ def do_simulation(cx, cy, cyaw, ck, sp, dl, initial_state):
if show_animation: # pragma: no cover
plt.cla()
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
if ox is not None:

1
PathTracking/move_to_pose/move_to_pose.py
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@@ -93,6 +93,7 @@ def plot_vehicle(x, y, theta, x_traj, y_traj): # pragma: no cover
plt.plot(x_traj, y_traj, 'b--')
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])

1
PathTracking/pure_pursuit/pure_pursuit.py
View File

@@ -166,6 +166,7 @@ def main():
if show_animation: # pragma: no cover
plt.cla()
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
plot_arrow(state.x, state.y, state.yaw)

1
PathTracking/rear_wheel_feedback/rear_wheel_feedback.py
View File

@@ -149,6 +149,7 @@ def closed_loop_prediction(cx, cy, cyaw, ck, speed_profile, goal):
if target_ind % 1 == 0 and show_animation:
plt.cla()
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
plt.plot(cx, cy, "-r", label="course")

1
PathTracking/stanley_controller/stanley_controller.py
View File

@@ -186,6 +186,7 @@ def main():
if show_animation: # pragma: no cover
plt.cla()
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
plt.plot(cx, cy, ".r", label="course")