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test is added

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Atsushi Sakai
2018-07-15 11:23:32 +09:00
parent 1c10aaa3b5
commit a14d2fc9fe
2 changed files with 33 additions and 15 deletions
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38
PathPlanning/Eta3SplinePath/eta3_spline_path.py
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@@ -16,6 +16,8 @@ import matplotlib.pyplot as plt
# NOTE: *_pose is a 3-array: 0 - x coord, 1 - y coord, 2 - orientation angle \theta
show_animation = True
class eta3_path(object):
"""
@@ -184,11 +186,13 @@ def test1():
for i, u in enumerate(ui):
pos[:, i] = path.calc_path_point(u)
# plot the path
plt.plot(pos[0, :], pos[1, :])
plt.pause(1.0)
if show_animation:
# plot the path
plt.plot(pos[0, :], pos[1, :])
plt.pause(1.0)
plt.close("all")
if show_animation:
plt.close("all")
def test2():
@@ -212,11 +216,13 @@ def test2():
for i, u in enumerate(ui):
pos[:, i] = path.calc_path_point(u)
# plot the path
plt.plot(pos[0, :], pos[1, :])
plt.pause(1.0)
if show_animation:
# plot the path
plt.plot(pos[0, :], pos[1, :])
plt.pause(1.0)
plt.close("all")
if show_animation:
plt.close("all")
def test3():
@@ -273,14 +279,16 @@ def test3():
pos[:, i] = path.calc_path_point(u)
# plot the path
plt.figure('Path from Reference')
plt.plot(pos[0, :], pos[1, :])
plt.xlabel('x')
plt.ylabel('y')
plt.title('Path')
plt.pause(1.0)
plt.show()
if show_animation:
plt.figure('Path from Reference')
plt.plot(pos[0, :], pos[1, :])
plt.xlabel('x')
plt.ylabel('y')
plt.title('Path')
plt.pause(1.0)
plt.show()
def main():