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replace math.radians to np.deg2rad

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Atsushi Sakai
2018-10-23 21:49:08 +09:00
parent 15e044d015
commit a164faa7f2
30 changed files with 107 additions and 106 deletions
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10
PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py
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@@ -331,7 +331,7 @@ def generate_local_course(L, lengths, mode, maxc, step_size):
def pi_2_pi(angle):
return (angle + math.pi) % (2*math.pi) - math.pi
return (angle + math.pi) % (2 * math.pi) - math.pi
def calc_paths(sx, sy, syaw, gx, gy, gyaw, maxc, step_size):
@@ -387,11 +387,11 @@ def test():
for i in range(NTEST):
start_x = (np.random.rand() - 0.5) * 10.0 # [m]
start_y = (np.random.rand() - 0.5) * 10.0 # [m]
start_yaw = math.radians((np.random.rand() - 0.5) * 180.0) # [rad]
start_yaw = np.deg2rad((np.random.rand() - 0.5) * 180.0) # [rad]
end_x = (np.random.rand() - 0.5) * 10.0 # [m]
end_y = (np.random.rand() - 0.5) * 10.0 # [m]
end_yaw = math.radians((np.random.rand() - 0.5) * 180.0) # [rad]
end_yaw = np.deg2rad((np.random.rand() - 0.5) * 180.0) # [rad]
curvature = 1.0 / (np.random.rand() * 20.0)
step_size = 0.1
@@ -424,11 +424,11 @@ def main():
start_x = -1.0 # [m]
start_y = -4.0 # [m]
start_yaw = math.radians(-20.0) # [rad]
start_yaw = np.deg2rad(-20.0) # [rad]
end_x = 5.0 # [m]
end_y = 5.0 # [m]
end_yaw = math.radians(25.0) # [rad]
end_yaw = np.deg2rad(25.0) # [rad]
curvature = 1.0
step_size = 0.1