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fix test and code clean up for lgtm

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Atsushi Sakai
2018-11-23 14:46:16 +09:00
parent 404cc79e66
commit a4a8591018
11 changed files with 54 additions and 56 deletions
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5
PathTracking/stanley_controller/stanley_controller.py
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@@ -134,7 +134,8 @@ def calc_target_index(state, cx, cy):
error_front_axle = min(d)
target_idx = d.index(error_front_axle)
target_yaw = normalize_angle(np.arctan2(fy - cy[target_idx], fx - cx[target_idx]) - state.yaw)
target_yaw = normalize_angle(np.arctan2(
fy - cy[target_idx], fx - cx[target_idx]) - state.yaw)
if target_yaw > 0.0:
error_front_axle = - error_front_axle
@@ -201,7 +202,7 @@ def main():
plt.axis("equal")
plt.grid(True)
flg, ax = plt.subplots(1)
plt.subplots(1)
plt.plot(t, [iv * 3.6 for iv in v], "-r")
plt.xlabel("Time[s]")
plt.ylabel("Speed[km/h]")