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Merge pull request #259 from goktug97/close_on_key

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Close on key
This commit is contained in:
Atsushi Sakai
2019-12-14 21:33:26 +09:00
committed by GitHub
parent bf86cc8096 9ca7d8f148
commit ad5e1aa070
53 changed files with 168 additions and 8 deletions
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3
PathTracking/cgmres_nmpc/cgmres_nmpc.py
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@@ -546,6 +546,9 @@ 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")
plot_car(x, y, yaw, steer=steer)
plt.axis("equal")

3
PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py
View File

@@ -224,6 +224,9 @@ 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")
plt.plot(x, y, "ob", label="trajectory")
plt.plot(cx[target_ind], cy[target_ind], "xg", label="target")

3
PathTracking/lqr_steer_control/lqr_steer_control.py
View File

@@ -203,6 +203,9 @@ 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")
plt.plot(x, y, "ob", label="trajectory")
plt.plot(cx[target_ind], cy[target_ind], "xg", label="target")

3
PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
View File

@@ -429,6 +429,9 @@ 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:
plt.plot(ox, oy, "xr", label="MPC")
plt.plot(cx, cy, "-r", label="course")

4
PathTracking/move_to_pose/move_to_pose.py
View File

@@ -93,6 +93,10 @@ 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])
plt.xlim(0, 20)
plt.ylim(0, 20)

3
PathTracking/pure_pursuit/pure_pursuit.py
View File

@@ -166,6 +166,9 @@ 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)
plt.plot(cx, cy, "-r", label="course")
plt.plot(x, y, "-b", label="trajectory")

3
PathTracking/rear_wheel_feedback/rear_wheel_feedback.py
View File

@@ -149,6 +149,9 @@ 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")
plt.plot(x, y, "ob", label="trajectory")
plt.plot(cx[target_ind], cy[target_ind], "xg", label="target")

3
PathTracking/stanley_controller/stanley_controller.py
View File

@@ -185,6 +185,9 @@ 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")
plt.plot(x, y, "-b", label="trajectory")
plt.plot(cx[target_idx], cy[target_idx], "xg", label="target")