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Update the pi_2_pi function to a use of a modulo instead of two while.

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Alexis Paques
2018-07-10 09:22:18 +02:00
parent 39aa4f5a6a
commit b243750a13
17 changed files with 19 additions and 117 deletions
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8
PathTracking/lqr_steer_control/lqr_steer_control.py
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@@ -61,13 +61,7 @@ def PIDControl(target, current):
def pi_2_pi(angle):
while (angle > math.pi):
angle = angle - 2.0 * math.pi
while (angle < -math.pi):
angle = angle + 2.0 * math.pi
return angle
return (angle + math.pi) % (2*math.pi) - math.pi
def solve_DARE(A, B, Q, R):