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rename a variable

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Chachay
2020-03-25 16:42:00 +01:00
parent 9b22d3fb88
commit b6e89c6d8b
1 changed files with 12 additions and 12 deletions
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24
PathTracking/rear_wheel_feedback/rear_wheel_feedback.py
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@@ -119,7 +119,7 @@ def rear_wheel_feedback_control(state, e, k, yaw_ref):
return delta
def simulate(track, goal):
def simulate(path_ref, goal):
T = 500.0 # max simulation time
goal_dis = 0.3
@@ -133,11 +133,11 @@ def simulate(track, goal):
t = [0.0]
goal_flag = False
s = np.arange(0, track.length, 0.1)
e, k, yaw_ref, s0 = track.calc_track_error(state.x, state.y, 0.0)
s = np.arange(0, path_ref.length, 0.1)
e, k, yaw_ref, s0 = path_ref.calc_track_error(state.x, state.y, 0.0)
while T >= time:
e, k, yaw_ref, s0 = track.calc_track_error(state.x, state.y, s0)
e, k, yaw_ref, s0 = path_ref.calc_track_error(state.x, state.y, s0)
di = rear_wheel_feedback_control(state, e, k, yaw_ref)
speed_ref = calc_target_speed(state, yaw_ref)
@@ -165,9 +165,9 @@ def simulate(track, goal):
# 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(track.X(s), track.Y(s), "-r", label="course")
plt.plot(path_ref.X(s), path_ref.Y(s), "-r", label="course")
plt.plot(x, y, "ob", label="trajectory")
plt.plot(track.X(s0), track.Y(s0), "xg", label="target")
plt.plot(path_ref.X(s0), path_ref.Y(s0), "xg", label="target")
plt.axis("equal")
plt.grid(True)
plt.title("speed[km/h]:{:.2f}, target s-param:{:.2f}".format(round(state.v * 3.6, 2), s0))
@@ -196,10 +196,10 @@ def main():
ay = [0.0, 0.0, 5.0, 6.5, 3.0, 5.0, -2.0]
goal = [ax[-1], ay[-1]]
track = CubicSplinePath(ax, ay)
s = np.arange(0, track.length, 0.1)
reference_path = CubicSplinePath(ax, ay)
s = np.arange(0, reference_path.length, 0.1)
t, x, y, yaw, v, goal_flag = simulate(track, goal)
t, x, y, yaw, v, goal_flag = simulate(reference_path, goal)
# Test
assert goal_flag, "Cannot goal"
@@ -208,7 +208,7 @@ def main():
plt.close()
plt.subplots(1)
plt.plot(ax, ay, "xb", label="input")
plt.plot(track.X(s), track.Y(s), "-r", label="spline")
plt.plot(reference_path.X(s), reference_path.Y(s), "-r", label="spline")
plt.plot(x, y, "-g", label="tracking")
plt.grid(True)
plt.axis("equal")
@@ -217,14 +217,14 @@ def main():
plt.legend()
plt.subplots(1)
plt.plot(s, np.rad2deg(track.calc_yaw(s)), "-r", label="yaw")
plt.plot(s, np.rad2deg(reference_path.calc_yaw(s)), "-r", label="yaw")
plt.grid(True)
plt.legend()
plt.xlabel("line length[m]")
plt.ylabel("yaw angle[deg]")
plt.subplots(1)
plt.plot(s, track.calc_curvature(s), "-r", label="curvature")
plt.plot(s, reference_path.calc_curvature(s), "-r", label="curvature")
plt.grid(True)
plt.legend()
plt.xlabel("line length[m]")