From f1b7e9420950ecba8f26461742f20aa910b87ba9 Mon Sep 17 00:00:00 2001 From: AtsushiSakai Date: Sun, 30 Apr 2017 22:43:10 -0700 Subject: [PATCH] remove unsed code --- .../DubinsPath/dubins_path_planning.py | 17 ++--------------- .../DubinsPath/figures/figure_13.png | Bin 29737 -> 16240 bytes 2 files changed, 2 insertions(+), 15 deletions(-) diff --git a/scripts/PathPlanning/DubinsPath/dubins_path_planning.py b/scripts/PathPlanning/DubinsPath/dubins_path_planning.py index 2de9505c..e6db33ef 100644 --- a/scripts/PathPlanning/DubinsPath/dubins_path_planning.py +++ b/scripts/PathPlanning/DubinsPath/dubins_path_planning.py @@ -205,19 +205,6 @@ def dubins_path_planning(sx, sy, syaw, ex, ey, eyaw, c): py = [- math.sin(-syaw) * x + math.cos(-syaw) * y + sy for x, y in zip(lpx, lpy)] pyaw = leyaw - syaw - # px = [math.cos(-syaw) * (x + sx) + math.sin(-syaw) * (y + sy) - # for x, y in zip(lpx, lpy)] - # py = [- math.sin(-syaw) * (x + sx) + math.cos(-syaw) * (y + sy) - # for x, y in zip(lpx, lpy)] - # pyaw = leyaw + syaw - - # px = [x + sx for x in lpx] - # py = [y + sy for y in lpy] - # pyaw = lpyaw - - # px = lpx - # py = lpy - # pyaw = lpyaw return px, py, pyaw, mode @@ -273,8 +260,8 @@ if __name__ == '__main__': start_yaw = math.radians(45.0) # [rad] end_x = -3.0 # [m] - end_y = 3.0 # [m] - end_yaw = math.radians(45.0) # [rad] + end_y = -3.0 # [m] + end_yaw = math.radians(-45.0) # [rad] curvature = 1.0 diff --git a/scripts/PathPlanning/DubinsPath/figures/figure_13.png b/scripts/PathPlanning/DubinsPath/figures/figure_13.png index 71d474c935950b927396c7a923430779224259f6..5c4b0b15c9e7e5a49ead88c454667654a001bb0c 100644 GIT binary patch literal 16240 zcmeIZcRZH=+dqC%D6^78p+OlL8OfHBF0%I~*)w~Dt3@f)WmB?eD0@?i>`ju9ec3ac z-*NW7@6YG+{o}qL-~WF9e0zvGPuJ^woyY4K&*M0r#|srDISNvGQUpOLFn46s5QGqm zAOxewh~bJr=dTI)anwZ$qj3!WJUn*)IsE^)(;ZzG1feoT{}NI?j^Fa?y>~Ws&L4wL1#Dn6|rZn`@$?v5hf&+%=XsFQHzG zvjG=jA36a;^Y8=7FgPs7eJ&U${^{{cH7_R 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