mirror of
https://github.com/AtsushiSakai/PythonRobotics.git
synced 2026-01-14 16:57:58 -05:00
cc3fd0c55e
* switched to using utils.angle_mod() * switched to using utils.angle_mod() * renamed mod2pi to pi_2_pi * Removed linting errors * switched to using utils.angle_mod() * switched to using utils.angle_mod() * renamed mod2pi to pi_2_pi * Removed linting errors * annotation changes and round precision * Reverted to mod2pi --------- Co-authored-by: Videh Patel <videh.patel@fluxauto.xyz>
81 lines
1.4 KiB
Python
81 lines
1.4 KiB
Python
"""
|
|
|
|
Unicycle model class
|
|
|
|
author Atsushi Sakai
|
|
|
|
"""
|
|
|
|
import math
|
|
import numpy as np
|
|
from utils.angle import angle_mod
|
|
|
|
dt = 0.05 # [s]
|
|
L = 0.9 # [m]
|
|
steer_max = np.deg2rad(40.0)
|
|
curvature_max = math.tan(steer_max) / L
|
|
curvature_max = 1.0 / curvature_max + 1.0
|
|
|
|
accel_max = 5.0
|
|
|
|
|
|
class State:
|
|
|
|
def __init__(self, x=0.0, y=0.0, yaw=0.0, v=0.0):
|
|
self.x = x
|
|
self.y = y
|
|
self.yaw = yaw
|
|
self.v = v
|
|
|
|
|
|
def update(state, a, delta):
|
|
|
|
state.x = state.x + state.v * math.cos(state.yaw) * dt
|
|
state.y = state.y + state.v * math.sin(state.yaw) * dt
|
|
state.yaw = state.yaw + state.v / L * math.tan(delta) * dt
|
|
state.yaw = pi_2_pi(state.yaw)
|
|
state.v = state.v + a * dt
|
|
|
|
return state
|
|
|
|
|
|
def pi_2_pi(angle):
|
|
return angle_mod(angle)
|
|
|
|
|
|
if __name__ == '__main__': # pragma: no cover
|
|
print("start unicycle simulation")
|
|
import matplotlib.pyplot as plt
|
|
|
|
T = 100
|
|
a = [1.0] * T
|
|
delta = [np.deg2rad(1.0)] * T
|
|
# print(delta)
|
|
# print(a, delta)
|
|
|
|
state = State()
|
|
|
|
x = []
|
|
y = []
|
|
yaw = []
|
|
v = []
|
|
|
|
for (ai, di) in zip(a, delta):
|
|
state = update(state, ai, di)
|
|
|
|
x.append(state.x)
|
|
y.append(state.y)
|
|
yaw.append(state.yaw)
|
|
v.append(state.v)
|
|
|
|
plt.subplots(1)
|
|
plt.plot(x, y)
|
|
plt.axis("equal")
|
|
plt.grid(True)
|
|
|
|
plt.subplots(1)
|
|
plt.plot(v)
|
|
plt.grid(True)
|
|
|
|
plt.show()
|