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- Deliverables folder holds final files for submission - Experimentation holds scripts and things related to our development of a final solution - Simulation holds the provided files - Added template for part 2 submission with comments
96 lines
4.3 KiB
Matlab
96 lines
4.3 KiB
Matlab
function info = getTrajectoryInfo(Y,U,Xobs,t_update,TestTrack)
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% info = getTrajectoryInfo(Y,U,Xobs)
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%
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% Given a trajectory, input, and a cell array of obstacles, return
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% information about whether or not the trajectory left the track or crashed
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% into any obstacles, and if the input limits were exceeded.
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%
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% NOTE: the trajectory is only for the vehicle's center of mass, so we
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% are not checking if the "corners" of the vehicle leave the track or hit
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% any obstacles.
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%
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% INPUTS:
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% Y an N-by-2 trajectory in the x and y coordinates of the
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% vehicle's states, where the first column is x and the
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% second column is y OR an N-by-6 trajectory in the full
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% state, where the first column is x and the third column is
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% y
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%
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% U an N-by-2 vector of inputs, where the first column is the
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% steering angle and the second column is the rear wheel
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% driving force
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%
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% Xobs a 1-by-Nobs cell array where each cell contains a 4-by-2
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% obstacle definition, as would be generated by the
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% generateRandomObstacles function (this is an optional
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% argument, so leave it out if your trajectory doesn't avoid
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% any obstacles)
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%
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% TestTrack a TestTrack object for which TestTrack.cline is the
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% centerline (this is an optional argument; the function will
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% by default try to load the provided TestTrack.mat file)
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%
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% t_update a M-by-1 vector of time that records the time consumption
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% when the control input generation function is called
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%
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% OUTPUTS:
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% info a struct containing the following catergories
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%
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% info.Y : The trajectory given as an input argument to the
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% function.
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%
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% info.U : The inputs given as an input argument to the
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% function.
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%
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% info.t_finished : Time in seconds when the finish line is
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% crossed. An empty vector is returned if finish line is not
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% crossed.
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%
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% info.t_end : Time in seconds at end of trajectory.
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%
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% info.left_track_position : 2-by-1 vector with x and y
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% coordinates of location where vehicle first leaves the
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% track. An empty vector is returned if vehicle never leaves
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% the track.
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%
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% info.left_track_time : Time in seconds when vehicle first
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% leaves the track. An empty vector is returned if vehicle
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% never leaves the track.
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%
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% info.left_percent_of_track_completed : Percentage of the
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% track completed before vehicle first leaves the track. An
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% empty vector is returned if vehicle never leaves the track.
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%
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% info.crash_position : 2-by-1 vector with x and y
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% coordinates of location where vehicle first hits an
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% obstacle. An empty vector is returned if vehicle never hits
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% an obstacle.
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%
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% info.crash_time : Time in seconds when vehicle first hits
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% an obstacle. An empty vector is returned if vehicle never
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% hits an obstacle.
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%
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% info.crash_percent_of_track_completed : Percentage of the
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% track completed before vehicle first hits an obstacle. An
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% empty vector is returned if vehicle never hits an obstacle.
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%
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% info.input_exceeded : 1-by-2 boolean with the first entry
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% being true if constraints on input 1 are violated and entry
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% 2 being true if constraints on input 2 are violated.
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%
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% info.percent_of_track_completed : Percentage of track
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% complete prior to leaving the track, hitting an obstacle,
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% or the control inputs end.
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%
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% info.t_score : Score of computational time as
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% info.t_finished + M * max(num_exceed_time_limit,0),
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% where M(=10) is some penalty value, num_exceed_time_limit
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% is the number of elements in t_update that are longer than
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% 0.5 second. An empty vector is returned if finish line is
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% not crossed.
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%
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% Written by: Shreyas Kousik and Matthew Porter
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% Created: 14 Dec 2017
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% Modified: 24 Oct 2018
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% Modified: 1 Nov 2021 (Jinsun Liu)
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