From de53da281ac0f2bb80438370886bf756b4c01ef4 Mon Sep 17 00:00:00 2001 From: Yushu Zhang Date: Thu, 30 Apr 2020 19:55:31 -0400 Subject: [PATCH] manage file --- Astar.py => src/control/Astar.py | 0 .../control/mpc_along_trajectory.py | 8 ++++---- mpc_func.py => src/control/mpc_func.py | 0 one_round_demo.py => src/control/one_round_demo.py | 0 4 files changed, 4 insertions(+), 4 deletions(-) rename Astar.py => src/control/Astar.py (100%) rename mpc_along_trajectory.py => src/control/mpc_along_trajectory.py (90%) rename mpc_func.py => src/control/mpc_func.py (100%) rename one_round_demo.py => src/control/one_round_demo.py (100%) diff --git a/Astar.py b/src/control/Astar.py similarity index 100% rename from Astar.py rename to src/control/Astar.py diff --git a/mpc_along_trajectory.py b/src/control/mpc_along_trajectory.py similarity index 90% rename from mpc_along_trajectory.py rename to src/control/mpc_along_trajectory.py index d319779..887f27e 100644 --- a/mpc_along_trajectory.py +++ b/src/control/mpc_along_trajectory.py @@ -3,7 +3,7 @@ from Astar import * poses = load_poses('pose_gt.csv') sparseness = 100 -print(poses.shape[0]/sparseness) +# print(poses.shape[0]/sparseness) # plot_position(poses[1::sparseness]) sparse_poses = poses[1::sparseness, 1:3] @@ -16,8 +16,8 @@ goal_idx = np.random.randint(sparse_poses.shape[0]) cur_node, parent_idx = Astar(start_idx, goal_idx, sparse_poses, k=20) path = find_path(cur_node, parent_idx, start_idx) # print(time.time() - start_time) -print(start_idx, goal_idx) -print(path) +#print(start_idx, goal_idx) +#print(path) # print(len(path)) # print(total_dist(path)) @@ -48,4 +48,4 @@ for interval in range(len(path)//T): dt, lr, T, max_speed, min_speed) speed_now = xstar.value[2,-1] theta = xstar.value[3,-1] - print(ustar.value) \ No newline at end of file + print(ustar.value) diff --git a/mpc_func.py b/src/control/mpc_func.py similarity index 100% rename from mpc_func.py rename to src/control/mpc_func.py diff --git a/one_round_demo.py b/src/control/one_round_demo.py similarity index 100% rename from one_round_demo.py rename to src/control/one_round_demo.py