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This commit is contained in:
Yushu Zhang
2020-04-30 19:55:31 -04:00
parent 10f1406871
commit de53da281a
4 changed files with 4 additions and 4 deletions
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0
Astar.py → src/control/Astar.py
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8
mpc_along_trajectory.py → src/control/mpc_along_trajectory.py
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@@ -3,7 +3,7 @@ from Astar import *
poses = load_poses('pose_gt.csv') poses = load_poses('pose_gt.csv')
sparseness = 100 sparseness = 100
print(poses.shape[0]/sparseness) # print(poses.shape[0]/sparseness)
# plot_position(poses[1::sparseness]) # plot_position(poses[1::sparseness])
sparse_poses = poses[1::sparseness, 1:3] 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) cur_node, parent_idx = Astar(start_idx, goal_idx, sparse_poses, k=20)
path = find_path(cur_node, parent_idx, start_idx) path = find_path(cur_node, parent_idx, start_idx)
# print(time.time() - start_time) # print(time.time() - start_time)
print(start_idx, goal_idx) #print(start_idx, goal_idx)
print(path) #print(path)
# print(len(path)) # print(len(path))
# print(total_dist(path)) # print(total_dist(path))
@@ -48,4 +48,4 @@ for interval in range(len(path)//T):
dt, lr, T, max_speed, min_speed) dt, lr, T, max_speed, min_speed)
speed_now = xstar.value[2,-1] speed_now = xstar.value[2,-1]
theta = xstar.value[3,-1] theta = xstar.value[3,-1]
print(ustar.value) print(ustar.value)

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mpc_func.py → src/control/mpc_func.py
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one_round_demo.py → src/control/one_round_demo.py
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