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clean up model_predictive_trajectory gene
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PathPlanning/ModelPredictiveTrajectoryGenerator/model_predictive_trajectory_generator.py

Lines changed: 6 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -6,9 +6,11 @@
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"""
88

9-
import numpy as np
10-
import matplotlib.pyplot as plt
119
import math
10+
11+
import matplotlib.pyplot as plt
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import numpy as np
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import motion_model
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# optimization parameter
@@ -37,7 +39,7 @@ def calc_diff(target, x, y, yaw):
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return d
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3941

40-
def calc_J(target, p, h, k0):
42+
def calc_j(target, p, h, k0):
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xp, yp, yawp = motion_model.generate_last_state(
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p[0, 0] + h[0], p[1, 0], p[2, 0], k0)
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dp = calc_diff(target, [xp], [yp], [yawp])
@@ -68,7 +70,6 @@ def calc_J(target, p, h, k0):
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def selection_learning_param(dp, p, k0, target):
71-
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mincost = float("inf")
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mina = 1.0
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maxa = 2.0
@@ -110,7 +111,7 @@ def optimize_trajectory(target, k0, p):
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print("path is ok cost is:" + str(cost))
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break
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113-
J = calc_J(target, p, h, k0)
114+
J = calc_j(target, p, h, k0)
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try:
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dp = - np.linalg.inv(J) @ dc
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except np.linalg.linalg.LinAlgError:

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