FrenetOptimalTrajectory: Following and Low Speed Trajectories

[lucabonamini]

I've implemented Following and Low Speed Trajectories from Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame.
In order to test the algorithms, I've set up a simulation with two vehicles on a race track.

[coveralls]

Pull Request Test Coverage Report for Build 1070

• 22 of 22 (100.0%) changed or added relevant lines in 1 file are covered.
• 57 unchanged lines in 12 files lost coverage.
• Overall coverage decreased (-0.2%) to 90.199%

---

Files with Coverage Reduction	New Missed Lines	%
SLAM/EKFSLAM/ekf_slam.py	1	99.24%
PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py	2	70.54%
PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py	2	96.76%
SLAM/iterative_closest_point/iterative_closest_point.py	2	96.05%
Localization/extended_kalman_filter/extended_kalman_filter.py	4	87.8%
Localization/particle_filter/particle_filter.py	4	89.17%
Localization/unscented_kalman_filter/unscented_kalman_filter.py	4	92.19%
PathPlanning/ClosedLoopRRTStar/pure_pursuit.py	5	93.02%
SLAM/FastSLAM2/fast_slam2.py	5	96.98%
PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py	6	81.13%

Totals
Change from base Build 1022:	-0.2%
Covered Lines:	6718
Relevant Lines:	7448

---

💛 - Coveralls

[lgtm-com]

This pull request introduces 8 alerts when merging 80a3e27 into 0c5bb95 - view on LGTM.com

new alerts:

• 4 for Unused local variable
• 3 for Unused import
• 1 for Suspicious unused loop iteration variable

[lgtm-com]

This pull request introduces 4 alerts when merging ec2677e into 0c5bb95 - view on LGTM.com

new alerts:

• 2 for Unused local variable
• 2 for Unused import

[lucabonamini]

@AtsushiSakai I can't understand coverage/coveralls fail

[lgtm-com]

This pull request introduces 6 alerts when merging 220a641 into a520d83 - view on LGTM.com

new alerts:

• 2 for First parameter of a method is not named 'self'
• 2 for Unused local variable
• 2 for Unused import

[lucabonamini]

@AtsushiSakai Did you have time to review the pull request?

[AtsushiSakai]

@lucabonamini Hi. Thank you for your PR and sorry for my late reply. Please check the my review.

[AtsushiSakai]

Almost code same as frenet_optimal_trajectory.py. Could you please modify this code to use the function of frenet_optimal_trajectory.py?

[lucabonamini]

Sorry, maybe I misunderstood your comment. Do you mean that I have to extend frenet_optimal_trajectory.py, or can I keep a separated script which uses the same functions? Because for a two vehicles simulation I need to parse a json file, which contains obstacles and a reference trajectory.

[AtsushiSakai]

I mean you can keep a separated script which uses frenet_optimal_trajecty's function. is it difficult?

[lucabonamini]

It's not difficult, but in order to implement Follow Mode and Low velocity trajectory generation I have to change a bit calc_frenet_paths, so it's like having three different function, one for each modality.

[lucabonamini]

Check out last commit.

[AtsushiSakai]

@lucabonamini Also, could you please fix all warnings which detected by lgtm? https://lgtm.com/projects/g/AtsushiSakai/PythonRobotics/rev/pr-e5006867a0183f9cf58ac900bbb9aabcf9f9dc4a

[lgtm-com]

This pull request introduces 3 alerts when merging 741ae22 into a737062 - view on LGTM.com

new alerts:

• 2 for Unused local variable
• 1 for Unused import

[lgtm-com]

This pull request introduces 2 alerts when merging b23f1fc into a737062 - view on LGTM.com

new alerts:

• 2 for Unused import

[AtsushiSakai]

@lucabonamini Sorry for late reply.
In my environment, your simulation stopped because of this error.

s0 = path.s[1]
AttributeError: 'NoneType' object has no attribute 's'

Maybe it cannot generate path. Can you fix it?

[lucabonamini]

I'm currently making further changes to the code. I close this request, I will eventually open another in the future.

Cheers

[AtsushiSakai]

@lucabonamini Oh, OK. Thank you.