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Simplified calc_target_index function in stanley_controller.py #261

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Merged
AtsushiSakai merged 1 commit into from
Dec 7, 2019
Merged

Simplified calc_target_index function in stanley_controller.py #261

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9 changes: 4 additions & 5 deletions PathTracking/stanley_controller/stanley_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -127,20 +127,19 @@ def calc_target_index(state, cx, cy):
:param cy: [float]
:return: (int, float)
"""
# Calc front axle position
# Calc front axle position
fx = state.x + L * np.cos(state.yaw)
fy = state.y + L * np.sin(state.yaw)

# Search nearest point index
dx = [fx - icx for icx in cx]
dy = [fy - icy for icy in cy]
d = [np.sqrt(idx ** 2 + idy ** 2) for (idx, idy) in zip(dx, dy)]
closest_error = min(d)
target_idx = d.index(closest_error)
d = np.hypot(dx, dy)
target_idx = np.argmin(d)

# Project RMS error onto front axle vector
front_axle_vec = [-np.cos(state.yaw + np.pi / 2),
- np.sin(state.yaw + np.pi / 2)]
-np.sin(state.yaw + np.pi / 2)]
error_front_axle = np.dot([dx[target_idx], dy[target_idx]], front_axle_vec)

return target_idx, error_front_axle
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