From 4cea109c71901d9f6ab5d6c62f0c52ccb75997a5 Mon Sep 17 00:00:00 2001
From: yangtzech <yangtzech@qq.com>
Date: Sat, 15 Mar 2025 20:38:15 +0800
Subject: [PATCH] fix "ModuleNotFoundError: No module named 'utils'"

---
 .../lqr_speed_steer_control/lqr_speed_steer_control.py     | 4 ++--
 PathTracking/lqr_steer_control/lqr_steer_control.py        | 4 ++--
 PathTracking/rear_wheel_feedback/rear_wheel_feedback.py    | 7 +++++--
 PathTracking/stanley_controller/stanley_controller.py      | 4 ++--
 4 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py b/PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py
index d85fa98a840..5831d02d300 100644
--- a/PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py
+++ b/PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py
@@ -11,9 +11,9 @@
 import numpy as np
 import scipy.linalg as la
 import pathlib
-from utils.angle import angle_mod
-sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
+from utils.angle import angle_mod
 from PathPlanning.CubicSpline import cubic_spline_planner
 
 # === Parameters =====
diff --git a/PathTracking/lqr_steer_control/lqr_steer_control.py b/PathTracking/lqr_steer_control/lqr_steer_control.py
index 461d6e37223..3c066917ff7 100644
--- a/PathTracking/lqr_steer_control/lqr_steer_control.py
+++ b/PathTracking/lqr_steer_control/lqr_steer_control.py
@@ -11,9 +11,9 @@
 import numpy as np
 import sys
 import pathlib
-from utils.angle import angle_mod
-sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
+from utils.angle import angle_mod
 from PathPlanning.CubicSpline import cubic_spline_planner
 
 Kp = 1.0  # speed proportional gain
diff --git a/PathTracking/rear_wheel_feedback/rear_wheel_feedback.py b/PathTracking/rear_wheel_feedback/rear_wheel_feedback.py
index 1702bd47ddd..fd04fb6d171 100644
--- a/PathTracking/rear_wheel_feedback/rear_wheel_feedback.py
+++ b/PathTracking/rear_wheel_feedback/rear_wheel_feedback.py
@@ -8,11 +8,14 @@
 import matplotlib.pyplot as plt
 import math
 import numpy as np
-from utils.angle import angle_mod
-
+import sys
+import pathlib
 from scipy import interpolate
 from scipy import optimize
 
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
+from utils.angle import angle_mod
+
 Kp = 1.0  # speed proportional gain
 # steering control parameter
 KTH = 1.0
diff --git a/PathTracking/stanley_controller/stanley_controller.py b/PathTracking/stanley_controller/stanley_controller.py
index 08aa0493952..bc98175f178 100644
--- a/PathTracking/stanley_controller/stanley_controller.py
+++ b/PathTracking/stanley_controller/stanley_controller.py
@@ -13,9 +13,9 @@
 import matplotlib.pyplot as plt
 import sys
 import pathlib
-from utils.angle import angle_mod
-sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
+from utils.angle import angle_mod
 from PathPlanning.CubicSpline import cubic_spline_planner
 
 k = 0.5  # control gain