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fix the parameters of main_track

This commit is contained in:
Shunichi09 2019-10-09 12:05:42 +09:00
parent 9d66cd2d49
commit ac1f2d2ebd
1 changed files with 4 additions and 4 deletions
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8
mpc/extend/main_track.py
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@ -289,7 +289,7 @@ def main():
iteration_num = int(simulation_time / dt) iteration_num = int(simulation_time / dt)
# make simulator with coninuous matrix # make simulator with coninuous matrix
init_xs_lead = np.array([0., 0., math.pi/6, 0.]) init_xs_lead = np.array([0., 0., math.pi/5, 0.])
lead_car = WheeledSystem(init_states=init_xs_lead) lead_car = WheeledSystem(init_states=init_xs_lead)
# make system model # make system model
@ -306,7 +306,7 @@ def main():
# get traj's curvature # get traj's curvature
NUM_SKIP = 3 NUM_SKIP = 3
MARGIN = 20 MARGIN = 50
angles, curvatures = calc_curvatures(traj_ref[:, index_min + MARGIN:index_min + PREDICT_STEP + 2 * NUM_SKIP + MARGIN], PREDICT_STEP, NUM_SKIP) angles, curvatures = calc_curvatures(traj_ref[:, index_min + MARGIN:index_min + PREDICT_STEP + 2 * NUM_SKIP + MARGIN], PREDICT_STEP, NUM_SKIP)
# save traj ref # save traj ref
@ -317,8 +317,8 @@ def main():
# input() # input()
# evaluation function weight # evaluation function weight
Q = np.diag([1000000., 10., 1.]) Q = np.diag([1e2, 1., 1e3])
R = np.diag([0.1]) R = np.diag([1e2])
# System model update # System model update
V = calc_ideal_vel(traj_ref, dt) # in pratical we should calc from the state V = calc_ideal_vel(traj_ref, dt) # in pratical we should calc from the state