raiot
/
PythonLinearNonlinearControl
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
mpc/extend/main_track.py
View File

@ -289,7 +289,7 @@ def main():
iteration_num = int(simulation_time / dt)
# 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)
# make system model
@ -306,7 +306,7 @@ def main():
# get traj's curvature
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)
# save traj ref
@ -317,8 +317,8 @@ def main():
# input()
# evaluation function weight
Q = np.diag([1000000., 10., 1.])
R = np.diag([0.1])
Q = np.diag([1e2, 1., 1e3])
R = np.diag([1e2])
# System model update
V = calc_ideal_vel(traj_ref, dt) # in pratical we should calc from the state