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Multi-Purpose-MPC
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Remove update of member variables in update bounds

master
matssteinweg 2019-12-04 23:29:22 +01:00
parent 3c305e46d4
commit 6b09b9ddc9
1 changed files with 6 additions and 6 deletions
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12
reference_path.py
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@ -395,9 +395,9 @@ class ReferencePath:
lb_ls = wp.x - lb * np.cos(angle_lb), wp.y - lb * np.sin(angle_lb) lb_ls = wp.x - lb * np.cos(angle_lb), wp.y - lb * np.sin(angle_lb)
# Update member variables of waypoint # Update member variables of waypoint
wp.ub = ub #wp.ub = ub
wp.lb = lb #wp.lb = lb
wp.border_cells = (ub_ls, lb_ls) #wp.border_cells = (ub_ls, lb_ls)
return lb, ub return lb, ub
@ -435,7 +435,7 @@ class ReferencePath:
# Plot map in gray-scale and set extent to match world coordinates # Plot map in gray-scale and set extent to match world coordinates
canvas = np.ones(self.map.data.shape) canvas = np.ones(self.map.data.shape)
canvas = np.flipud(self.map.data) # canvas = np.flipud(self.map.data)
plt.imshow(canvas, cmap='gray', plt.imshow(canvas, cmap='gray',
extent=[self.map.origin[0], self.map.origin[0] + extent=[self.map.origin[0], self.map.origin[0] +
self.map.width * self.map.resolution, self.map.width * self.map.resolution,
@ -503,7 +503,7 @@ class ReferencePath:
if __name__ == '__main__': if __name__ == '__main__':
# Select Path | 'Race' or 'Q' # Select Path | 'Race' or 'Q'
path = 'Q' path = 'Race'
# Create Map # Create Map
if path == 'Race': if path == 'Race':
@ -540,7 +540,7 @@ if __name__ == '__main__':
smoothing_distance=5, max_width=1.5, smoothing_distance=5, max_width=1.5,
n_extension=30, circular=False) n_extension=30, circular=False)
obs1 = Obstacle(cx=-6.3, cy=-11.1, radius=0.20) obs1 = Obstacle(cx=-6.3, cy=-11.1, radius=0.20)
obs2 = Obstacle(cx=-2.2, cy=-6.8, radius=1.75) obs2 = Obstacle(cx=-2.2, cy=-6.8, radius=0.25)
obs3 = Obstacle(cx=1.7, cy=-1.0, radius=0.15) obs3 = Obstacle(cx=1.7, cy=-1.0, radius=0.15)
obs4 = Obstacle(cx=2.0, cy=-1.2, radius=0.25) obs4 = Obstacle(cx=2.0, cy=-1.2, radius=0.25)
reference_path.add_obstacles([obs1, obs2, obs3, obs4]) reference_path.add_obstacles([obs1, obs2, obs3, obs4])