Minor changes

- Add comments
- Fix path to map files

src/map.py

@@ -156,7 +156,7 @@ class Map:
 
 
 if __name__ == '__main__':
-    map = Map('real_map.png')
+    map = Map('maps/real_map.png')
-    # map = Map('sim_map.png')
+    # map = Map('maps/sim_map.png')
     plt.imshow(np.flipud(map.data), cmap='gray')
     plt.show()

src/reference_path.py

@@ -118,7 +118,7 @@ class ReferencePath:
         # Number of waypoints
         n_wp = [int(np.sqrt((wp_x[i + 1] - wp_x[i]) ** 2 +
                             (wp_y[i + 1] - wp_y[i]) ** 2) /
-            self.resolution) for i in range(len(wp_x) - 1)]
+                self.resolution) for i in range(len(wp_x) - 1)]
 
         # Construct waypoints with specified resolution
         gp_x, gp_y = wp_x[-1], wp_y[-1]
@@ -656,7 +656,7 @@ if __name__ == '__main__':
     if path == 'Sim_Track':
 
         # Load map file
-        map = Map(file_path='sim_map.png', origin=[-1, -2], resolution=0.005)
+        map = Map(file_path='maps/sim_map.png', origin=[-1, -2], resolution=0.005)
 
         # Specify waypoints
         wp_x = [-0.75, -0.25, -0.25, 0.25, 0.25, 1.25, 1.25, 0.75, 0.75, 1.25,
@@ -687,7 +687,7 @@ if __name__ == '__main__':
     elif path == 'Real_Track':
 
         # Load map file
-        map = Map(file_path='real_map.png', origin=(-30.0, -24.0),
+        map = Map(file_path='maps/real_map.png', origin=(-30.0, -24.0),
                   resolution=0.06)
 
         # Specify waypoints
@@ -727,8 +727,9 @@ if __name__ == '__main__':
         print('Invalid path!')
         exit(1)
 
-    ub, lb, border_cells = reference_path.update_path_constraints(0,
+    ub, lb, border_cells = \
-                                    reference_path.n_waypoints, 0.1, 0.01)
+        reference_path.update_path_constraints(0, reference_path.n_waypoints,
+                                               0.1, 0.01)
     SpeedProfileConstraints = {'a_min': -0.1, 'a_max': 0.5,
                                'v_min': 0, 'v_max': 1.0, 'ay_max': 4.0}
     reference_path.compute_speed_profile(SpeedProfileConstraints)

src/simulation.py

@@ -17,7 +17,8 @@ if __name__ == '__main__':
     if sim_mode == 'Sim_Track':
 
         # Load map file
-        map = Map(file_path='sim_map.png', origin=[-1, -2], resolution=0.005)
+        map = Map(file_path='maps/sim_map.png', origin=[-1, -2],
+                  resolution=0.005)
 
         # Specify waypoints
         wp_x = [-0.75, -0.25, -0.25, 0.25, 0.25, 1.25, 1.25, 0.75, 0.75, 1.25,
@@ -34,7 +35,7 @@ if __name__ == '__main__':
                                        circular=True)
 
         # Add obstacles
-        use_obstacles = False
+        use_obstacles = True
         if use_obstacles:
             obs1 = Obstacle(cx=0.0, cy=0.0, radius=0.05)
             obs2 = Obstacle(cx=-0.8, cy=-0.5, radius=0.08)
@@ -50,14 +51,14 @@ if __name__ == '__main__':
 
         # Instantiate motion model
         car = BicycleModel(length=0.12, width=0.06,
-                            reference_path=reference_path, Ts=0.05)
+                           reference_path=reference_path, Ts=0.05)
 
     # Real-World Environment. Track used for testing the algorithm on a 1:12
     # RC car.
     elif sim_mode == 'Real_Track':
 
         # Load map file
-        map = Map(file_path='real_map.png', origin=(-30.0, -24.0),
+        map = Map(file_path='maps/real_map.png', origin=(-30.0, -24.0),
                   resolution=0.06)
 
         # Specify waypoints
@@ -132,18 +133,18 @@ if __name__ == '__main__':
     # Until arrival at end of path
     while car.s < reference_path.length:
 
-        # get control signals
+        # Get control signals
         u = mpc.get_control()
 
-        # drive car
+        # Simulate car
         car.drive(u)
 
-        # log
+        # Log car state
         x_log.append(car.temporal_state.x)
         y_log.append(car.temporal_state.y)
         v_log.append(u[0])
 
-        # Increase simulation time
+        # Increment simulation time
         t += car.Ts
 
         # Plot path and drivable area

src/spatial_bicycle_models.py

@@ -1,13 +1,11 @@
 import numpy as np
 from abc import abstractmethod
-
 try:
     from abc import ABC
 except:
     # for Python 2.7
     from abc import ABCMeta
 
-
     class ABC(object):
         __metaclass__ = ABCMeta
         pass