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Multi-Purpose-MPC
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Add exemplary obstacles for Q path

master
matssteinweg 2019-12-01 21:38:53 +01:00
parent 73d968c2f2
commit e6f006e515
1 changed files with 19 additions and 12 deletions
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31
reference_path.py
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@ -467,7 +467,7 @@ class ReferencePath:
if __name__ == '__main__': if __name__ == '__main__':
# Select Path | 'Race' or 'Q' # Select Path | 'Race' or 'Q'
path = 'Race' path = 'Q'
# Create Map # Create Map
if path == 'Race': if path == 'Race':
@ -481,6 +481,18 @@ if __name__ == '__main__':
path_resolution = 0.05 # m / wp path_resolution = 0.05 # m / wp
reference_path = ReferencePath(map, wp_x, wp_y, path_resolution, reference_path = ReferencePath(map, wp_x, wp_y, path_resolution,
smoothing_distance=5, max_width=0.22) smoothing_distance=5, max_width=0.22)
# Add obstacles
obs1 = Obstacle(cx=0.0, cy=0.0, radius=0.05)
obs2 = Obstacle(cx=-0.8, cy=-0.5, radius=0.05)
obs3 = Obstacle(cx=-0.7, cy=-1.5, radius=0.05)
obs4 = Obstacle(cx=-0.3, cy=-1.0, radius=0.05)
obs5 = Obstacle(cx=0.3, cy=-1.0, radius=0.05)
obs6 = Obstacle(cx=0.75, cy=-1.5, radius=0.05)
obs7 = Obstacle(cx=0.7, cy=-0.9, radius=0.05)
obs8 = Obstacle(cx=1.2, cy=0.0, radius=0.05)
reference_path.add_obstacles([obs1, obs2, obs3, obs4, obs5, obs6, obs7,
obs8])
elif path == 'Q': elif path == 'Q':
map = Map(file_path='map_floor2.png') map = Map(file_path='map_floor2.png')
wp_x = [-9.169, 11.9, 7.3, -6.95] wp_x = [-9.169, 11.9, 7.3, -6.95]
@ -489,22 +501,17 @@ if __name__ == '__main__':
path_resolution = 0.20 # m / wp path_resolution = 0.20 # m / wp
reference_path = ReferencePath(map, wp_x, wp_y, path_resolution, reference_path = ReferencePath(map, wp_x, wp_y, path_resolution,
smoothing_distance=5, max_width=1.5) smoothing_distance=5, max_width=1.5)
obs1 = Obstacle(cx=-6.3, cy=-11.1, radius=0.20)
obs2 = Obstacle(cx=-2.2, cy=-6.8, radius=0.25)
obs3 = Obstacle(cx=1.7, cy=-1.0, radius=0.15)
obs4 = Obstacle(cx=2.0, cy=-1.2, radius=0.25)
reference_path.add_obstacles([obs1, obs2, obs3, obs4])
else: else:
reference_path = None reference_path = None
print('Invalid path!') print('Invalid path!')
exit(1) exit(1)
obs1 = Obstacle(cx=0.0, cy=0.0, radius=0.05)
obs2 = Obstacle(cx=-0.8, cy=-0.5, radius=0.05)
obs3 = Obstacle(cx=-0.7, cy=-1.5, radius=0.05)
obs4 = Obstacle(cx=-0.3, cy=-1.0, radius=0.05)
obs5 = Obstacle(cx=0.3, cy=-1.0, radius=0.05)
obs6 = Obstacle(cx=0.75, cy=-1.5, radius=0.05)
obs7 = Obstacle(cx=0.7, cy=-0.9, radius=0.05)
obs8 = Obstacle(cx=1.2, cy=0.0, radius=0.05)
reference_path.add_obstacles([obs1, obs2, obs3, obs4, obs5, obs6, obs7,
obs8])
reference_path.show() reference_path.show()
plt.show() plt.show()