Afrel楕円コースのPID制御シミュレーション http://afrel-shop.com/shopdetail/007001000018/

show.ipynb

task.py

# --------------
# User Instructions
# 
# Define a function cte in the robot class that will
# compute the crosstrack error for a robot on a
# racetrack with a shape as described in the video.
#
# You will need to base your error calculation on
# the robot's location on the track. Remember that 
# the robot will be traveling to the right on the
# upper straight segment and to the left on the lower
# straight segment.
#
# --------------
# Grading Notes
#
# We will be testing your cte function directly by
# calling it with different robot locations and making
# sure that it returns the correct crosstrack error.  

from math import *
import random
import sys


# ------------------------------------------------
# 
# this is the robot class
#

class robot:
    # --------
    # init: 
    #    creates robot and initializes location/orientation to 0, 0, 0
    #

    def __init__(self, length=20.0):
        self.x = 0.0
        self.y = 0.0
        self.orientation = 0.0
        self.length = length
        self.steering_noise = 0.0
        self.distance_noise = 0.0
        self.steering_drift = 0.0

    # --------
    # set: 
    # sets a robot coordinate
    #

    def set(self, new_x, new_y, new_orientation):

        self.x = float(new_x)
        self.y = float(new_y)
        self.orientation = float(new_orientation) % (2.0 * pi)

    # --------
    # set_noise: 
    # sets the noise parameters
    #

    def set_noise(self, new_s_noise, new_d_noise):
        # makes it possible to change the noise parameters
        # this is often useful in particle filters
        self.steering_noise = float(new_s_noise)
        self.distance_noise = float(new_d_noise)

    # --------
    # set_steering_drift: 
    # sets the systematical steering drift parameter
    #

    def set_steering_drift(self, drift):
        self.steering_drift = drift

    # --------
    # move: 
    #    steering = front wheel steering angle, limited by max_steering_angle
    #    distance = total distance driven, most be non-negative

    def move(self, steering, distance,
             tolerance=0.001, max_steering_angle=pi / 2.0):

        if steering > max_steering_angle:
            steering = max_steering_angle
        if steering < -max_steering_angle:
            steering = -max_steering_angle
        if distance < 0.0:
            distance = 0.0

        # make a new copy
        res = robot()
        res.length = self.length
        res.steering_noise = self.steering_noise
        res.distance_noise = self.distance_noise
        res.steering_drift = self.steering_drift

        # apply noise
        steering2 = random.gauss(steering, self.steering_noise)
        distance2 = random.gauss(distance, self.distance_noise)

        # apply steering drift
        steering2 += self.steering_drift

        # Execute motion
        turn = tan(steering2) * distance2 / res.length

        if abs(turn) < tolerance:

            # approximate by straight line motion

            res.x = self.x + (distance2 * cos(self.orientation))
            res.y = self.y + (distance2 * sin(self.orientation))
            res.orientation = (self.orientation + turn) % (2.0 * pi)

        else:

            # approximate bicycle model for motion

            radius = distance2 / turn
            cx = self.x - (sin(self.orientation) * radius)
            cy = self.y + (cos(self.orientation) * radius)
            res.orientation = (self.orientation + turn) % (2.0 * pi)
            res.x = cx + (sin(res.orientation) * radius)
            res.y = cy - (cos(res.orientation) * radius)

        return res

    def __repr__(self):
        return '[x=%.5f y=%.5f orient=%.5f]' % (self.x, self.y, self.orientation)

    ############## ONLY ADD / MODIFY CODE BELOW THIS LINE ####################

    def cte(self, radius, width, height):
        if self.x < radius and self.y < radius:
            dst = sqrt((self.x - radius) ** 2 + (self.y - radius) ** 2)
            cte = dst - radius
        elif self.x < radius and self.y > radius + height:
            dst = sqrt((self.x - radius) ** 2 + (self.y - radius - height) ** 2)
            cte = dst - radius
        elif self.x > radius + width and self.y > radius + height:
            dst = sqrt((self.x - radius - width) ** 2 + (self.y - radius - height) ** 2)
            cte = dst - radius
        elif self.x > radius + width and self.y < radius:
            dst = sqrt((self.x - radius - width) ** 2 + (self.y - radius) ** 2)
            cte = dst - radius
        elif self.y > radius + height:
            cte = self.y - 2.0 * radius - height
        elif self.y < radius:
            cte = -self.y
        elif self.x < radius:
            cte = -self.x
        else:
            cte = self.x - 2.0 * radius - width

        return cte

############## ONLY ADD / MODIFY CODE ABOVE THIS LINE ####################