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feat(control_data_collecting_tool): add trajectory inside circle and lanelet2 trajectory #156

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98cfbb1
Add trajectory inside circle
YoshihiroKogure Nov 20, 2024
6305aa5
Fix bug
YoshihiroKogure Nov 20, 2024
43316cf
Add lanelet2 trajectory
YoshihiroKogure Nov 20, 2024
40c6c9c
pre-commit run
YoshihiroKogure Nov 20, 2024
a9d671a
Fix bug
YoshihiroKogure Nov 20, 2024
5d8654a
pre-commit
YoshihiroKogure Nov 20, 2024
61312ec
Update README.md
YoshihiroKogure Nov 20, 2024
4adc140
Add parameter descriptions to the README
YoshihiroKogure Nov 20, 2024
063f281
style(pre-commit): autofix
pre-commit-ci[bot] Nov 20, 2024
1e31241
Revise the content
YoshihiroKogure Nov 20, 2024
2d954d8
style(pre-commit): autofix
pre-commit-ci[bot] Nov 20, 2024
ebd457e
Update README
YoshihiroKogure Nov 20, 2024
5f7df16
Update README
YoshihiroKogure Nov 20, 2024
d3b8e37
Add comments
YoshihiroKogure Nov 20, 2024
7014de7
Update prameters for along_road course
YoshihiroKogure Nov 22, 2024
80e95a8
style(pre-commit): autofix
pre-commit-ci[bot] Nov 22, 2024
2362225
Add default mask and mask selector
YoshihiroKogure Nov 25, 2024
08bc15e
Add mask to plotter
YoshihiroKogure Nov 25, 2024
857f08b
Data collection concerning Mask
YoshihiroKogure Nov 25, 2024
36ee806
Modify the code to publish the pose
YoshihiroKogure Nov 25, 2024
9f6e7ef
style(pre-commit): autofix
pre-commit-ci[bot] Nov 25, 2024
ef6afa9
Modify to work even when map_path is not provided
YoshihiroKogure Nov 25, 2024
c6d6cfb
Add steer rate plot
YoshihiroKogure Nov 26, 2024
3537a91
Update README.md and fix typo
YoshihiroKogure Nov 26, 2024
42e524e
Changes to the README and parameter values
YoshihiroKogure Nov 27, 2024
fa6c2a7
fix markdownlint
kosuke55 Nov 28, 2024
b5a4630
ignore prettier
kosuke55 Nov 28, 2024
edf18ab
Fix typo
YoshihiroKogure Nov 29, 2024
57856fa
style(pre-commit): autofix
pre-commit-ci[bot] Nov 29, 2024
31449f9
Add cpell:ignore
YoshihiroKogure Nov 29, 2024
ffd36b1
Remove cspell:ignore
YoshihiroKogure Nov 29, 2024
50f46bd
Merge branch 'main' into feat/trajectory_inside_circle_and_lanelet2_t…
YoshihiroKogure Dec 2, 2024
d372051
Merge branch 'feat/default_mask' into feat/trajectory_inside_circle_a…
YoshihiroKogure Dec 2, 2024
1cdbd05
style(pre-commit): autofix
pre-commit-ci[bot] Dec 2, 2024
1f5ec46
Revert "style(pre-commit): autofix"
YoshihiroKogure Dec 2, 2024
f98536d
Revert "Merge branch 'feat/default_mask' into feat/trajectory_inside_…
YoshihiroKogure Dec 2, 2024
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style(pre-commit): autofix
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pre-commit-ci[bot] committed Nov 29, 2024
commit 57856fa2b43df2bd8de9a3a5298de9bef0262b57
8 changes: 6 additions & 2 deletions control_data_collecting_tool/scripts/courses/lanelet.py
Original file line number Diff line number Diff line change
Expand Up @@ -99,9 +99,13 @@ def interpolate_two_lines(oneLine, anotherLine):
t_interpolation = np.linspace(0.0, 1.0, max(len(oneLine), len(anotherLine)))

# Perform interpolation between the two lines
interpolated_points = np.array([(1.0 - t_interpolation).tolist()]).T * linear_interpolation_one(
interpolated_points = np.array(
[(1.0 - t_interpolation).tolist()]
).T * linear_interpolation_one(t_interpolation) + np.array(
[t_interpolation.tolist()]
).T * linear_interpolation_another(
t_interpolation
) + np.array([t_interpolation.tolist()]).T * linear_interpolation_another(t_interpolation)
)

return interpolated_points

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -295,7 +295,9 @@ def calc_two_circles_circum_circle_trajectory(

# Calculate arc lengths of the first circle, circum_circle, and second circle
circle_AB = r1 * abs(theta_1_end - theta_1_start) # Arc length of the first circle
circle_BC = ext_r * abs(theta_circum_circle_end - theta_circum_circle_start) # Arc length of the circum_circle
circle_BC = ext_r * abs(
theta_circum_circle_end - theta_circum_circle_start
) # Arc length of the circum_circle
circle_CD = r2 * abs(theta_2_end - theta_2_start) # Arc length of the second circle

# Calculate the total distance of the trajectory
Expand Down
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