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rename to Plantrap

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This commit is contained in:
Oskar Weigl
2018-09-23 18:16:14 -07:00
parent cf6e327c21
commit 0796a5d5ac
1 changed files with 3 additions and 3 deletions
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tools/motion_planning/FIR_Planner.py → tools/motion_planning/PlanTrap.py
+3 -3
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@@ -45,7 +45,7 @@ Amax_range = 10000.0
plot_range = 10000.0
def TrapPlan(Xf, Xi, Vi, Vmax, Amax, Dmax):
def PlanTrap(Xf, Xi, Vi, Vmax, Amax, Dmax):
dX = Xf - Xi # Distance to travel
stop_dist = Vi**2 / (2*Dmax) # Minimum stopping distance
dXstop = np.sign(Vi)*stop_dist # Minimum stopping displacement
@@ -178,7 +178,7 @@ def graphical_test():
else:
Vi = 0
(Ar, Vr, Dr, Ta, Tv, Td, Tf) = TrapPlan(Xf, Xi, Vi, Vmax, Amax, Dmax)
(Ar, Vr, Dr, Ta, Tv, Td, Tf) = PlanTrap(Xf, Xi, Vi, Vmax, Amax, Dmax)
(Y, Yd, Ydd, t) = EvalTrap(Xf, Xi, Vi, Ar, Vr, Dr, Ta, Tv, Td, Tf)
# Plotting
@@ -215,7 +215,7 @@ def large_test():
else:
Vi = 0
(Ar, Vr, Dr, Ta, Tv, Td, Tf) = TrapPlan(Xf, Xi, Vi, Vmax, Amax, Dmax)
(Ar, Vr, Dr, Ta, Tv, Td, Tf) = PlanTrap(Xf, Xi, Vi, Vmax, Amax, Dmax)
(Y, Yd, Ydd, t) = EvalTrap(Xf, Xi, Vi, Ar, Vr, Dr, Ta, Tv, Td, Tf)
print()