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go-sakayorigo-sakayori
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fix pre-commit
Signed-off-by: Go Sakayori <go.sakayori@tier4.jp>
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‎control/autoware_smart_mpc_trajectory_follower/README.md

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@@ -211,21 +211,21 @@ It can be seen that the lateral deviation has improved significantly.
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Here we have described wheel base, but the parameters that can be passed to the python simulator are as follows.
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| Parameter | Type | Description |
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| ------------------------ | ----------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| steer_bias | float | steer bias [rad] |
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| steer_rate_lim | float | steer rate limit [rad/s] |
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| vel_rate_lim | float | acceleration limit [m/s^2] |
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| wheel_base | float | wheel base [m] |
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| steer_dead_band | float | steer dead band [rad] |
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| adaptive_gear_ratio_coef | list[float] | List of floats of length 6 specifying information on speed-dependent gear ratios from tire angle to steering wheel angle. |
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| acc_time_delay | float | acceleration time delay [s] |
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| steer_time_delay | float | steer time delay [s] |
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| acc_time_constant | float | acceleration time constant [s] |
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| steer_time_constant | float | steer time constant [s] |
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| Parameter | Type | Description |
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| ------------------------ | ----------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| steer_bias | float | steer bias [rad] |
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| steer_rate_lim | float | steer rate limit [rad/s] |
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| vel_rate_lim | float | acceleration limit [m/s^2] |
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| wheel_base | float | wheel base [m] |
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| steer_dead_band | float | steer dead band [rad] |
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| adaptive_gear_ratio_coef | list[float] | List of floats of length 6 specifying information on speed-dependent gear ratios from tire angle to steering wheel angle. |
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| acc_time_delay | float | acceleration time delay [s] |
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| steer_time_delay | float | steer time delay [s] |
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| acc_time_constant | float | acceleration time constant [s] |
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| steer_time_constant | float | steer time constant [s] |
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| accel_map_scale | float | Parameter that magnifies the corresponding distortion from acceleration input values to actual acceleration realizations. <br> Correspondence information is kept in `control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/accel_map.csv`. |
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| acc_scaling | float | acceleration scaling |
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| steer_scaling | float | steer scaling |
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| acc_scaling | float | acceleration scaling |
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| steer_scaling | float | steer scaling |
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For example, to give the simulation side 0.01 [rad] of steer bias and 0.001 [rad] of steer dead band, edit the `sim_setting.json` as follows.
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‎control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/python_simulator.py

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@@ -18,14 +18,14 @@
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import datetime
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import os
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from autoware_smart_mpc_trajectory_follower.scripts import drive_controller
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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import matplotlib.pyplot as plt
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from numba import njit
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import numpy as np
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import pandas as pd
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import scipy.interpolate
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import simplejson as json
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from autoware_smart_mpc_trajectory_follower.scripts import drive_controller
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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print("\n\n### import python_simulator.py ###")
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‎control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py

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@@ -12,9 +12,9 @@
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from autoware_smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
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import numpy as np
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import python_simulator
17-
from autoware_smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
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initial_error = np.array(
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[0.001, 0.03, 0.01, -0.001, 0, 2 * python_simulator.measurement_steer_bias]

‎control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/python_simulator/run_sim.py

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@@ -23,9 +23,9 @@
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import traceback
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from typing import Dict
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from autoware_smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
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import numpy as np
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import python_simulator
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from autoware_smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model
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parser = argparse.ArgumentParser()
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parser.add_argument("--param_name", default=None)

‎control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_GP.py

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@@ -16,9 +16,9 @@
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from functools import partial
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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from numba import njit
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import numpy as np
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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2323
sqrt_mpc_time_step = np.sqrt(drive_functions.mpc_time_step)
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‎control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_NN.py

+1-1
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@@ -13,9 +13,9 @@
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# limitations under the License.
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16-
import numpy as np
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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from autoware_smart_mpc_trajectory_follower.scripts import proxima_calc
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import numpy as np
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import torch
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from torch import nn
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‎control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_controller.py

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@@ -21,14 +21,14 @@
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import threading
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import time
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import numpy as np
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import scipy.interpolate # type: ignore
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from sklearn.preprocessing import PolynomialFeatures
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from autoware_smart_mpc_trajectory_follower.scripts import drive_GP
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from autoware_smart_mpc_trajectory_follower.scripts import drive_NN
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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from autoware_smart_mpc_trajectory_follower.scripts import drive_iLQR
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from autoware_smart_mpc_trajectory_follower.scripts import drive_mppi
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import numpy as np
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import scipy.interpolate # type: ignore
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from sklearn.preprocessing import PolynomialFeatures
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import torch
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ctrl_index_for_polynomial_reg = np.concatenate(

‎control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_functions.py

+3-1
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@@ -31,7 +31,9 @@
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with open(package_path_json, "r") as file:
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package_path = json.load(file)
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mpc_param_path = package_path["path"] + "/autoware_smart_mpc_trajectory_follower/param/mpc_param.yaml"
34+
mpc_param_path = (
35+
package_path["path"] + "/autoware_smart_mpc_trajectory_follower/param/mpc_param.yaml"
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)
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with open(mpc_param_path, "r") as yml:
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mpc_param = yaml.safe_load(yml)
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‎control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_iLQR.py

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@@ -21,9 +21,9 @@
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import time
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from typing import Callable
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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from numba import njit
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import numpy as np
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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index_cost = np.concatenate(
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(

‎control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_mppi.py

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@@ -16,9 +16,9 @@
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from typing import Callable
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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from numba import njit
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import numpy as np
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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2323
index_cost = np.concatenate(
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(

‎control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py

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@@ -22,6 +22,8 @@
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from autoware_control_msgs.msg import Control
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from autoware_planning_msgs.msg import Trajectory
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from autoware_planning_msgs.msg import TrajectoryPoint
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from autoware_smart_mpc_trajectory_follower.scripts import drive_controller
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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from autoware_vehicle_msgs.msg import SteeringReport
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from builtin_interfaces.msg import Duration
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from geometry_msgs.msg import AccelWithCovarianceStamped
@@ -34,8 +36,6 @@
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import scipy.interpolate
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from scipy.spatial.transform import Rotation as R
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from scipy.spatial.transform import Slerp
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from autoware_smart_mpc_trajectory_follower.scripts import drive_controller
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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from std_msgs.msg import String
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from tier4_debug_msgs.msg import BoolStamped
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from tier4_debug_msgs.msg import Float32MultiArrayStamped

‎control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py

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@@ -23,11 +23,11 @@
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import os
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from pathlib import Path
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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import numpy as np
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import scipy.interpolate
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from scipy.ndimage import gaussian_filter
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from scipy.spatial.transform import Rotation
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from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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def data_smoothing(data: np.ndarray, sigma: float) -> np.ndarray:

‎control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py

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# cspell: ignore optim savez suptitle
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"""Class for training neural nets from driving data."""
18+
from autoware_smart_mpc_trajectory_follower.scripts import drive_NN
19+
from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
20+
from autoware_smart_mpc_trajectory_follower.training_and_data_check import (
21+
add_training_data_from_csv,
22+
)
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import matplotlib.pyplot as plt
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import numpy as np
2025
from sklearn import linear_model
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from sklearn.preprocessing import PolynomialFeatures
22-
from autoware_smart_mpc_trajectory_follower.scripts import drive_NN
23-
from autoware_smart_mpc_trajectory_follower.scripts import drive_functions
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from autoware_smart_mpc_trajectory_follower.training_and_data_check import add_training_data_from_csv
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import torch
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from torch import nn
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from torch.utils.data import DataLoader

‎control/autoware_smart_mpc_trajectory_follower/setup.py

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json.dump(package_path, f)
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build_cpp_command = "g++ -Ofast -Wall -shared -std=c++11 -fPIC $(python3 -m pybind11 --includes) "
1919
build_cpp_command += "autoware_smart_mpc_trajectory_follower/scripts/proxima_calc.cpp "
20-
build_cpp_command += (
21-
"-o autoware_smart_mpc_trajectory_follower/scripts/proxima_calc$(python3-config --extension-suffix) "
22-
)
20+
build_cpp_command += "-o autoware_smart_mpc_trajectory_follower/scripts/proxima_calc$(python3-config --extension-suffix) "
2321
build_cpp_command += "-lrt -I/usr/include/eigen3"
2422
os.system(build_cpp_command)
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2624
so_path = (
2725
"scripts/"
28-
+ glob.glob("autoware_smart_mpc_trajectory_follower/scripts/proxima_calc.*.so")[0].split("/")[-1]
26+
+ glob.glob("autoware_smart_mpc_trajectory_follower/scripts/proxima_calc.*.so")[0].split("/")[
27+
-1
28+
]
2929
)
3030
setup(
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name="smart_mpc_trajectory_follower",

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