rafaelcaricio/Open_Duck_Mini_Runtime
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update poly ref motion

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apirrone 2025-02-24 22:19:01 +01:00
parent cc41a17a67
commit 7eca6b1b4f
1 changed files with 3 additions and 22 deletions
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25
mini_bdx_runtime/mini_bdx_runtime/poly_reference_motion.py
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@ -1,9 +1,9 @@
import json
import numpy as np
import pickle
class PolyReferenceMotion:
def __init__(self, polynomial_coefficients: str):
data = json.load(open(polynomial_coefficients))
data = pickle.load(open(polynomial_coefficients, "rb"))
self.dx_range = [0, 0]
self.dy_range = [0, 0]
self.dtheta_range = [0, 0]
@ -115,23 +115,4 @@ class PolyReferenceMotion:
t = i % self.nb_steps_in_period / self.nb_steps_in_period
t = np.clip(t, 0.0, 1.0) # safeguard
ret = self.sample_polynomial(t, self.data_array[ix][iy][itheta])
return ret
if __name__ == "__main__":
PRM = PolyReferenceMotion(
"/home/antoine/MISC/Open_Duck_reference_motion_generator/polynomial_coefficients.json"
)
vals = []
select_dim = -1
for i in range(PRM.nb_steps_in_period):
vals.append(PRM.get_reference_motion(0.0, -0.05, -0.1, i)[select_dim])
# plot
import matplotlib.pyplot as plt
import numpy as np
ts = np.arange(0, PRM.nb_steps_in_period)
plt.plot(ts, vals)
plt.show()
return ret