File size: 2,928 Bytes
0c3dd1d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 | """Reference path specifications (NEW CODE).
Reference arrays are N x 4: x, y, yaw, v_ref -- the released waypoint format
read by ControlNode.__init__ with np.loadtxt(delimiter=',').
"""
import hashlib
import os
import numpy as np
from .released import WAYPOINT_DIR, sha256_file
def wrap(a):
return np.arctan2(np.sin(a), np.cos(a))
class Reference:
def __init__(self, spec, array, ref_path_parameter, override_array, source_files):
self.spec = spec
self.array = np.asarray(array, dtype=float)
self.ref_path_parameter = ref_path_parameter
self.override_array = override_array
self.source_files = source_files # {path: sha256}
seg = np.linalg.norm(np.diff(self.array[:, :2], axis=0), axis=1)
self.arc = np.concatenate(([0.0], np.cumsum(seg)))
self.length = float(self.arc[-1])
self.sha256 = hashlib.sha256(np.ascontiguousarray(self.array).tobytes()).hexdigest()
def _load_released(name):
path = os.path.join(WAYPOINT_DIR, name + '.csv')
with open(path) as f:
arr = np.loadtxt(f, delimiter=',') # identical call to path_follower.py:103-104
return path, arr
def build_reference(spec):
kind = spec['type']
if kind == 'released_csv':
path, arr = _load_released(spec['name'])
return Reference(spec, arr, spec['name'], None, {path: sha256_file(path)})
if kind == 'csv_transformed':
path, arr = _load_released(spec['name'])
rot = float(spec.get('rotate', 0.0))
c, s = np.cos(rot), np.sin(rot)
out = arr.copy()
out[:, 0] = c * arr[:, 0] - s * arr[:, 1] + float(spec.get('dx', 0.0))
out[:, 1] = s * arr[:, 0] + c * arr[:, 1] + float(spec.get('dy', 0.0))
if rot != 0.0:
out[:, 2] = wrap(arr[:, 2] + rot)
return Reference(spec, out, spec['name'], out, {path: sha256_file(path)})
if kind == 'straight':
x0, y0 = float(spec.get('x0', 0.0)), float(spec.get('y0', 0.0))
h = float(spec.get('heading', 0.0))
spacing = float(spec.get('spacing', 0.1))
s0, s1 = float(spec.get('s_start', -10.0)), float(spec.get('s_end', 60.0))
n = int(round((s1 - s0) / spacing)) + 1
s = s0 + spacing * np.arange(n)
arr = np.column_stack((x0 + s * np.cos(h), y0 + s * np.sin(h),
np.full(n, float(wrap(h))), np.full(n, float(spec.get('v_ref', 1.0)))))
# ref_path parameter only makes the released __init__ open an existing file;
# node.ref_traj is then replaced by this array.
return Reference(spec, arr, 'straight_line', arr, {})
if kind == 'array':
arr = np.asarray(spec['points'], dtype=float)
if arr.ndim != 2 or arr.shape[1] != 4:
raise ValueError('array reference must be N x 4')
return Reference(spec, arr, 'straight_line', arr, {})
raise ValueError(f'unknown reference type {kind}')
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