drive_renderer = XDriveRenderer(drive, m_to_px, np.array([30, 30]),
canvas_size, dt)
class ProfileStep:
def __init__(self, pose, velocity, acceleration):
self.pose = pose
self.velocity = velocity
self.acceleration = acceleration
max_accel = 5.0
max_vel = 1.05 * sqrt(2)
dong_rate = 1.0
total_distance = path.total_dist()
def calculate_deccel_dist():
angle_cursor = (None, None)
velocity_multiplier = 0.0
velocity = 0
linear_distance_covered = 0
last_angle = 0.0
# accel
while velocity_multiplier < 1.0:
angle, new_angle_cursor = path_reversed.get_angle_at_dist(
linear_distance_covered, angle_cursor)
