def error_publisher(self): """ Publish the error between the car and the cone. We will view this with rqt_plot to plot the success of the controller """ error_msg = parking_error() ################################# # Your Code Here # Populate error_msg with relative_x, relative_y, sqrt(x^2+y^2) ################################# self.error_pub.publish(error_msg)
def error_publisher(self): """ Publish the error between the car and the cone. We will view this with rqt_plot to plot the success of the controller """ # Might need to subtract desired distance from error??? error_msg = parking_error() error_msg.x_error = self.relative_x error_msg.y_error = self.relative_y error_msg.distance_error = np.sqrt((self.relative_x**2) + (self.relative_y**2)) self.error_pub.publish(error_msg)
def error_publisher(self): """ Publish the error between the car and the cone. We will view this with rqt_plot to plot the success of the controller """ error_msg = parking_error() ################################# # Your Code Here # Populate error_msg with relative_x, relative_y, sqrt(x^2+y^2) error_msg.x_error = self.relative_x error_msg.y_error = self.relative_y #cartesian distance b/n car and cone cart_distance = np.sqrt(self.relative_x**2 + self.relative_y**2) error_msg.distance_error = cart_distance ################################# self.error_pub.publish(error_msg)
def error_publisher(self): """ Publish the error between the car and the cone. We will view this with rqt_plot to plot the success of the controller """ error_msg = parking_error() ################################# # Your Code Here # Populate error_msg with relative_x, relative_y, sqrt(x^2+y^2)i est_ang = math.atan2(self.relative_y, self.relative_x) est_dis = math.sqrt(self.relative_x**2 + self.relative_y**2) error_msg.x_error = est_dis * math.cos(est_ang) - self.parking_distance # x coord when car is parked in front of cone is parking_distance away error_msg.y_error = est_dis * math.sin(est_ang) error_msg.distance_error = est_dis - self.parking_distance ################################# self.error_pub.publish(error_msg)