def main():
# Vehicule dynamical system
sys = vehicle.KinematicBicyleModel()
# Set default wheel steering angle and velocity
sys.ubar = np.array([0.01, 15])
# Plot open-loop behavior
sys.plot_trajectory(np.array([0, 0, 0]), 10)
# Animate the simulation
sys.animate_simulation()
'''
###############################################################################
################## Main ######################
###############################################################################
'''
if __name__ == "__main__":
""" MAIN TEST """
from pyro.dynamic import pendulum
from pyro.dynamic import vehicle
sys = pendulum.DoublePendulum()
sys.x0 = np.array([0.1, 0.1, 0, 0])
is_3d = False
sys.plot_trajectory()
a = Animator(sys)
a.animate_simulation(sys.traj, 1, is_3d)
sys = vehicle.KinematicBicyleModel()
sys.ubar = np.array([1, 0.01])
sys.x0 = np.array([0, 0, 0])
b = Animator(sys)
sys.compute_trajectory(100)
sys.plot_trajectory()
b.animate_simulation(sys.traj, 10, is_3d)