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)