def __init__(
self,
vehicle,
dt=0.03,
break_prop=0.1,
coeff=PIDCoefficients(K_P=1.0, K_I=0.0, K_D=0.0),
):
"""Constructor method.
Parameters
==========
vehicle : carla.Vehicle
Actor to apply to local planner logic onto
dt : float
Time differential in seconds
coeff : PIDCoefficients
Throttle/break PID coefficients.
"""
self.__vehicle = vehicle
self.__coeff = coeff
self.__dt = dt
self.__break_prop = break_prop
self.__clip = util.Clip(low=-1, high=1)
self.__error_buffer = collections.deque(maxlen=8_000)
self.__stats = util.AttrDict(pe=0., ie=0., de=0.)
self.__should_hotfix_mpc = False
def __init__(self,
vehicle,
max_steering=1.0,
K_P=1.0,
K_I=0.0,
K_D=0.0,
dt=0.03):
"""Constructor method.
Parameters
==========
vehicle : carla.Vehicle
Actor to apply to local planner logic onto
max_steering : float
The maximum steering angle in radians. For CARLA version 0.9 the Audi A2
can steer a maximum of 57.5 degrees, 1.00 radians (average of two wheels).
K_P : float
Proportional term
K_I : float
Integral term
K_D : float
Differential term
dt : float
Time differential in seconds
"""
self.__vehicle = vehicle
self.__max_steering = max_steering
self.__k_p = K_P
self.__k_i = K_I
self.__k_d = K_D
self.__dt = dt
self.__clip = util.Clip(low=-1, high=1)
self.__error_buffer = collections.deque(maxlen=8_000)
self.__stats = util.AttrDict(pe=0., ie=0., de=0.)
def __init__(
self,
vehicle,
max_steering=1.0,
dt=0.03,
coeff=PIDCoefficients(K_P=1.0, K_I=0.0, K_D=0.0),
):
"""Constructor method.
Parameters
==========
vehicle : carla.Vehicle
Actor to apply to local planner logic onto
max_steering : float
The maximum steering angle in radians. For CARLA version 0.9 the Audi A2
can steer a maximum of 57.5 degrees, 1.00 radians (average of two wheels).
dt : float
Time differential in seconds
coeff : PIDCoefficients
PID coefficients.
"""
self.__vehicle = vehicle
self.__max_steering = max_steering
self.__coeff = coeff
self.__dt = dt
self.__clip = util.Clip(low=-1, high=1)
self.__error_buffer = collections.deque(maxlen=8_000)
self.__stats = util.AttrDict(pe=0., ie=0., de=0.)
self.__should_hotfix_mpc = False
def __init__(self, vehicle, K_P=1.0, K_D=0.0, K_I=0.0, dt=0.03):
"""Constructor method.
Parameters
==========
vehicle : carla.Vehicle
Actor to apply to local planner logic onto
K_P : float
Proportional term
K_I : float
Integral term
K_D : float
Differential term
dt : float
Time differential in seconds
"""
self.__vehicle = vehicle
self.__k_p = K_P
self.__k_d = K_D
self.__k_i = K_I
self.__dt = dt
self.__clip = util.Clip(low=-1, high=1)
self.__error_buffer = collections.deque(maxlen=8_000)