def tscc(ends, stateRobo, stateObst, vl, wl):
#storing output arguments
vl = float(vlast)
wl = float(wlast)
#calling timescaling
velocity, omega, deltT = timescalingex(ends, stateRobo, stateObst, vl, wl)
return velocity, omega, deltT
def tscc(stateRobo, stateObst, vl, wl, x_points_right, y_points_right,
x_points_left, y_points_left, v_movx, v_movy, oth, r_ob):
#storing output arguments
#calling timescaling
# np.asarray(stateRobo)
# print('after np',type(stateRobo))
# print('after list',type(stateRobo))
velocity, omega, deltT, stateRobo, stateObst, cumxp, cumyp, cumxob, cumyob = timescalingex(
list(stateRobo), list(stateObst), vl, wl, x_points_right,
y_points_right, x_points_left, y_points_left, v_movx, v_movy, oth,
r_ob)
return velocity, omega, deltT, stateRobo, stateObst, cumxp, cumyp, cumxob, cumyob
def tscc(stateRobo, stateObst, vl, wl, x_points_right, y_points_right,
x_points_left, y_points_left, v_movx, v_movy, oth, r_ob):
#storing output arguments
#calling timescaling
# np.asarray(stateRobo)
# print('after np',type(stateRobo))
# print('after list',type(stateRobo))
velocity, omega, deltT, stateRobo, stateObst, cumxp, cumyp, cumxob, cumyob, cum_vel, cum_om, yaw = timescalingex(
list(stateRobo), list(stateObst), vl, wl, x_points_right,
y_points_right, x_points_left, y_points_left, v_movx, v_movy, oth,
r_ob)
# finalscale=np.array([])
# finalscale=np.concatenate((finalscale,cumscale),axis=0)
# np.savetxt('scalepedes.csv',finalscale)
return velocity, omega, deltT, stateRobo, stateObst, cumxp, cumyp, cumxob, cumyob, cum_vel, cum_om, yaw
import matlab.engine
import numpy as np
from timescalingex import timescalingex
#calling MPC
eng = matlab.engine.start_matlab()
eng.addpath(r'/home/raghu/Documents/switching_main/mtlb')
[stateRobo,stateObst,vlast,wlast,vsend,wsend]=eng.launch_iros(0,0,15,0,0,10,1,1)
eng.quit()
#storing output arguments
stateRobo=np.array(stateRobo)
stateObst=np.array(stateObst)
vsend = np.array(vsend)
wsend = np.array(wsend)
vl = float(vlast)
wl=float(wlast)
ends=0
#calling timescaling
velocity,omega = timescalingex(ends,stateRobo,stateObst,vl,wl)
print('I came back! Things are good :)')
