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base repository: AtsushiSakai/PythonRobotics
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head repository: cyan-at/PythonRobotics
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  • 14 commits
  • 3 files changed
  • 2 contributors

Commits on Feb 13, 2025

  1. lqr, sim

    Charlie Yan committed Feb 13, 2025
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Commits on Feb 15, 2025

  1. all the necessary geometric insights 

    Summary:
insight #1: interpolate is necessary to keep lqr from blowing up
insight #2 (this commit): interpolating the angle, if you jump from -np.pi to pi, that is the same 'direction', but you should not ask lqr to control to 0 to get rom -np.pi to np.pi, instead you should see that these 2 rotations are the same, and 'smooth' the pending rotation to -np.pi. then the interpolation between these 2 will be reasonable (flat)

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    Charlie Yan committed Feb 15, 2025
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  2. modulo_rad, smallest_diff 

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    Charlie Yan committed Feb 15, 2025
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  3. <Replace this line with your title> 

    Summary:
insight #3: small flips in the calc_nearest_index3's angle, means the e term can flip signs
when it does, the dot_e term can explode, exploding lqr
to deal with this, catch the sign change, and normalize pe to match the current e's sign

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    Charlie Yan committed Feb 15, 2025
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  4. various debug prints 

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    Charlie Yan committed Feb 15, 2025
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Commits on Feb 17, 2025

  1. rotation interpolation, distance based parameterization, rmse, debug+… 

    …headless

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    Charlie Yan committed Feb 17, 2025
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Commits on Feb 18, 2025

  1. minor stuff

    Charlie Yan committed Feb 18, 2025
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Commits on Feb 21, 2025

  1. slerp3

    @cyan-at
    cyan-at committed Feb 21, 2025
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  2. correct yaw interpolation: slerp3 + 'lookahead' waypoint yaw alignment

    @cyan-at
    cyan-at committed Feb 21, 2025
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  3. lqr+, things to deal with longitudinal and lateral overshoot 

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    Charlie Yan committed Feb 21, 2025
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  4. other print and cleanup stuff 

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    Charlie Yan committed Feb 21, 2025
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Commits on Feb 22, 2025

  1. debug stmt

    Charlie Yan committed Feb 22, 2025
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Commits on Feb 24, 2025

  1. random debug stmts cleanup 

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    Charlie Yan committed Feb 24, 2025
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  2. fix rotation interpolation bug 

    Summary:
maintain 'stack' scalar value of rotation wraparounds accumulated
so -8.5 compared to 1.3 doesn't jump up to -3.5

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    Charlie Yan committed Feb 24, 2025
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