code cleanup for quintic_polynomials_planner.py

Author: AtsushiSakai

PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.py

@@ -24,18 +24,17 @@
 
 class QuinticPolynomial:
 
-    def __init__(self, xs, vxs, axs, xe, vxe, axe, T):
-
+    def __init__(self, xs, vxs, axs, xe, vxe, axe, time):
         # calc coefficient of quintic polynomial
         self.a0 = xs
         self.a1 = vxs
         self.a2 = axs / 2.0
 
-        A = np.array([[T**3, T**4, T**5],
-                      [3 * T ** 2, 4 * T ** 3, 5 * T ** 4],
-                      [6 * T, 12 * T ** 2, 20 * T ** 3]])
-        b = np.array([xe - self.a0 - self.a1 * T - self.a2 * T**2,
-                      vxe - self.a1 - 2 * self.a2 * T,
+        A = np.array([[time ** 3, time ** 4, time ** 5],
+                      [3 * time ** 2, 4 * time ** 3, 5 * time ** 4],
+                      [6 * time, 12 * time ** 2, 20 * time ** 3]])
+        b = np.array([xe - self.a0 - self.a1 * time - self.a2 * time ** 2,
+                      vxe - self.a1 - 2 * self.a2 * time,
                       axe - 2 * self.a2])
         x = np.linalg.solve(A, b)
 
@@ -44,24 +43,24 @@ def __init__(self, xs, vxs, axs, xe, vxe, axe, T):
         self.a5 = x[2]
 
     def calc_point(self, t):
-        xt = self.a0 + self.a1 * t + self.a2 * t**2 + \
-            self.a3 * t**3 + self.a4 * t**4 + self.a5 * t**5
+        xt = self.a0 + self.a1 * t + self.a2 * t ** 2 + \
+             self.a3 * t ** 3 + self.a4 * t ** 4 + self.a5 * t ** 5
 
         return xt
 
     def calc_first_derivative(self, t):
         xt = self.a1 + 2 * self.a2 * t + \
-            3 * self.a3 * t**2 + 4 * self.a4 * t**3 + 5 * self.a5 * t**4
+             3 * self.a3 * t ** 2 + 4 * self.a4 * t ** 3 + 5 * self.a5 * t ** 4
 
         return xt
 
     def calc_second_derivative(self, t):
-        xt = 2 * self.a2 + 6 * self.a3 * t + 12 * self.a4 * t**2 + 20 * self.a5 * t**3
+        xt = 2 * self.a2 + 6 * self.a3 * t + 12 * self.a4 * t ** 2 + 20 * self.a5 * t ** 3
 
         return xt
 
     def calc_third_derivative(self, t):
-        xt = 6 * self.a3 + 24 * self.a4 * t + 60 * self.a5 * t**2
+        xt = 6 * self.a3 + 24 * self.a4 * t + 60 * self.a5 * t ** 2
 
         return xt
 
@@ -146,7 +145,7 @@ def quintic_polynomials_planner(sx, sy, syaw, sv, sa, gx, gy, gyaw, gv, ga, max_
             plt.cla()
             # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
-                    lambda event: [exit(0) if event.key == 'escape' else None])
+                                         lambda event: [exit(0) if event.key == 'escape' else None])
             plt.grid(True)
             plt.axis("equal")
             plot_arrow(sx, sy, syaw)