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controller2d_original_version.py
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controller2d_original_version.py
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#!/usr/bin/env python3
"""
2D Controller Class to be used for the CARLA waypoint follower demo.
"""
import cutils
import numpy as np
class Controller2D(object):
def __init__(self, waypoints):
self.vars = cutils.CUtils()
self._lookahead_distance = 2.0
self._current_x = 0
self._current_y = 0
self._current_yaw = 0
self._current_speed = 0
self._desired_speed = 0
self._current_frame = 0
self._current_timestamp = 0
self._start_control_loop = False
self._set_throttle = 0
self._set_brake = 0
self._set_steer = 0
self._waypoints = waypoints
self._conv_rad_to_steer = 180.0 / 70.0 / np.pi
self._pi = np.pi
self._2pi = 2.0 * np.pi
def update_values(self, x, y, yaw, speed, timestamp, frame):
self._current_x = x
self._current_y = y
self._current_yaw = yaw
self._current_speed = speed
self._current_timestamp = timestamp
self._current_frame = frame
if self._current_frame:
self._start_control_loop = True
def get_lookahead_index(self, lookahead_distance):
min_idx = 0
min_dist = float("inf")
for i in range(len(self._waypoints)):
dist = np.linalg.norm(np.array([
self._waypoints[i][0] - self._current_x,
self._waypoints[i][1] - self._current_y]))
if dist < min_dist:
min_dist = dist
min_idx = i
total_dist = min_dist
lookahead_idx = min_idx
for i in range(min_idx + 1, len(self._waypoints)):
if total_dist >= lookahead_distance:
break
total_dist += np.linalg.norm(np.array([
self._waypoints[i][0] - self._waypoints[i-1][0],
self._waypoints[i][1] - self._waypoints[i-1][1]]))
lookahead_idx = i
return lookahead_idx
def update_desired_speed(self):
min_idx = 0
min_dist = float("inf")
desired_speed = 0
for i in range(len(self._waypoints)):
dist = np.linalg.norm(np.array([
self._waypoints[i][0] - self._current_x,
self._waypoints[i][1] - self._current_y]))
if dist < min_dist:
min_dist = dist
min_idx = i
self._desired_speed = self._waypoints[min_idx][2]
def update_waypoints(self, new_waypoints):
self._waypoints = new_waypoints
def get_commands(self):
return self._set_throttle, self._set_steer, self._set_brake
def set_throttle(self, input_throttle):
# Clamp the throttle command to valid bounds
throttle = np.fmax(np.fmin(input_throttle, 1.0), 0.0)
self._set_throttle = throttle
def set_steer(self, input_steer_in_rad):
# Covnert radians to [-1, 1]
input_steer = self._conv_rad_to_steer * input_steer_in_rad
# Clamp the steering command to valid bounds
steer = np.fmax(np.fmin(input_steer, 1.0), -1.0)
self._set_steer = steer
def set_brake(self, input_brake):
# Clamp the steering command to valid bounds
brake = np.fmax(np.fmin(input_brake, 1.0), 0.0)
self._set_brake = brake
def update_controls(self):
######################################################
# RETRIEVE SIMULATOR FEEDBACK
######################################################
x = self._current_x
y = self._current_y
yaw = self._current_yaw
v = self._current_speed
self.update_desired_speed()
v_desired = self._desired_speed
t = self._current_timestamp
waypoints = self._waypoints
throttle_output = 0
steer_output = 0
brake_output = 0
self.vars.create_var('kp', 0.50)
self.vars.create_var('ki', 0.30)
self.vars.create_var('integrator_min', 0.0)
self.vars.create_var('integrator_max', 10.0)
self.vars.create_var('kd', 0.13)
self.vars.create_var('kp_heading', 8.00)
self.vars.create_var('k_speed_crosstrack', 0.00)
self.vars.create_var('cross_track_deadband', 0.01)
self.vars.create_var('x_prev', 0.0)
self.vars.create_var('y_prev', 0.0)
self.vars.create_var('yaw_prev', 0.0)
self.vars.create_var('v_prev', 0.0)
self.vars.create_var('t_prev', 0.0)
self.vars.create_var('v_error', 0.0)
self.vars.create_var('v_error_prev', 0.0)
self.vars.create_var('v_error_integral', 0.0)
# Skip the first frame to store previous values properly
if self._start_control_loop:
self.vars.v_error = v_desired - v
self.vars.v_error_integral += self.vars.v_error * \
(t - self.vars.t_prev)
v_error_rate_of_change = (self.vars.v_error - self.vars.v_error_prev) /\
(t - self.vars.t_prev)
# cap the integrator sum to a min/max
self.vars.v_error_integral = \
np.fmax(np.fmin(self.vars.v_error_integral,
self.vars.integrator_max),
self.vars.integrator_min)
throttle_output = self.vars.kp * self.vars.v_error +\
self.vars.ki * self.vars.v_error_integral +\
self.vars.kd * v_error_rate_of_change
# Find cross track error (assume point with closest distance)
crosstrack_error = float("inf")
crosstrack_vector = np.array([float("inf"), float("inf")])
ce_idx = self.get_lookahead_index(self._lookahead_distance)
crosstrack_vector = np.array([waypoints[ce_idx][0] - \
x - self._lookahead_distance*np.cos(yaw),
waypoints[ce_idx][1] - \
y - self._lookahead_distance*np.sin(yaw)])
crosstrack_error = np.linalg.norm(crosstrack_vector)
# set deadband to reduce oscillations
print(crosstrack_error)
if crosstrack_error < self.vars.cross_track_deadband:
crosstrack_error = 0.0
# Compute the sign of the crosstrack error
crosstrack_heading = np.arctan2(crosstrack_vector[1],
crosstrack_vector[0])
crosstrack_heading_error = crosstrack_heading - yaw
crosstrack_heading_error = \
(crosstrack_heading_error + self._pi) % \
self._2pi - self._pi
crosstrack_sign = np.sign(crosstrack_heading_error)
# Compute heading relative to trajectory (heading error)
# First ensure that we are not at the last index. If we are,
# flip back to the first index (loop the waypoints)
if ce_idx < len(waypoints)-1:
vect_wp0_to_wp1 = np.array(
[waypoints[ce_idx+1][0] - waypoints[ce_idx][0],
waypoints[ce_idx+1][1] - waypoints[ce_idx][1]])
trajectory_heading = np.arctan2(vect_wp0_to_wp1[1],
vect_wp0_to_wp1[0])
else:
vect_wp0_to_wp1 = np.array(
[waypoints[0][0] - waypoints[-1][0],
waypoints[0][1] - waypoints[-1][1]])
trajectory_heading = np.arctan2(vect_wp0_to_wp1[1],
vect_wp0_to_wp1[0])
heading_error = trajectory_heading - yaw
heading_error = \
(heading_error + self._pi) % self._2pi - self._pi
# Compute steering command based on error
steer_output = heading_error + \
np.arctan(self.vars.kp_heading * \
crosstrack_sign * \
crosstrack_error / \
(v + self.vars.k_speed_crosstrack))
######################################################
# SET CONTROLS OUTPUT
######################################################
self.set_throttle(throttle_output) # in percent (0 to 1)
self.set_steer(steer_output) # in rad (-1.22 to 1.22)
self.set_brake(brake_output) # in percent (0 to 1)
self.vars.x_prev = x
self.vars.y_prev = y
self.vars.yaw_prev = yaw
self.vars.v_prev = v
self.vars.v_error_prev = self.vars.v_error
self.vars.t_prev = t