private void Start()
{
InvokeRepeating("UpdateCar", 0f, 1 / Constants.targetHz);
//Get dimensions of car sprite
float length = GetComponentInChildren <Renderer>().bounds.size.x;
float width = GetComponentInChildren <Renderer>().bounds.size.y;
//Initialize the controllers and system
carController = new CarController(length);
steerSys = new FirstOrderSystem(Constants.carSimSteeringK, Constants.carSimSteeringTau, Constants.targetHz, 0f);
throttleSys = new AsymmetricFirstOrderSystem(Constants.carSimVelK, Constants.carSimVelIncreaseTau, Constants.carSimVelDecreaseTau, Constants.targetHz, 0f);
// Set initial car state
carState = new CarState(0, transform.position.z, transform.position.x, 0, length / 2, length / 2);
goalPos = transform.position;
SetTargetPosition(goalPos);
//Draw the lidar visualization
line = gameObject.GetComponent <LineRenderer>();
line.SetVertexCount(numLineSegments + 1);
line.useWorldSpace = false;
DrawLidar();
Debug.Log(string.Format("track width {0}", GetTrackWidth()));
Debug.Log(string.Format("track length {0}", GetTrackLength()));
}
public AsymmetricFirstOrderSystem(float k, float increaseTau, float decreaseTau, float samplingFreqHz, float initialOutput)
{
prev = 0f;
beenIncreasing = true;
increaseSystem = new FirstOrderSystem(k, increaseTau, samplingFreqHz, initialOutput);
decreaseSystem = new FirstOrderSystem(k, decreaseTau, samplingFreqHz, initialOutput);
}
private void Start()
{
InvokeRepeating("UpdateCar", 0f, 1 / Constants.targetHz);
//Get dimensions of car sprite
float length = GetComponentInChildren <Renderer>().bounds.size.x;
float width = GetComponentInChildren <Renderer>().bounds.size.y;
carController = new CarController(length);
steerSys = new FirstOrderSystem(Constants.carSimSteeringK, Constants.carSimSteeringTau, Constants.targetHz, 0f);
throttleSys = new AsymmetricFirstOrderSystem(Constants.carSimVelK, Constants.carSimVelIncreaseTau, Constants.carSimVelDecreaseTau, Constants.targetHz, 0f);
// Set initial car state
carState = new CarState(0, transform.position.z, transform.position.x, 0, length / 2, length / 2);
}
void Start()
{
InvokeRepeating("ModifyGoal", 0f, 10f); //for testing to set goal
InvokeRepeating("CalculateControls", 0f, 1 / Constants.targetHz);
//Get dimensions of car sprite
float length = GetComponent <SpriteRenderer>().bounds.size.x;
float width = GetComponent <SpriteRenderer>().bounds.size.y;
Debug.Log(string.Format("car length: {0}", length));
carController = new CarController(length);
steerSys = new FirstOrderSystem(Constants.carSimSteeringK, Constants.carSimSteeringTau, Constants.targetHz, 0f);
throttleSys = new AsymmetricFirstOrderSystem(Constants.carSimVelK, Constants.carSimVelIncreaseTau, Constants.carSimVelDecreaseTau, Constants.targetHz, 0f);
// Set initial car state
// TODO: use the car's current direction as psi? DEVANSH
carState = new CarState(0, transform.position.x, transform.position.y, 0, length / 2, length / 2);
}
void Start()
{
InvokeRepeating("UpdateGoal", 0f, 1f); //for testing to set goal
InvokeRepeating("UpdateCar", 0f, 1 / Constants.targetHz);
//Get dimensions of car sprite
length = GetComponentInChildren <Renderer>().bounds.size.x;
width = GetComponentInChildren <Renderer>().bounds.size.y;
Debug.Log(string.Format("car length: {0}", length));
Debug.Log(string.Format("car width: {0}", width));
carController = new CarController(length);
steerSys = new FirstOrderSystem(Constants.carSimSteeringK, Constants.carSimSteeringTau, Constants.targetHz, 0f);
throttleSys = new AsymmetricFirstOrderSystem(Constants.carSimVelK, Constants.carSimVelIncreaseTau, Constants.carSimVelDecreaseTau, Constants.targetHz, 0f);
// Set initial car state
transform.position = new Vector3(Constants.goalCoordinates.x, 1, Constants.goalCoordinates.z);
carState = new CarState(0, transform.position.z, transform.position.x, 0, length / 2, length / 2);
}
public void AssignState(FirstOrderSystem other)
{
discreteSystem.AssignState(other.discreteSystem);
}
public float Output(float input)
{
FirstOrderSystem selected = Select(input);
return(selected.Output(input));
}
public void ResetParams()
{
carController = new CarController(length);
steerSys = new FirstOrderSystem(Constants.carSimSteeringK, Constants.carSimSteeringTau, Constants.targetHz, 0f);
throttleSys = new AsymmetricFirstOrderSystem(Constants.carSimVelK, Constants.carSimVelIncreaseTau, Constants.carSimVelDecreaseTau, Constants.targetHz, 0f);
}
