brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
Your Name
2024-04-27 13:44:34 -05:00
parent ea1aad5ed1
commit 2fbe9dbea1
25 changed files with 1501 additions and 532 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
selfdrive/controls/lib/vehicle_model.py
View File

@@ -12,7 +12,6 @@ x_dot = A*x + B*u
A depends on longitudinal speed, u [m/s], and vehicle parameters CP
"""
from typing import Tuple
import numpy as np
from numpy.linalg import solve
@@ -169,7 +168,7 @@ def kin_ss_sol(sa: float, u: float, VM: VehicleModel) -> np.ndarray:
return K * sa
def create_dyn_state_matrices(u: float, VM: VehicleModel) -> Tuple[np.ndarray, np.ndarray]:
def create_dyn_state_matrices(u: float, VM: VehicleModel) -> tuple[np.ndarray, np.ndarray]:
"""Returns the A and B matrix for the dynamics system
Args: