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main_globaltraj.py
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import opt_mintime_traj
import numpy as np
import time
import json
import os
import trajectory_planning_helpers as tph
import copy
import matplotlib.pyplot as plt
import configparser
import helper_funcs_glob
"""
Created by:
Alexander Heilmeier
Documentation:
This script has to be executed to generate an optimal trajectory based on a given reference track.
"""
# ----------------------------------------------------------------------------------------------------------------------
# USER INPUT -----------------------------------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
# choose vehicle parameter file ----------------------------------------------------------------------------------------
file_paths = {"veh_params_file": "racecar.ini"}
# debug and plot options -----------------------------------------------------------------------------------------------
debug = True # print console messages
plot_opts = {"mincurv_curv_lin": False, # plot curv. linearization (original and solution based) (mincurv only)
"raceline": True, # plot optimized path
"imported_bounds": False, # plot imported bounds (analyze difference to interpolated bounds)
"raceline_curv": True, # plot curvature profile of optimized path
"racetraj_vel": True, # plot velocity profile
"racetraj_vel_3d": False, # plot 3D velocity profile above raceline
"racetraj_vel_3d_stepsize": 1.0, # [m] vertical lines stepsize in 3D velocity profile plot
"spline_normals": False, # plot spline normals to check for crossings
"mintime_plots": False} # plot states, controls, friction coeffs etc. (mintime only)
# select track file (including centerline coordinates + track widths) --------------------------------------------------
# file_paths["track_name"] = "rounded_rectangle" # artificial track
# file_paths["track_name"] = "handling_track" # artificial track
file_paths["track_name"] = "berlin_2018" # Berlin Formula E 2018
# file_paths["track_name"] = "modena_2019" # Modena 2019
# set import options ---------------------------------------------------------------------------------------------------
imp_opts = {"flip_imp_track": False, # flip imported track to reverse direction
"set_new_start": False, # set new starting point (changes order, not coordinates)
"new_start": np.array([0.0, -47.0]), # [x_m, y_m]
"min_track_width": None, # [m] minimum enforced track width (set None to deactivate)
"num_laps": 1} # number of laps to be driven (significant with powertrain-option),
# only relevant in mintime-optimization
# set optimization type ------------------------------------------------------------------------------------------------
# 'shortest_path' shortest path optimization
# 'mincurv' minimum curvature optimization without iterative call
# 'mincurv_iqp' minimum curvature optimization with iterative call
# 'mintime' time-optimal trajectory optimization
opt_type = 'mintime'
# set mintime specific options (mintime only) --------------------------------------------------------------------------
# tpadata: set individual friction map data file if desired (e.g. for varmue maps), else set None,
# e.g. "berlin_2018_varmue08-12_tpadata.json"
# warm_start: [True/False] warm start IPOPT if previous result is available for current track
# var_friction: [-] None, "linear", "gauss" -> set if variable friction coefficients should be used
# either with linear regression or with gaussian basis functions (requires friction map)
# reopt_mintime_solution: reoptimization of the mintime solution by min. curv. opt. for improved curv. smoothness
# recalc_vel_profile_by_tph: override mintime velocity profile by ggv based calculation (see TPH package)
mintime_opts = {"tpadata": None,
"warm_start": False,
"var_friction": None,
"reopt_mintime_solution": False,
"recalc_vel_profile_by_tph": False}
# lap time calculation table -------------------------------------------------------------------------------------------
lap_time_mat_opts = {"use_lap_time_mat": False, # calculate a lap time matrix (diff. top speeds and scales)
"gg_scale_range": [0.3, 1.0], # range of gg scales to be covered
"gg_scale_stepsize": 0.05, # step size to be applied
"top_speed_range": [100.0, 150.0], # range of top speeds to be simulated [in km/h]
"top_speed_stepsize": 5.0, # step size to be applied
"file": "lap_time_matrix.csv"} # file name of the lap time matrix (stored in "outputs")
# ----------------------------------------------------------------------------------------------------------------------
# CHECK USER INPUT -----------------------------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
if opt_type not in ["shortest_path", "mincurv", "mincurv_iqp", "mintime"]:
raise IOError("Unknown optimization type!")
if opt_type == "mintime" and not mintime_opts["recalc_vel_profile_by_tph"] and lap_time_mat_opts["use_lap_time_mat"]:
raise IOError("Lap time calculation table should be created but velocity profile recalculation with TPH solver is"
" not allowed!")
# ----------------------------------------------------------------------------------------------------------------------
# CHECK PYTHON DEPENDENCIES --------------------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
# get current path
file_paths["module"] = os.path.dirname(os.path.abspath(__file__))
# ----------------------------------------------------------------------------------------------------------------------
# INITIALIZATION OF PATHS ----------------------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
# assemble track import path
file_paths["track_file"] = os.path.join(file_paths["module"], "inputs", "tracks", file_paths["track_name"] + ".csv")
# assemble friction map import paths
file_paths["tpamap"] = os.path.join(file_paths["module"], "inputs", "frictionmaps",
file_paths["track_name"] + "_tpamap.csv")
if mintime_opts["tpadata"] is None:
file_paths["tpadata"] = os.path.join(file_paths["module"], "inputs", "frictionmaps",
file_paths["track_name"] + "_tpadata.json")
else:
file_paths["tpadata"] = os.path.join(file_paths["module"], "inputs", "frictionmaps", mintime_opts["tpadata"])
# check if friction map files are existing if the var_friction option was set
if opt_type == 'mintime' \
and mintime_opts["var_friction"] is not None \
and not (os.path.exists(file_paths["tpadata"]) and os.path.exists(file_paths["tpamap"])):
mintime_opts["var_friction"] = None
print("WARNING: var_friction option is not None but friction map data is missing for current track -> Setting"
" var_friction to None!")
# create outputs folder(s)
os.makedirs(file_paths["module"] + "/outputs", exist_ok=True)
if opt_type == 'mintime':
os.makedirs(file_paths["module"] + "/outputs/mintime", exist_ok=True)
# assemble export paths
file_paths["mintime_export"] = os.path.join(file_paths["module"], "outputs", "mintime")
file_paths["traj_race_export"] = os.path.join(file_paths["module"], "outputs", "traj_race_cl.csv")
# file_paths["traj_ltpl_export"] = os.path.join(file_paths["module"], "outputs", "traj_ltpl_cl.csv")
file_paths["lap_time_mat_export"] = os.path.join(file_paths["module"], "outputs", lap_time_mat_opts["file"])
# ----------------------------------------------------------------------------------------------------------------------
# IMPORT VEHICLE DEPENDENT PARAMETERS ----------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
# load vehicle parameter file into a "pars" dict
parser = configparser.ConfigParser()
pars = {}
if not parser.read(os.path.join(file_paths["module"], "params", file_paths["veh_params_file"])):
raise ValueError('Specified config file does not exist or is empty!')
pars["ggv_file"] = json.loads(parser.get('GENERAL_OPTIONS', 'ggv_file'))
pars["ax_max_machines_file"] = json.loads(parser.get('GENERAL_OPTIONS', 'ax_max_machines_file'))
pars["stepsize_opts"] = json.loads(parser.get('GENERAL_OPTIONS', 'stepsize_opts'))
pars["reg_smooth_opts"] = json.loads(parser.get('GENERAL_OPTIONS', 'reg_smooth_opts'))
pars["veh_params"] = json.loads(parser.get('GENERAL_OPTIONS', 'veh_params'))
pars["vel_calc_opts"] = json.loads(parser.get('GENERAL_OPTIONS', 'vel_calc_opts'))
if opt_type == 'shortest_path':
pars["optim_opts"] = json.loads(parser.get('OPTIMIZATION_OPTIONS', 'optim_opts_shortest_path'))
elif opt_type in ['mincurv', 'mincurv_iqp']:
pars["optim_opts"] = json.loads(parser.get('OPTIMIZATION_OPTIONS', 'optim_opts_mincurv'))
elif opt_type == 'mintime':
pars["curv_calc_opts"] = json.loads(parser.get('GENERAL_OPTIONS', 'curv_calc_opts'))
pars["optim_opts"] = json.loads(parser.get('OPTIMIZATION_OPTIONS', 'optim_opts_mintime'))
pars["vehicle_params_mintime"] = json.loads(parser.get('OPTIMIZATION_OPTIONS', 'vehicle_params_mintime'))
pars["tire_params_mintime"] = json.loads(parser.get('OPTIMIZATION_OPTIONS', 'tire_params_mintime'))
pars["pwr_params_mintime"] = json.loads(parser.get('OPTIMIZATION_OPTIONS', 'pwr_params_mintime'))
# modification of mintime options/parameters
pars["optim_opts"]["var_friction"] = mintime_opts["var_friction"]
pars["optim_opts"]["warm_start"] = mintime_opts["warm_start"]
pars["vehicle_params_mintime"]["wheelbase"] = (pars["vehicle_params_mintime"]["wheelbase_front"]
+ pars["vehicle_params_mintime"]["wheelbase_rear"])
# set import path for ggv diagram and ax_max_machines (if required)
if not (opt_type == 'mintime' and not mintime_opts["recalc_vel_profile_by_tph"]):
file_paths["ggv_file"] = os.path.join(file_paths["module"], "inputs", "veh_dyn_info", pars["ggv_file"])
file_paths["ax_max_machines_file"] = os.path.join(file_paths["module"], "inputs", "veh_dyn_info",
pars["ax_max_machines_file"])
# ----------------------------------------------------------------------------------------------------------------------
# IMPORT TRACK AND VEHICLE DYNAMICS INFORMATION ------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
# save start time
t_start = time.perf_counter()
# import track
reftrack_imp = helper_funcs_glob.src.import_track.import_track(imp_opts=imp_opts,
file_path=file_paths["track_file"],
width_veh=pars["veh_params"]["width"])
# import ggv and ax_max_machines (if required)
if not (opt_type == 'mintime' and not mintime_opts["recalc_vel_profile_by_tph"]):
ggv, ax_max_machines = tph.import_veh_dyn_info.\
import_veh_dyn_info(ggv_import_path=file_paths["ggv_file"],
ax_max_machines_import_path=file_paths["ax_max_machines_file"])
else:
ggv = None
ax_max_machines = None
# set ax_pos_safe / ax_neg_safe / ay_safe if required and not set in parameters file
if opt_type == 'mintime' and pars["optim_opts"]["safe_traj"] \
and (pars["optim_opts"]["ax_pos_safe"] is None
or pars["optim_opts"]["ax_neg_safe"] is None
or pars["optim_opts"]["ay_safe"] is None):
# get ggv if not available
if ggv is None:
ggv = tph.import_veh_dyn_info. \
import_veh_dyn_info(ggv_import_path=file_paths["ggv_file"],
ax_max_machines_import_path=file_paths["ax_max_machines_file"])[0]
# limit accelerations
if pars["optim_opts"]["ax_pos_safe"] is None:
pars["optim_opts"]["ax_pos_safe"] = np.amin(ggv[:, 1])
if pars["optim_opts"]["ax_neg_safe"] is None:
pars["optim_opts"]["ax_neg_safe"] = -np.amin(ggv[:, 1])
if pars["optim_opts"]["ay_safe"] is None:
pars["optim_opts"]["ay_safe"] = np.amin(ggv[:, 2])
# ----------------------------------------------------------------------------------------------------------------------
# PREPARE REFTRACK -----------------------------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
reftrack_interp, normvec_normalized_interp, a_interp, coeffs_x_interp, coeffs_y_interp = \
helper_funcs_glob.src.prep_track.prep_track(reftrack_imp=reftrack_imp,
reg_smooth_opts=pars["reg_smooth_opts"],
stepsize_opts=pars["stepsize_opts"],
debug=debug,
min_width=imp_opts["min_track_width"])
# ----------------------------------------------------------------------------------------------------------------------
# CALL OPTIMIZATION ----------------------------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
# if reoptimization of mintime solution is used afterwards we have to consider some additional deviation in the first
# optimization
if opt_type == 'mintime' and mintime_opts["reopt_mintime_solution"]:
w_veh_tmp = pars["optim_opts"]["width_opt"] + (pars["optim_opts"]["w_tr_reopt"] - pars["optim_opts"]["w_veh_reopt"])
w_veh_tmp += pars["optim_opts"]["w_add_spl_regr"]
pars_tmp = copy.deepcopy(pars)
pars_tmp["optim_opts"]["width_opt"] = w_veh_tmp
else:
pars_tmp = pars
# call optimization
if opt_type == 'mincurv':
alpha_opt = tph.opt_min_curv.opt_min_curv(reftrack=reftrack_interp,
normvectors=normvec_normalized_interp,
A=a_interp,
kappa_bound=pars["veh_params"]["curvlim"],
w_veh=pars["optim_opts"]["width_opt"],
print_debug=debug,
plot_debug=plot_opts["mincurv_curv_lin"])[0]
elif opt_type == 'mincurv_iqp':
alpha_opt, reftrack_interp, normvec_normalized_interp = tph.iqp_handler.\
iqp_handler(reftrack=reftrack_interp,
normvectors=normvec_normalized_interp,
A=a_interp,
kappa_bound=pars["veh_params"]["curvlim"],
w_veh=pars["optim_opts"]["width_opt"],
print_debug=debug,
plot_debug=plot_opts["mincurv_curv_lin"],
stepsize_interp=pars["stepsize_opts"]["stepsize_reg"],
iters_min=pars["optim_opts"]["iqp_iters_min"],
curv_error_allowed=pars["optim_opts"]["iqp_curverror_allowed"])
elif opt_type == 'shortest_path':
alpha_opt = tph.opt_shortest_path.opt_shortest_path(reftrack=reftrack_interp,
normvectors=normvec_normalized_interp,
w_veh=pars["optim_opts"]["width_opt"],
print_debug=debug)
elif opt_type == 'mintime':
# reftrack_interp, a_interp and normvec_normalized_interp are returned for the case that non-regular sampling was
# applied
alpha_opt, v_opt, reftrack_interp, a_interp_tmp, normvec_normalized_interp = opt_mintime_traj.src.opt_mintime.\
opt_mintime(reftrack=reftrack_interp,
coeffs_x=coeffs_x_interp,
coeffs_y=coeffs_y_interp,
normvectors=normvec_normalized_interp,
pars=pars_tmp,
tpamap_path=file_paths["tpamap"],
tpadata_path=file_paths["tpadata"],
export_path=file_paths["mintime_export"],
print_debug=debug,
plot_debug=plot_opts["mintime_plots"])
# replace a_interp if necessary
if a_interp_tmp is not None:
a_interp = a_interp_tmp
else:
raise ValueError('Unknown optimization type!')
# alpha_opt = np.zeros(reftrack_interp.shape[0])
# ----------------------------------------------------------------------------------------------------------------------
# REOPTIMIZATION OF THE MINTIME SOLUTION -------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
if opt_type == 'mintime' and mintime_opts["reopt_mintime_solution"]:
# get raceline solution of the time-optimal trajectory
raceline_mintime = reftrack_interp[:, :2] + np.expand_dims(alpha_opt, 1) * normvec_normalized_interp
# calculate new track boundaries around raceline solution depending on alpha_opt values
w_tr_right_mintime = reftrack_interp[:, 2] - alpha_opt
w_tr_left_mintime = reftrack_interp[:, 3] + alpha_opt
# create new reference track around the raceline
racetrack_mintime = np.column_stack((raceline_mintime, w_tr_right_mintime, w_tr_left_mintime))
# use spline approximation a second time
reftrack_interp, normvec_normalized_interp, a_interp = \
helper_funcs_glob.src.prep_track.prep_track(reftrack_imp=racetrack_mintime,
reg_smooth_opts=pars["reg_smooth_opts"],
stepsize_opts=pars["stepsize_opts"],
debug=False,
min_width=imp_opts["min_track_width"])[:3]
# set artificial track widths for reoptimization
w_tr_tmp = 0.5 * pars["optim_opts"]["w_tr_reopt"] * np.ones(reftrack_interp.shape[0])
racetrack_mintime_reopt = np.column_stack((reftrack_interp[:, :2], w_tr_tmp, w_tr_tmp))
# call mincurv reoptimization
alpha_opt = tph.opt_min_curv.opt_min_curv(reftrack=racetrack_mintime_reopt,
normvectors=normvec_normalized_interp,
A=a_interp,
kappa_bound=pars["veh_params"]["curvlim"],
w_veh=pars["optim_opts"]["w_veh_reopt"],
print_debug=debug,
plot_debug=plot_opts["mincurv_curv_lin"])[0]
# calculate minimum distance from raceline to bounds and print it
if debug:
raceline_reopt = reftrack_interp[:, :2] + np.expand_dims(alpha_opt, 1) * normvec_normalized_interp
bound_r_reopt = (reftrack_interp[:, :2]
+ np.expand_dims(reftrack_interp[:, 2], axis=1) * normvec_normalized_interp)
bound_l_reopt = (reftrack_interp[:, :2]
- np.expand_dims(reftrack_interp[:, 3], axis=1) * normvec_normalized_interp)
d_r_reopt = np.hypot(raceline_reopt[:, 0] - bound_r_reopt[:, 0], raceline_reopt[:, 1] - bound_r_reopt[:, 1])
d_l_reopt = np.hypot(raceline_reopt[:, 0] - bound_l_reopt[:, 0], raceline_reopt[:, 1] - bound_l_reopt[:, 1])
print("INFO: Mintime reoptimization: minimum distance to right/left bound: %.2fm / %.2fm"
% (np.amin(d_r_reopt) - pars["veh_params"]["width"] / 2,
np.amin(d_l_reopt) - pars["veh_params"]["width"] / 2))
# ----------------------------------------------------------------------------------------------------------------------
# INTERPOLATE SPLINES TO SMALL DISTANCES BETWEEN RACELINE POINTS -------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
raceline_interp, a_opt, coeffs_x_opt, coeffs_y_opt, spline_inds_opt_interp, t_vals_opt_interp, s_points_opt_interp,\
spline_lengths_opt, el_lengths_opt_interp = tph.create_raceline.\
create_raceline(refline=reftrack_interp[:, :2],
normvectors=normvec_normalized_interp,
alpha=alpha_opt,
stepsize_interp=pars["stepsize_opts"]["stepsize_interp_after_opt"])
# ----------------------------------------------------------------------------------------------------------------------
# CALCULATE HEADING AND CURVATURE --------------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
# calculate heading and curvature (analytically)
psi_vel_opt, kappa_opt = tph.calc_head_curv_an.\
calc_head_curv_an(coeffs_x=coeffs_x_opt,
coeffs_y=coeffs_y_opt,
ind_spls=spline_inds_opt_interp,
t_spls=t_vals_opt_interp)
# ----------------------------------------------------------------------------------------------------------------------
# CALCULATE VELOCITY AND ACCELERATION PROFILE --------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
if opt_type == 'mintime' and not mintime_opts["recalc_vel_profile_by_tph"]:
# interpolation
s_splines = np.cumsum(spline_lengths_opt)
s_splines = np.insert(s_splines, 0, 0.0)
vx_profile_opt = np.interp(s_points_opt_interp, s_splines[:-1], v_opt)
else:
vx_profile_opt = tph.calc_vel_profile.\
calc_vel_profile(ggv=ggv,
ax_max_machines=ax_max_machines,
v_max=pars["veh_params"]["v_max"],
kappa=kappa_opt,
el_lengths=el_lengths_opt_interp,
closed=True,
filt_window=pars["vel_calc_opts"]["vel_profile_conv_filt_window"],
dyn_model_exp=pars["vel_calc_opts"]["dyn_model_exp"],
drag_coeff=pars["veh_params"]["dragcoeff"],
m_veh=pars["veh_params"]["mass"])
# calculate longitudinal acceleration profile
vx_profile_opt_cl = np.append(vx_profile_opt, vx_profile_opt[0])
ax_profile_opt = tph.calc_ax_profile.calc_ax_profile(vx_profile=vx_profile_opt_cl,
el_lengths=el_lengths_opt_interp,
eq_length_output=False)
# calculate laptime
t_profile_cl = tph.calc_t_profile.calc_t_profile(vx_profile=vx_profile_opt,
ax_profile=ax_profile_opt,
el_lengths=el_lengths_opt_interp)
print("INFO: Estimated laptime: %.2fs" % t_profile_cl[-1])
if plot_opts["racetraj_vel"]:
s_points = np.cumsum(el_lengths_opt_interp[:-1])
s_points = np.insert(s_points, 0, 0.0)
plt.plot(s_points, vx_profile_opt)
plt.plot(s_points, ax_profile_opt)
plt.plot(s_points, t_profile_cl[:-1])
plt.grid()
plt.xlabel("distance in m")
plt.legend(["vx in m/s", "ax in m/s2", "t in s"])
plt.show()
# ----------------------------------------------------------------------------------------------------------------------
# CALCULATE LAP TIMES (AT DIFFERENT SCALES AND TOP SPEEDS) -------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
if lap_time_mat_opts["use_lap_time_mat"]:
# simulate lap times
ggv_scales = np.linspace(lap_time_mat_opts['gg_scale_range'][0],
lap_time_mat_opts['gg_scale_range'][1],
int((lap_time_mat_opts['gg_scale_range'][1] - lap_time_mat_opts['gg_scale_range'][0])
/ lap_time_mat_opts['gg_scale_stepsize']) + 1)
top_speeds = np.linspace(lap_time_mat_opts['top_speed_range'][0] / 3.6,
lap_time_mat_opts['top_speed_range'][1] / 3.6,
int((lap_time_mat_opts['top_speed_range'][1] - lap_time_mat_opts['top_speed_range'][0])
/ lap_time_mat_opts['top_speed_stepsize']) + 1)
# setup results matrix
lap_time_matrix = np.zeros((top_speeds.shape[0] + 1, ggv_scales.shape[0] + 1))
# write parameters in first column and row
lap_time_matrix[1:, 0] = top_speeds * 3.6
lap_time_matrix[0, 1:] = ggv_scales
for i, top_speed in enumerate(top_speeds):
for j, ggv_scale in enumerate(ggv_scales):
tph.progressbar.progressbar(i*ggv_scales.shape[0] + j,
top_speeds.shape[0] * ggv_scales.shape[0],
prefix="Simulating laptimes ")
ggv_mod = np.copy(ggv)
ggv_mod[:, 1:] *= ggv_scale
vx_profile_opt = tph.calc_vel_profile.\
calc_vel_profile(ggv=ggv_mod,
ax_max_machines=ax_max_machines,
v_max=top_speed,
kappa=kappa_opt,
el_lengths=el_lengths_opt_interp,
dyn_model_exp=pars["vel_calc_opts"]["dyn_model_exp"],
filt_window=pars["vel_calc_opts"]["vel_profile_conv_filt_window"],
closed=True,
drag_coeff=pars["veh_params"]["dragcoeff"],
m_veh=pars["veh_params"]["mass"])
# calculate longitudinal acceleration profile
vx_profile_opt_cl = np.append(vx_profile_opt, vx_profile_opt[0])
ax_profile_opt = tph.calc_ax_profile.calc_ax_profile(vx_profile=vx_profile_opt_cl,
el_lengths=el_lengths_opt_interp,
eq_length_output=False)
# calculate lap time
t_profile_cl = tph.calc_t_profile.calc_t_profile(vx_profile=vx_profile_opt,
ax_profile=ax_profile_opt,
el_lengths=el_lengths_opt_interp)
# store entry in lap time matrix
lap_time_matrix[i + 1, j + 1] = t_profile_cl[-1]
# store lap time matrix to file
np.savetxt(file_paths["lap_time_mat_export"], lap_time_matrix, delimiter=",", fmt="%.3f")
# ----------------------------------------------------------------------------------------------------------------------
# DATA POSTPROCESSING --------------------------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
# arrange data into one trajectory
trajectory_opt = np.column_stack((s_points_opt_interp,
raceline_interp,
psi_vel_opt,
kappa_opt,
vx_profile_opt,
ax_profile_opt))
spline_data_opt = np.column_stack((spline_lengths_opt, coeffs_x_opt, coeffs_y_opt))
# create a closed race trajectory array
traj_race_cl = np.vstack((trajectory_opt, trajectory_opt[0, :]))
traj_race_cl[-1, 0] = np.sum(spline_data_opt[:, 0]) # set correct length
# print end time
print("INFO: Runtime from import to final trajectory was %.2fs" % (time.perf_counter() - t_start))
# ----------------------------------------------------------------------------------------------------------------------
# CHECK TRAJECTORY -----------------------------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
bound1, bound2 = helper_funcs_glob.src.check_traj.\
check_traj(reftrack=reftrack_interp,
reftrack_normvec_normalized=normvec_normalized_interp,
length_veh=pars["veh_params"]["length"],
width_veh=pars["veh_params"]["width"],
debug=debug,
trajectory=trajectory_opt,
ggv=ggv,
ax_max_machines=ax_max_machines,
v_max=pars["veh_params"]["v_max"],
curvlim=pars["veh_params"]["curvlim"],
mass_veh=pars["veh_params"]["mass"],
dragcoeff=pars["veh_params"]["dragcoeff"])
# ----------------------------------------------------------------------------------------------------------------------
# EXPORT ---------------------------------------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
# export race trajectory to CSV
if "traj_race_export" in file_paths.keys():
helper_funcs_glob.src.export_traj_race.export_traj_race(file_paths=file_paths,
traj_race=traj_race_cl)
# if requested, export trajectory including map information (via normal vectors) to CSV
if "traj_ltpl_export" in file_paths.keys():
helper_funcs_glob.src.export_traj_ltpl.export_traj_ltpl(file_paths=file_paths,
spline_lengths_opt=spline_lengths_opt,
trajectory_opt=trajectory_opt,
reftrack=reftrack_interp,
normvec_normalized=normvec_normalized_interp,
alpha_opt=alpha_opt)
print("INFO: Finished export of trajectory:", time.strftime("%H:%M:%S"))
# ----------------------------------------------------------------------------------------------------------------------
# PLOT RESULTS ---------------------------------------------------------------------------------------------------------
# ----------------------------------------------------------------------------------------------------------------------
# get bound of imported map (for reference in final plot)
bound1_imp = None
bound2_imp = None
if plot_opts["imported_bounds"]:
# try to extract four times as many points as in the interpolated version (in order to hold more details)
n_skip = max(int(reftrack_imp.shape[0] / (bound1.shape[0] * 4)), 1)
_, _, _, normvec_imp = tph.calc_splines.calc_splines(path=np.vstack((reftrack_imp[::n_skip, 0:2],
reftrack_imp[0, 0:2])))
bound1_imp = reftrack_imp[::n_skip, :2] + normvec_imp * np.expand_dims(reftrack_imp[::n_skip, 2], 1)
bound2_imp = reftrack_imp[::n_skip, :2] - normvec_imp * np.expand_dims(reftrack_imp[::n_skip, 3], 1)
# plot results
helper_funcs_glob.src.result_plots.result_plots(plot_opts=plot_opts,
width_veh_opt=pars["optim_opts"]["width_opt"],
width_veh_real=pars["veh_params"]["width"],
refline=reftrack_interp[:, :2],
bound1_imp=bound1_imp,
bound2_imp=bound2_imp,
bound1_interp=bound1,
bound2_interp=bound2,
trajectory=trajectory_opt)