change file name

interpolation/path_interpolation.py

@@ -14,7 +14,7 @@
 from typing import List, Dict, Tuple
 import numpy as np
 from scipy import integrate
-from path_planner.rs_curve import pi_2_pi
+from path_plan.rs_curve import pi_2_pi
 from animation.animation import *
 from util_math.spline import spine
 from util_math.coordinate_transform import coordinate_transform

main.py

@@ -2,19 +2,19 @@
 Author: wenqing-hnu
 Date: 2022-10-20
 LastEditors: wenqing-hnu
-LastEditTime: 2022-11-09
+LastEditTime: 2022-11-12
 FilePath: /Automated Valet Parking/main.py
 Description: the main file of the hybrid a star algorithm for parking
 
 Copyright (c) 2022 by wenqing-hnu, All Rights Reserved. 
 '''
 
 
-from path_planner import path_planner
+from path_plan import path_planner
 from animation.animation import ploter, plt
 from animation.record_solution import DataRecorder
 from map import costmap
-from velocity_planner import velocity_plan
+from velocity_plan import velocity_planner
 from interpolation import path_interpolation
 from optimization import path_optimazition, ocp_optimization
 from config import read_config
@@ -33,9 +33,9 @@ def main(file, config):
     ego_vehicle = costmap.Vehicle()
 
     # create path planner
-    planner = path_planner.path_planner(config=config,
-                                        map=park_map,
-                                        vehicle=ego_vehicle)
+    planner = path_planner.PathPlanner(config=config,
+                                       map=park_map,
+                                       vehicle=ego_vehicle)
 
     # create path optimizer
     path_optimizer = path_optimazition.path_opti(park_map, ego_vehicle, config)
@@ -45,8 +45,8 @@ def main(file, config):
         config=config, map=park_map, vehicle=ego_vehicle)
 
     # create velocity planner
-    velocity_planner = velocity_plan.velocity_planner(vehicle=ego_vehicle,
-                                                      velocity_func_type=config['velocity_func_type'])
+    v_planner = velocity_planner.VelocityPlanner(vehicle=ego_vehicle,
+                                                 velocity_func_type=config['velocity_func_type'])
 
     # create path optimization planner
     ocp_planner = ocp_optimization.ocp_optimization(
@@ -70,7 +70,7 @@ def main(file, config):
         path_arc_length, path_i_info = interplotor.cubic_fitting(opti_path)
 
         # velocity planning
-        v_acc_func, terminiate_time = velocity_planner.solve_nlp(
+        v_acc_func, terminiate_time = v_planner.solve_nlp(
             arc_length=path_arc_length)
 
         # insert points
@@ -125,7 +125,7 @@ def main(file, config):
 if __name__ == '__main__':
     parser = argparse.ArgumentParser(description='hybridAstar')
     parser.add_argument("--config_name", type=str, default="config")
-    parser.add_argument("--case_name", type=str, default="Case5")
+    parser.add_argument("--case_name", type=str, default="Case8")
     args = parser.parse_args()
 
     # initial

optimization/ocp_optimization.py

@@ -2,7 +2,7 @@
 Author: wenqing-hnu
 Date: 2022-10-20
 LastEditors: wenqing-hnu
-LastEditTime: 2022-11-11
+LastEditTime: 2022-11-12
 FilePath: /Automated Valet Parking/optimization/ocp_optimization.py
 Description: use ipopt to solve the optimization problem
 
@@ -13,7 +13,7 @@
 from __future__ import division
 from map.costmap import Map, Vehicle
 import math
-from path_planner import rs_curve
+from path_plan import rs_curve
 import numpy as np
 
 import pyomo.environ as pyo

path_planner/hybrid_a_star.py → path_plan/hybrid_a_star.py

@@ -2,8 +2,8 @@
 Author: wenqing-hnu
 Date: 2022-10-20
 LastEditors: wenqing-hnu
-LastEditTime: 2022-11-11
-FilePath: /Automated Valet Parking/path_planner/hybrid_a_star.py
+LastEditTime: 2022-11-12
+FilePath: /Automated Valet Parking/path_plan/hybrid_a_star.py
 Description: hybrid a star 
 
 Copyright (c) 2022 by wenqing-hnu, All Rights Reserved. 
@@ -14,8 +14,8 @@
 import queue
 from map.costmap import Map, Vehicle
 from collision_check import collision_check
-from path_planner.compute_h import Dijkstra
-from path_planner import rs_curve
+from path_plan.compute_h import Dijkstra
+from path_plan import rs_curve
 from animation.animation import *
 
 

path_planner/path_planner.py → path_plan/path_planner.py

@@ -3,7 +3,7 @@
 Date: 2022-10-20
 LastEditors: wenqing-hnu
 LastEditTime: 2022-11-08
-FilePath: /Automated Valet Parking/path_planner/path_planner.py
+FilePath: /Automated Valet Parking/path_plan/path_planner.py
 Description: path plan
 
 Copyright (c) 2022 by wenqing-hnu, All Rights Reserved. 
@@ -15,14 +15,14 @@
 from scipy import spatial
 from typing import Dict, Tuple, List
 
-from path_planner.hybrid_a_star import hybrid_a_star
+from path_plan.hybrid_a_star import hybrid_a_star
 from animation.animation import ploter
 from map.costmap import Vehicle, Map
 from collision_check import collision_check
-from path_planner.rs_curve import PATH
+from path_plan.rs_curve import PATH
 
 
-class path_planner:
+class PathPlanner:
     def __init__(self,
                  config: dict = None,
                  map: Map = None,

velocity_planner/velocity_plan.py → velocity_plan/velocity_planner.py

@@ -2,8 +2,8 @@
 Author: wenqing-hnu
 Date: 2022-10-20
 LastEditors: wenqing-hnu
-LastEditTime: 2022-11-06
-FilePath: /Automated Valet Parking/velocity_planner/velocity_plan.py
+LastEditTime: 2022-11-12
+FilePath: /Automated Valet Parking/velocity_plan/velocity_planner.py
 Description: velocity planner for the path
 
 Copyright (c) 2022 by wenqing-hnu, All Rights Reserved. 
@@ -112,7 +112,7 @@ def constraint(self, max_v, max_a, arc_length) -> Dict:
         return cons
 
 
-class velocity_planner:
+class VelocityPlanner:
     def __init__(self,
                  vehicle: Vehicle,
                  velocity_func_type: str = 'sin_func'):