run.py

#!/usr/bin/env python3
##
# @file run.py
#
# @brief Provide plotting functions for the system.
#
# @section author_doxygen_example Author(s)
# - Created by Tran Viet Thanh on 27/08/2024.
#
# Copyright (c) 2024 System Engineering Laboratory.  All rights reserved.

# Standard library
import os

# Internal library
from visualizers.plotter import Plotter
from simulators.time_stepping import TimeStepping
from models.differential_drive import DifferentialDrive
from controllers.purepursuit.vfh_purpursuit import VFHPurePursuit
from trajectory_generators.simple_generator import SimpleGenerator


if __name__ == "__main__":
    wheel_base = 0.53

    model = DifferentialDrive(wheel_base)

    trajectory = SimpleGenerator(model)

    trajectory.generate("global_trajectory.csv", nx=3, nu=2,
                        is_derivative=True)

    current_folder = os.path.dirname(os.path.abspath(__file__))

    map_folder = os.path.abspath(os.path.join(
        current_folder, 'perception', 'maps'))

    environment = os.path.join(map_folder, 'obstacle_at_end.txt')

    controller = VFHPurePursuit(model, trajectory, environment)

    simulator = TimeStepping(model, trajectory, controller, None, t_max=120)

    plotter = Plotter(simulator, trajectory, environment)

    simulator.run(0.0)

    plotter.plot()