replace math.degrees to np.rad2deg

Author: AtsushiSakai

PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py

@@ -436,7 +436,7 @@ def main():
         plt.pause(0.001)
 
         flg, ax = plt.subplots(1)
-        plt.plot(t, [math.degrees(iyaw) for iyaw in yaw[:-1]], '-r')
+        plt.plot(t, [np.rad2deg(iyaw) for iyaw in yaw[:-1]], '-r')
         plt.xlabel("time[s]")
         plt.ylabel("Yaw[deg]")
         plt.grid(True)
@@ -455,7 +455,7 @@ def main():
         plt.grid(True)
 
         flg, ax = plt.subplots(1)
-        plt.plot(t, [math.degrees(td) for td in d], '-r')
+        plt.plot(t, [np.rad2deg(td) for td in d], '-r')
         plt.xlabel("time[s]")
         plt.ylabel("Steering angle[deg]")
         plt.grid(True)

PathPlanning/CubicSpline/cubic_spline_planner.py

@@ -219,7 +219,7 @@ def main():
     plt.legend()
 
     flg, ax = plt.subplots(1)
-    plt.plot(s, [math.degrees(iyaw) for iyaw in ryaw], "-r", label="yaw")
+    plt.plot(s, [np.rad2deg(iyaw) for iyaw in ryaw], "-r", label="yaw")
     plt.grid(True)
     plt.legend()
     plt.xlabel("line length[m]")

PathPlanning/DubinsPath/dubins_path_planning.py

@@ -37,7 +37,7 @@ def LSL(alpha, beta, d):
     t = mod2pi(-alpha + tmp1)
     p = math.sqrt(p_squared)
     q = mod2pi(beta - tmp1)
-    #  print(math.degrees(t), p, math.degrees(q))
+    #  print(np.rad2deg(t), p, np.rad2deg(q))
 
     return t, p, q, mode
 

PathPlanning/FrenetOptimalTrajectory/cubic_spline_planner.py

@@ -219,7 +219,7 @@ def main():
     plt.legend()
 
     flg, ax = plt.subplots(1)
-    plt.plot(s, [math.degrees(iyaw) for iyaw in ryaw], "-r", label="yaw")
+    plt.plot(s, [np.rad2deg(iyaw) for iyaw in ryaw], "-r", label="yaw")
     plt.grid(True)
     plt.legend()
     plt.xlabel("line length[m]")

PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.py

@@ -201,7 +201,7 @@ def main():
         plt.plot(x, y, "-r")
 
         plt.subplots()
-        plt.plot(time, [math.degrees(i) for i in yaw], "-r")
+        plt.plot(time, [np.rad2deg(i) for i in yaw], "-r")
         plt.xlabel("Time[s]")
         plt.ylabel("Yaw[deg]")
         plt.grid(True)

PathPlanning/RRTDubins/dubins_path_planning.py

@@ -38,7 +38,7 @@ def LSL(alpha, beta, d):
     t = mod2pi(-alpha + tmp1)
     p = math.sqrt(p_squared)
     q = mod2pi(beta - tmp1)
-    #  print(math.degrees(t), p, math.degrees(q))
+    #  print(np.rad2deg(t), p, np.rad2deg(q))
 
     return t, p, q, mode
 

PathPlanning/RRTStarDubins/dubins_path_planning.py

@@ -33,7 +33,7 @@ def LSL(alpha, beta, d):
     t = mod2pi(-alpha + tmp1)
     p = math.sqrt(p_squared)
     q = mod2pi(beta - tmp1)
-    #  print(math.degrees(t), p, math.degrees(q))
+    #  print(np.rad2deg(t), p, np.rad2deg(q))
 
     return t, p, q, mode
 

PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py

@@ -272,7 +272,7 @@ def main():
         plt.legend()
 
         flg, ax = plt.subplots(1)
-        plt.plot(s, [math.degrees(iyaw) for iyaw in cyaw], "-r", label="yaw")
+        plt.plot(s, [np.rad2deg(iyaw) for iyaw in cyaw], "-r", label="yaw")
         plt.grid(True)
         plt.legend()
         plt.xlabel("line length[m]")

PathTracking/lqr_steer_control/lqr_steer_control.py

@@ -271,7 +271,7 @@ def main():
         plt.legend()
 
         flg, ax = plt.subplots(1)
-        plt.plot(s, [math.degrees(iyaw) for iyaw in cyaw], "-r", label="yaw")
+        plt.plot(s, [np.rad2deg(iyaw) for iyaw in cyaw], "-r", label="yaw")
         plt.grid(True)
         plt.legend()
         plt.xlabel("line length[m]")

PathTracking/rear_wheel_feedback/rear_wheel_feedback.py

@@ -219,7 +219,7 @@ def main():
         plt.legend()
 
         flg, ax = plt.subplots(1)
-        plt.plot(s, [math.degrees(iyaw) for iyaw in cyaw], "-r", label="yaw")
+        plt.plot(s, [np.rad2deg(iyaw) for iyaw in cyaw], "-r", label="yaw")
         plt.grid(True)
         plt.legend()
         plt.xlabel("line length[m]")