2018-07-14 20:45:39 +02:00
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# -*- coding: utf-8 -*-
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"""
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Created on Tue Apr 28 08:19:21 2015
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@author: Roger
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"""
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from math import *
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import numpy as np
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import matplotlib.pyplot as plt
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from matplotlib.patches import Polygon
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wheelbase = 100 #inches
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vel = 20 *12 # fps to inches per sec
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steering_angle = radians(1)
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t = 1 # second
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orientation = 0. # radians
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pos = np.array([0., 0.]
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for i in range(100):
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#if abs(steering_angle) > 1.e-8:
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turn_radius = tan(steering_angle)
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radius = wheelbase / tan(steering_angle)
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dist = vel*t
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arc_len = dist / (2*pi*radius)
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turn_angle = 2*pi * arc_len
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cx = pos[0] - radius * sin(orientation)
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cy = pos[1] + radius * cos(orientation)
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orientation = (orientation + turn_angle) % (2.0 * pi)
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pos[0] = cx + (sin(orientation) * radius)
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pos[1] = cy - (cos(orientation) * radius)
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plt.scatter(pos[0], pos[1])
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plt.axis('equal')
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