Add parameters from other papers

diff --git a/scripts/plot_json_objects_scenario.py b/scripts/plot_json_objects_scenario.py
index 98ea89d64e3759decd88aa586ee789dcd0019f70..ede190d7cba1a96fb8d55b771246f9bcf97ca18f 100755 (executable)
--- a/scripts/plot_json_objects_scenario.py
+++ b/scripts/plot_json_objects_scenario.py
@@ -7,13 +7,21 @@ from matplotlib import pyplot as plt
 from sys import argv, exit
 import matplotlib
 
-BCAR_MTR = 10.820
-BCAR_WB = 2.450
-BCAR_W = 1.625
-BCAR_L = 3.760
+# j1
+#BCAR_W = 1.625
+#BCAR_SD = 0
+#BCAR_DF = 3.105
+#BCAR_DR = 0.655
+# wang 2017
+#BCAR_W = 1.81
+#BCAR_SD = 0
+#BCAR_DF = 3.7
+#BCAR_DR = 4.85 - 3.7
+# jhang 2020
+BCAR_W = 2.022
 BCAR_SD = 0
-BCAR_DF = 3.105
-BCAR_DR = 0.655
+BCAR_DF = 4.236
+BCAR_DR = 5.171 - 4.236
 
 MINX = inf
 MINY = inf

diff --git a/src/template-with-reset.cc b/src/template-with-reset.cc
index a646958844200dff8b82324a3baddc0ab319f283..17642bd774e138c368b9332e5fb63cd4fb97009b 100644 (file)
--- a/src/template-with-reset.cc
+++ b/src/template-with-reset.cc
@@ -28,6 +28,18 @@ int main()
                jvi["slot"][2][0].asDouble(), jvi["slot"][2][1].asDouble(),
                jvi["slot"][3][0].asDouble(), jvi["slot"][3][1].asDouble());
        bcar::BicycleCar c;
+       // wang 2017
+       //c.ctc(8.411896337925237);
+       //c.w(1.81);
+       //c.wb(2.7);
+       //c.df(3.7);
+       //c.len(4.85);
+       // jhang 2020 https://en.wikipedia.org/wiki/Chrysler_Pacifica_(minivan)
+       //c.ctc(9.557619159602458);
+       //c.w(2.022);
+       //c.wb(3.089);
+       //c.df(4.236);
+       //c.len(5.171);
        bool swapped = false;
        if (s.parallel() && !s.right()) {
                s.swap_side();
@@ -73,6 +85,19 @@ int main()
        jvi["goal_inside"][0] = ispath.back().x();
        jvi["goal_inside"][1] = ispath.back().y();
        jvi["goal_inside"][2] = ispath.back().h();
+       // wang 2017
+       //p.bc().ctc(8.411896337925237);
+       //p.bc().w(1.81);
+       //p.bc().wb(2.7);
+       //p.bc().df(3.7);
+       //p.bc().len(4.85);
+       // jhang 2020 https://en.wikipedia.org/wiki/Chrysler_Pacifica_(minivan)
+       //p.bc().ctc(9.557619159602458);
+       //p.bc().w(2.022);
+       //p.bc().wb(3.089);
+       //p.bc().df(4.236);
+       //p.bc().len(5.171);
+       //p.eta(0.3);
        p.json(jvi);
        unsigned int icnt = 0;
        unsigned int rcnt = 0;