Use single bicycle car model

diff --git a/path-to-traj.py b/path-to-traj.py
index c9ef49f7fba64d830d64c15d764d68300a32e387..c865768943ed7ee78d7569c14f23c952aba39196 100755 (executable)
--- a/path-to-traj.py
+++ b/path-to-traj.py
@@ -433,13 +433,6 @@ if __name__ == "__main__":
     for i in range(len(path_segments)):
         s = path_segments[i]
         s_is_cusp = i in cusps
-        # Comment the following three lines to have the single
-        # BicycleCar model over all the segments without reseting the
-        # model at the beginning of each segment.
-        old_sp = c.sp
-        c = BicycleCar(*s.init_pose[:3])
-        c.sp = old_sp
-        # ---
         c.acc = set_max(s.direction(), c.max_acc)
         c.dwa = set_max(s.type(), c.max_wa)
         d = 0