asw_component/__init__.py +3−0 View file@@ -0,0 +1,3 @@
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from .component import execute 2 +
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__all__ = ["execute"]REPOSITORY
kitech/path-tracking-asw Private
[참조 MVP] 작업경로 추종 A-SW — 현재 자세와 경로에서 Pure Pursuit 방식의 조향 명령을 계산합니다.
https://git.agrithing.ai/kitech/path-tracking-asw.git a0afd4d feat: adopt cpp ACU SDV reference implementation
870c250 ci: add language-specific static and dynamic analysis
18a2162 docs: define component scope and interface contract
2dd63b7 ci: verify contract tests and evidence package
91d4eca feat: add executable reference MVP
767167a docs: define component scope and interface contract
COMMIT DETAIL
feat: add executable reference MVP
91d4eca535092cd74b03e8066ab54dcdf69b3a59 asw_component/component.py +20−0 View file@@ -0,0 +1,20 @@
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from __future__ import annotations 2 +
import math 3 +
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5 +
def execute(payload: dict) -> dict: 6 +
pose, path = payload["pose"], payload["path"] 7 +
lookahead = float(payload.get("lookahead_m", 2.5)) 8 +
wheelbase = float(payload.get("wheelbase_m", 2.1)) 9 +
if not path or lookahead <= 0 or wheelbase <= 0: 10 +
raise ValueError("path, lookahead and wheelbase are required") 11 +
x, y, heading = float(pose["x"]), float(pose["y"]), float(pose["heading_rad"]) 12 +
target = path[-1] 13 +
for point in path: 14 +
if math.hypot(point[0] - x, point[1] - y) >= lookahead: 15 +
target = point 16 +
break 17 +
alpha = math.atan2(target[1] - y, target[0] - x) - heading 18 +
steering = math.atan2(2 * wheelbase * math.sin(alpha), max(lookahead, 0.01)) 19 +
cross_track = min(math.hypot(px-x, py-y) for px, py in path) 20 +
return {"target": target, "steering_rad": round(steering, 5), "cross_track_error_m": round(cross_track, 3)}examples/input.json +23−0 View file@@ -0,0 +1,23 @@
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{ 2 +
"pose": { 3 +
"x": 0, 4 +
"y": 0, 5 +
"heading_rad": 0 6 +
}, 7 +
"path": [ 8 +
[ 9 +
0, 10 +
0 11 +
], 12 +
[ 13 +
5, 14 +
1 15 +
], 16 +
[ 17 +
10, 18 +
1 19 +
] 20 +
], 21 +
"lookahead_m": 3, 22 +
"wheelbase_m": 2.1 23 +
}pyproject.toml +8−0 View file@@ -0,0 +1,8 @@
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[project] 2 +
name = "path_tracking_asw" 3 +
version = "0.1.0" 4 +
description = "현재 자세와 경로에서 Pure Pursuit 방식의 조향 명령을 계산합니다." 5 +
requires-python = ">=3.11" 6 +
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[tool.unittest] 8 +
test-path = "tests"run.py +10−0 View file@@ -0,0 +1,10 @@
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from __future__ import annotations 2 +
import json 3 +
import sys 4 +
from asw_component import execute 5 +
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if __name__ == "__main__": 7 +
path = sys.argv[1] if len(sys.argv) > 1 else None 8 +
with open(path, encoding="utf-8") if path else sys.stdin as source: 9 +
payload = json.load(source) 10 +
print(json.dumps(execute(payload), ensure_ascii=False, indent=2))