continuousTrainer.py 文件源码

def calc_lookahead_offset(v_ego, angle_steers, d_lookahead, angle_offset=0):
    #*** this function returns the lateral offset given the steering angle, speed and the lookahead distance
    curvature = calc_curvature(v_ego, angle_steers, angle_offset)

    # clip is to avoid arcsin NaNs due to too sharp turns
    y_actual = d_lookahead * np.tan(np.arcsin(np.clip(d_lookahead * curvature, -0.999, 0.999))/2.)
    return y_actual, curvature