(x, y, sn)
| 15 | |
| 16 | |
| 17 | def bspline_planning(x, y, sn): |
| 18 | t = range(len(x)) |
| 19 | x_tup = si.splrep(t, x, k=N) |
| 20 | y_tup = si.splrep(t, y, k=N) |
| 21 | |
| 22 | x_list = list(x_tup) |
| 23 | xl = x.tolist() |
| 24 | x_list[1] = xl + [0.0, 0.0, 0.0, 0.0] |
| 25 | |
| 26 | y_list = list(y_tup) |
| 27 | yl = y.tolist() |
| 28 | y_list[1] = yl + [0.0, 0.0, 0.0, 0.0] |
| 29 | |
| 30 | ipl_t = np.linspace(0.0, len(x) - 1, sn) |
| 31 | rx = si.splev(ipl_t, x_list) |
| 32 | ry = si.splev(ipl_t, y_list) |
| 33 | |
| 34 | return rx, ry |
| 35 | |
| 36 | |
| 37 | def main(): |