************************* run.py ****************************
#=============================================================================================================================
-
init controller
-
init game
-
get controller command
-
get game state
-
run new command
#===============================================================================================================================
************************* controller.py ****************************
#============================================================================================================================= * read settings
* init road state action
* find nearest
* calc ref
* pure pursuit steer
* pid steer
* lqr steer
* pid cmd
* calculate command
-> steering angle
-> speed(gear or brake)
* render
#===============================================================================================================================
************************* simulator.py ****************************
#=============================================================================================================================
-
wrapped carla-simulator
-
-
read settings
-
new game
-
set command
-
get states
-
do new command
-
get img data
-
get radar data
#===============================================================================================================================
************************* log ****************************
#=============================================================================================================================
-
wrapped carla-simulator
-
-
read settings
-
new game
-
set command
-
get states
-
do new command
-
get img data
-
get radar data
#===============================================================================================================================