Rename ctd back to cte fpr consistency

agbot_stanley_teacher.py

@@ -55,8 +55,8 @@ class DTreeAgBotStanleyGurobiTeacher(DTreeGurobiTeacherBase):
             return new_x, new_y, new_yaw
 
         def g(perc):
-            prcv_ctd, prcv_heading = perc
-            error = prcv_heading + np.arctan(K_P*prcv_ctd/FORWARD_VEL)
+            prcv_cte, prcv_heading = perc
+            error = prcv_heading + np.arctan(K_P*prcv_cte/FORWARD_VEL)
             # Calculate controller output
             ang_vel = error / CYCLE_TIME
             if ang_vel > ANG_VEL_LIM:
@@ -72,8 +72,8 @@ class DTreeAgBotStanleyGurobiTeacher(DTreeGurobiTeacherBase):
             return self.PERC_GT @ state
 
         def v(gt_perc) -> float:
-            ctd, psi = gt_perc
-            return abs(psi + np.arctan((K_P*ctd) / FORWARD_VEL))
+            cte, psi = gt_perc
+            return abs(psi + np.arctan((K_P*cte) / FORWARD_VEL))
 
         def spec(state, perc) -> bool:
             v_old = v(m_star(state))
@@ -95,20 +95,20 @@ class DTreeAgBotStanleyGurobiTeacher(DTreeGurobiTeacherBase):
         m = self._gp_model
         old_x, old_y, old_yaw = self._old_state.tolist()
         new_x, new_y, new_yaw = self._new_state.tolist()
-        ctd, psi = self._percept.tolist()
+        cte, psi = self._percept.tolist()
         ang_vel, = self._control.tolist()
 
         # Controller
-        K_ctd_V = m.addVar(name="K*dhat/Vf", lb=-K_CTE_V_LIM, ub=K_CTE_V_LIM)
-        m.addConstr(K_ctd_V == K_P*ctd/FORWARD_VEL)
-        atan_K_ctd_V = m.addVar(name="atan(K*dhat/Vf)",
+        K_cte_V = m.addVar(name="K*dhat/Vf", lb=-K_CTE_V_LIM, ub=K_CTE_V_LIM)
+        m.addConstr(K_cte_V == K_P*cte/FORWARD_VEL)
+        atan_K_cte_V = m.addVar(name="atan(K*dhat/Vf)",
                                 lb=-ATAN_K_CTE_V_LIM, ub=ATAN_K_CTE_V_LIM)
-        m.addGenConstrTan(xvar=atan_K_ctd_V, yvar=K_ctd_V)
+        m.addGenConstrTan(xvar=atan_K_cte_V, yvar=K_cte_V)
 
         # Clip angular velocity
         raw_ang_vel = m.addVar(name="(φhat+atan(K*dhat/V))/T",
                                lb=-RAW_ANG_VEL_LIM, ub=RAW_ANG_VEL_LIM)
-        m.addConstr(raw_ang_vel == (psi + atan_K_ctd_V) / CYCLE_TIME)
+        m.addConstr(raw_ang_vel == (psi + atan_K_cte_V) / CYCLE_TIME)
 
         ang_vel = m.addVar(name="ω", lb=-ANG_VEL_LIM, ub=ANG_VEL_LIM)
         m.addGenConstrPWL(name="clip", xvar=raw_ang_vel, yvar=ang_vel,

gem_stanley_teacher.py

@@ -46,8 +46,8 @@ class DTreeGEMStanleyGurobiTeacher(DTreeGurobiTeacherBase):
         assert len(ex) == self.state_dim + self.perc_dim
 
         def g(perc):
-            ctd, psi = perc
-            error = psi + np.arctan(K_P*ctd/FORWARD_VEL)
+            cte, psi = perc
+            error = psi + np.arctan(K_P*cte/FORWARD_VEL)
             steer = np.clip(error, -STEERING_LIM, STEERING_LIM)
             return (steer,)
 
@@ -85,12 +85,12 @@ class DTreeGEMStanleyGurobiTeacher(DTreeGurobiTeacherBase):
         m = self._gp_model
         old_x, old_y, old_yaw = self._old_state.tolist()
         new_x, new_y, new_yaw = self._new_state.tolist()
-        ctd, psi = self._percept.tolist()
+        cte, psi = self._percept.tolist()
         steering, = self._control.tolist()
 
         # Controller
         K_cte_V = m.addVar(name="K*d/Vf", lb=-K_CTE_V_LIM, ub=K_CTE_V_LIM)
-        m.addConstr(K_cte_V == K_P*ctd/FORWARD_VEL)
+        m.addConstr(K_cte_V == K_P*cte/FORWARD_VEL)
         atan_K_cte_V = m.addVar(name="atan(K*d/Vf)",
                                 lb=-ATAN_K_CTE_V_LIM, ub=ATAN_K_CTE_V_LIM)
         m.addGenConstrTan(xvar=atan_K_cte_V, yvar=K_cte_V)
@@ -197,10 +197,10 @@ class GEMStanleySymPyTeacher(SymPyTeacherBase):
         # Variable Aliases
         old_x, old_y, old_yaw = self._old_state
         new_x, new_y, new_yaw = self._new_state
-        ctd, psi = self._percept
+        cte, psi = self._percept
         steering, = self._control
 
-        err = psi + sympy.atan2(ctd*self.K_P, self.FORWARD_VEL)
+        err = psi + sympy.atan2(cte*self.K_P, self.FORWARD_VEL)
         clipped_err = sympy.Piecewise(
             (self.STEERING_LIM, err > self.STEERING_LIM),
             (-self.STEERING_LIM, err < -self.STEERING_LIM),