changing cte > ctd

agbot_stanley_teacher.py

@@ -104,20 +104,20 @@ 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()
-        cte, psi = self._percept.tolist()
+        ctd, psi = self._percept.tolist()
         ang_vel, = self._control.tolist()
 
         # Controller
-        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)",
+        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)",
                                 lb=-ATAN_K_CTE_V_LIM, ub=ATAN_K_CTE_V_LIM)
-        m.addGenConstrTan(xvar=atan_K_cte_V, yvar=K_cte_V)
+        m.addGenConstrTan(xvar=atan_K_ctd_V, yvar=K_ctd_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_cte_V) / CYCLE_TIME)
+        m.addConstr(raw_ang_vel == (psi + atan_K_ctd_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,