Transfered yield algorithms

Author: udymd

GEMstack/knowledge/defaults/current.yaml

@@ -22,7 +22,8 @@ control:
         pid_d: 0.0
 planning:
     longitudinal_plan:
-        mode:               'real'
+        mode:               'real' # 'real' or 'sim'
+        yielder:            'expart' # 'expart', 'analytic', or 'simulation'
         planner:            'dt' # 'milestone', 'dt', or 'dx'
         desired_speed:      1.0
         acceleration:       0.5

GEMstack/onboard/planning/README.md

@@ -0,0 +1,50 @@
+# Planning-A HW1 Document
+
+This document serves as an overview for integrating pedestrian yielder into longitudinal planner. It describes how parameters from `pedetrian_detecion.yaml` are used in the planning system along with references to the `longitudinal_planning.py` script and the `pedestrian_yield_logic.py` script.
+
+Details on the algorithm and demos are availavle at the link below:<br>
+https://drive.google.com/drive/folders/1aSOWIrqXjf9-j6i1S_MJksATMyyoP31_?usp=sharing
+
+
+## Contribution
+Each member contributed to:
+### longitudinal_planning.py Contributions
+
+| Algorithm  | Contributor     |
+| :--------- | :-------------- |
+| milestone  | Simon (sk106)   |
+| dt         | Rohit (srm17)   |
+| dx         | Hansen (hl58)   |
+
+### pedestrian_yield_logic.py Contributions
+
+| Algorithm  | Contributor                                 |
+| :--------- | :------------------------------------------ |
+| expert     | Patrick (bohaowu2), Animesh (animesh8)      |
+| analytic   | Henry (weigang2)                            |
+| simulation | Yudai (yyamada2)                            |
+
+
+## Configuration Details
+The `pedetrian_detecion.yaml` file includes:
+```
+args:
+    mode: 'real'
+    params: {
+        'yielder':       'expart', # 'expart', 'analytic', or 'simulation'
+        'planner':       'milestone', # 'milestone', 'dt', or 'dx'
+        'desired_speed': 1.0,  # m/s
+        'acceleration':  0.75  # m/s2
+        }
+```
+
+
+## Usage
+### pedetrian_detecion.yaml
+Algorithm can be chosen from the above in this file. Also contains parameters for the logic.
+### Execution: Simulator
+`python3 main.py --variant=fake_sim launch/pedestrian_detection.yaml`
+### Testing
+- `testing/test_longitudinal_plan.py`
+- `testing/test_yield_logic_analytic.ipynb`
+- `testing/test_collision_detection.py`