我正在尝试从 Python Robotics github 存储库运行此代码。但我收到以下错误。
model_predictive_speed_and_steer_control.py
start!!
Traceback (most recent call last):
File "model_predictive_speed_and_steer_control.py", line 543, in <module>
main()
File "model_predictive_speed_and_steer_control.py", line 520, in main
t, x, y, yaw, v, d, a = do_simulation(cx, cy, cyaw, ck, sp, dl)
File "model_predictive_speed_and_steer_control.py", line 403, in do_simulation
xref, x0, dref, oa, odelta)
File "model_predictive_speed_and_steer_control.py", line 235, in iterative_linear_mpc_control
oa, od, ox, oy, oyaw, ov = linear_mpc_control(xref, xbar, x0, dref)
File "model_predictive_speed_and_steer_control.py", line 262, in linear_mpc_control
cost += cvxpy.quad_form(u[:, t], R)
File "/usr/local/lib/python2.7/dist-packages/cvxpy/expressions/expression.py", line 315, in __getitem__
return cvxtypes.index()(self, key)
File "/usr/local/lib/python2.7/dist-packages/cvxpy/atoms/affine/index.py", line 48, in __init__
self.key = ku.validate_key(key, expr.shape)
File "/usr/local/lib/python2.7/dist-packages/cvxpy/utilities/key_utils.py", line 49, in validate_key
raise IndexError("Too many indices for expression.")
IndexError: Too many indices for expression.
我也更新了“cvxpy”模块。