Throw errors when running dubins car demo.

StanfordASL · Apr 21, 2023 · 32a44d4 · 32a44d4
1 parent 5c108c6
commit 32a44d4
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diff --git a/neural_network_lyapunov/examples/car/train_acceleration_car_demo.py b/neural_network_lyapunov/examples/car/train_acceleration_car_demo.py
@@ -73,6 +73,9 @@ def compute_delta_pos(model, network_input):
 
 
 if __name__ == "__main__":
+    raise Exception("Dubins car cannot be stabilized by a continuous controller, refer" +
+                    "to https://arxiv.org/pdf/math/9902026.pdf for a proof. Using" +
+                    "neural-network controllers is doomed to fail for Dubins car.")
     parser = argparse.ArgumentParser(
         description="Acceleration car training demo")
     parser.add_argument("--generate_dynamics_data", action="store_true")

diff --git a/neural_network_lyapunov/examples/car/train_unicycle_demo.py b/neural_network_lyapunov/examples/car/train_unicycle_demo.py
@@ -153,6 +153,9 @@ def compute_v(model, x):
 
 
 if __name__ == "__main__":
+    raise Exception("Dubins car cannot be stabilized by a continuous controller, refer" +
+                    "to https://arxiv.org/pdf/math/9902026.pdf for a proof. Using" +
+                    "neural-network controllers is doomed to fail for Dubins car.")
     parser = argparse.ArgumentParser(description="Unicycle training demo")
     parser.add_argument("--generate_dynamics_data", action="store_true")
     parser.add_argument("--load_dynamics_data",