AtHeartEngineer/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-04-22 03:00:41 -04:00
Code Issues Packages Projects Releases Wiki Activity

Replaced sqrt(x**2+y**2) with hypot in PathPlanning/RRT/rrt.py

Browse Source
This commit is contained in:
Guillaume Jacquenot
2019-12-07 22:20:58 +01:00
parent bc2b7c969c
commit 26cff8e69f
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
PathPlanning/RRT/rrt.py
View File

@@ -126,7 +126,7 @@ class RRT:
def calc_dist_to_goal(self, x, y):
dx = x - self.end.x
dy = y - self.end.y
return math.sqrt(dx ** 2 + dy ** 2)
return math.hypot(dx, dy)
def get_random_node(self):
if random.randint(0, 100) > self.goal_sample_rate:
@@ -186,7 +186,7 @@ class RRT:
def calc_distance_and_angle(from_node, to_node):
dx = to_node.x - from_node.x
dy = to_node.y - from_node.y
d = math.sqrt(dx ** 2 + dy ** 2)
d = math.hypot(dx, dy)
theta = math.atan2(dy, dx)
return d, theta