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fix early termination bug. fix #223

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Atsushi Sakai
2019-09-12 20:26:48 +09:00
parent 4264bde171
commit ae32cb332a
1 changed files with 1 additions and 1 deletions
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PathPlanning/RRT/rrt.py
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@@ -74,7 +74,7 @@ class RRT:
if animation and i % 5 == 0:
self.draw_graph(rnd_node)
if self.calc_dist_to_goal(new_node.x, new_node.y) <= self.expand_dis:
if self.calc_dist_to_goal(self.node_list[-1].x, self.node_list[-1].y) <= self.expand_dis:
print("Goal!!")
return self.generate_final_course(len(self.node_list) - 1)