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Fixed issue with floating indices for Python 2

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Daniel Ingram
2018-03-22 16:48:34 -04:00
parent c44acd1da2
commit ec3d28ac0b
1 changed files with 4 additions and 4 deletions
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8
PathPlanning/PotentialFieldPlanning/potential_field_planning.py
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@@ -25,8 +25,8 @@ def calc_potential_field(gx, gy, ox, oy, reso, rr):
miny = min(oy) - AREA_WIDTH / 2.0
maxx = max(ox) + AREA_WIDTH / 2.0
maxy = max(oy) + AREA_WIDTH / 2.0
xw = round((maxx - minx) / reso)
yw = round((maxy - miny) / reso)
xw = int(round((maxx - minx) / reso))
yw = int(round((maxy - miny) / reso))
# calc each potential
pmap = [[0.0 for i in range(yw)] for i in range(xw)]
@@ -107,8 +107,8 @@ def potential_field_planning(sx, sy, gx, gy, ox, oy, reso, rr):
minp = float("inf")
minix, miniy = -1, -1
for i in range(len(motion)):
inx = ix + motion[i][0]
iny = iy + motion[i][1]
inx = int(ix + motion[i][0])
iny = int(iy + motion[i][1])
if inx >= len(pmap) or iny >= len(pmap[0]):
p = float("inf") # outside area
else: