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

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Guillaume Jacquenot
2019-12-07 22:30:04 +01:00
parent 00f8fd37d3
commit 1fcfa72133
1 changed files with 2 additions and 4 deletions
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6
PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py
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@@ -6,7 +6,6 @@ author: AtsushiSakai(@Atsushi_twi)
"""
import math
import os
import sys
@@ -119,9 +118,8 @@ class ClosedLoopRRTStar(RRTStarReedsShepp):
print("final angle is bad")
find_goal = False
travel = sum([abs(iv) * unicycle_model.dt for iv in v])
origin_travel = sum([math.sqrt(dx ** 2 + dy ** 2)
for (dx, dy) in zip(np.diff(cx), np.diff(cy))])
travel = unicycle_model.dt * sum(np.abs(v))
origin_travel = sum(np.hypot(np.diff(cx), np.diff(cy)))
if (travel / origin_travel) >= self.invalid_travel_ratio:
print("path is too long")