github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-02-16 23:25:46 -05:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Guillaume Jacquenot
2019-12-07 22:30:04 +01:00
parent 00f8fd37d3
commit 1fcfa72133
1 changed files with 2 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py
View File

@@ -6,7 +6,6 @@ author: AtsushiSakai(@Atsushi_twi)
""" """
import math
import os import os
import sys import sys
@@ -119,9 +118,8 @@ class ClosedLoopRRTStar(RRTStarReedsShepp):
print("final angle is bad") print("final angle is bad")
find_goal = False find_goal = False
travel = sum([abs(iv) * unicycle_model.dt for iv in v]) travel = unicycle_model.dt * sum(np.abs(v))
origin_travel = sum([math.sqrt(dx ** 2 + dy ** 2) origin_travel = sum(np.hypot(np.diff(cx), np.diff(cy)))
for (dx, dy) in zip(np.diff(cx), np.diff(cy))])
if (travel / origin_travel) >= self.invalid_travel_ratio: if (travel / origin_travel) >= self.invalid_travel_ratio:
print("path is too long") print("path is too long")