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remove np.matrix

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Atsushi Sakai
2018-12-15 18:11:48 +09:00
parent 4dbf642f61
commit 3f276bac9d
1 changed files with 3 additions and 3 deletions
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6
PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py
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@@ -134,7 +134,7 @@ class RRT():
return False, None, None, None, None, None, None, None
def calc_tracking_path(self, path):
path = np.matrix(path[::-1])
path = np.array(path[::-1])
ds = 0.2
for i in range(10):
lx = path[-1, 0]
@@ -145,7 +145,7 @@ class RRT():
print("back")
ds *= -1
lstate = np.matrix(
lstate = np.array(
[lx + ds * math.cos(lyaw), ly + ds * math.sin(lyaw), lyaw])
# print(lstate)
@@ -296,7 +296,7 @@ class RRT():
goalind = node.parent
path.append([self.start.x, self.start.y, self.start.yaw])
path = np.matrix(path[::-1])
path = np.array(path[::-1])
return path
def calc_dist_to_goal(self, x, y):