github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-01-13 04:28:04 -05:00
Code Issues Packages Projects Releases Wiki Activity

fix github scanning alerts (#784)

Browse Source
This commit is contained in:
Atsushi Sakai
2023-01-26 21:56:42 +09:00
committed by GitHub
parent 15ab19688b
commit 489ee5c0e3
8 changed files with 12 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py
View File

@@ -45,7 +45,7 @@ def two_joint_arm(GOAL_TH=0.0, theta1=0.0, theta2=0.0):
if x is not None and y is not None:
x_prev = x
y_prev = y
if np.sqrt(x**2 + y**2) > (l1 + l2):
if np.hypot(x, y) > (l1 + l2):
theta2_goal = 0
else:
theta2_goal = np.arccos(

1
Bipedal/bipedal_planner/bipedal_planner.py
View File

@@ -47,7 +47,6 @@ class BipedalPlanner(object):
return
# set up plotter
com_trajectory_for_plot, ax = None, None
if plot:
fig = plt.figure()
ax = Axes3D(fig)

2
PathPlanning/HybridAStar/dynamic_programming_heuristic.py
View File

@@ -150,7 +150,7 @@ def calc_obstacle_map(ox, oy, resolution, vr):
y = iy + min_y
# print(x, y)
for iox, ioy in zip(ox, oy):
d = math.sqrt((iox - x) ** 2 + (ioy - y) ** 2)
d = math.hypot(iox - x, ioy - y)
if d <= vr / resolution:
obstacle_map[ix][iy] = True
break

5
PathPlanning/InformedRRTStar/informed_rrt_star.py
View File

@@ -192,7 +192,7 @@ class InformedRRTStar:
@staticmethod
def line_cost(node1, node2):
return math.sqrt((node1.x - node2.x) ** 2 + (node1.y - node2.y) ** 2)
return math.hypot(node1.x - node2.x, node1.y - node2.y)
@staticmethod
def get_nearest_list_index(nodes, rnd):
@@ -222,8 +222,7 @@ class InformedRRTStar:
for i in nearInds:
nearNode = self.node_list[i]
d = math.sqrt((nearNode.x - newNode.x) ** 2
+ (nearNode.y - newNode.y) ** 2)
d = math.hypot(nearNode.x - newNode.x, nearNode.y - newNode.y)
s_cost = newNode.cost + d

2
PathPlanning/LQRPlanner/lqr_planner.py
View File

@@ -47,7 +47,7 @@ class LQRPlanner:
rx.append(x[0, 0] + gx)
ry.append(x[1, 0] + gy)
d = math.sqrt((gx - rx[-1]) ** 2 + (gy - ry[-1]) ** 2)
d = math.hypot(gx - rx[-1], gy - ry[-1])
if d <= self.GOAL_DIST:
found_path = True
break

2
PathPlanning/LQRRRTStar/lqr_rrt_star.py
View File

@@ -179,7 +179,7 @@ class LQRRRTStar(RRTStar):
dx = np.diff(px)
dy = np.diff(py)
clen = [math.sqrt(idx ** 2 + idy ** 2) for (idx, idy) in zip(dx, dy)]
clen = [math.hypot(idx, idy) for (idx, idy) in zip(dx, dy)]
return px, py, clen

6
PathPlanning/RRT/rrt_with_pathsmoothing.py
View File

@@ -23,7 +23,7 @@ def get_path_length(path):
for i in range(len(path) - 1):
dx = path[i + 1][0] - path[i][0]
dy = path[i + 1][1] - path[i][1]
d = math.sqrt(dx * dx + dy * dy)
d = math.hypot(dx, dy)
le += d
return le
@@ -36,7 +36,7 @@ def get_target_point(path, targetL):
for i in range(len(path) - 1):
dx = path[i + 1][0] - path[i][0]
dy = path[i + 1][1] - path[i][1]
d = math.sqrt(dx * dx + dy * dy)
d = math.hypot(dx, dy)
le += d
if le >= targetL:
ti = i - 1
@@ -67,7 +67,7 @@ def line_collision_check(first, second, obstacleList):
return False
for (ox, oy, size) in obstacleList:
d = abs(a * ox + b * oy + c) / (math.sqrt(a * a + b * b))
d = abs(a * ox + b * oy + c) / (math.hypot(a, b))
if d <= size:
return False

6
PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py
View File

@@ -57,13 +57,13 @@ def straight_left_straight(x, y, phi):
xd = - y / math.tan(phi) + x
t = xd - math.tan(phi / 2.0)
u = phi
v = math.sqrt((x - xd) ** 2 + y ** 2) - math.tan(phi / 2.0)
v = math.hypot(x - xd, y) - math.tan(phi / 2.0)
return True, t, u, v
elif y < 0.0 < phi < math.pi * 0.99:
xd = - y / math.tan(phi) + x
t = xd - math.tan(phi / 2.0)
u = phi
v = -math.sqrt((x - xd) ** 2 + y ** 2) - math.tan(phi / 2.0)
v = -math.hypot(x - xd, y) - math.tan(phi / 2.0)
return True, t, u, v
return False, 0.0, 0.0, 0.0
@@ -103,7 +103,7 @@ def straight_curve_straight(x, y, phi, paths, step_size):
def polar(x, y):
r = math.sqrt(x ** 2 + y ** 2)
r = math.hypot(x, y)
theta = math.atan2(y, x)
return r, theta