github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-01-13 20:28:07 -05:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #190 from AfroDisco/patch-1

Browse Source 
Fixed the sampling function from PRM
This commit is contained in:
Atsushi Sakai
2019-05-22 22:27:04 +09:00
committed by GitHub
parent f0749b6150 d25d15ccc7
commit 92d21b355a
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py
View File

@@ -249,8 +249,8 @@ def sample_points(sx, sy, gx, gy, rr, ox, oy, obkdtree):
sample_x, sample_y = [], []
while len(sample_x) <= N_SAMPLE:
tx = (random.random() - minx) * (maxx - minx)
ty = (random.random() - miny) * (maxy - miny)
tx = (random.random() * (maxx - minx)) + minx
ty = (random.random() * (maxy - miny)) + miny
index, dist = obkdtree.search(np.array([tx, ty]).reshape(2, 1))