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fix: calc_target_index in pure_pursuit module

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tks10
2019-01-15 00:05:16 +09:00
parent 10042893d3
commit 9461aa039f
1 changed files with 1 additions and 1 deletions
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PathTracking/pure_pursuit/pure_pursuit.py
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@@ -85,7 +85,7 @@ def calc_target_index(state, cx, cy):
# search look ahead target point index
while Lf > L and (ind + 1) < len(cx):
dx = cx[ind + 1] - cx[ind]
dy = cx[ind + 1] - cx[ind]
dy = cy[ind + 1] - cy[ind]
L += math.sqrt(dx ** 2 + dy ** 2)
ind += 1