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replace math.radians to np.deg2rad

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Atsushi Sakai
2018-10-23 21:49:08 +09:00
parent 15e044d015
commit a164faa7f2
30 changed files with 107 additions and 106 deletions
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10
PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py
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@@ -221,10 +221,8 @@ class RRT():
return newNode
def pi_2_pi(self, angle):
return (angle + math.pi) % (2*math.pi) - math.pi
return (angle + math.pi) % (2 * math.pi) - math.pi
def steer(self, rnd, nind):
# print(rnd)
@@ -265,7 +263,7 @@ class RRT():
def get_best_last_indexs(self):
# print("get_best_last_index")
YAWTH = math.radians(1.0)
YAWTH = np.deg2rad(1.0)
XYTH = 0.5
goalinds = []
@@ -420,8 +418,8 @@ def main():
] # [x,y,size(radius)]
# Set Initial parameters
start = [0.0, 0.0, math.radians(0.0)]
goal = [6.0, 7.0, math.radians(90.0)]
start = [0.0, 0.0, np.deg2rad(0.0)]
goal = [6.0, 7.0, np.deg2rad(90.0)]
rrt = RRT(start, goal, randArea=[-2.0, 20.0], obstacleList=obstacleList)
flag, x, y, yaw, v, t, a, d = rrt.Planning(animation=show_animation)