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fix incorrect code

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Atsushi Sakai
2019-02-01 18:34:05 +09:00
parent 621211aee9
commit a458b91e4f
2 changed files with 8 additions and 10 deletions
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15
PathPlanning/RRTStarDubins/dubins_path_planning.py
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@@ -7,6 +7,7 @@ author Atsushi Sakai (@Atsushi_twi)
"""
import math
import matplotlib.pyplot as plt
import numpy as np
def mod2pi(theta):
@@ -224,7 +225,7 @@ def generate_course(length, mode, c):
for m, l in zip(mode, length):
pd = 0.0
if m is "S":
if m == "S":
d = 1.0 / c
else: # turning couse
d = np.deg2rad(3.0)
@@ -234,11 +235,11 @@ def generate_course(length, mode, c):
px.append(px[-1] + d * c * math.cos(pyaw[-1]))
py.append(py[-1] + d * c * math.sin(pyaw[-1]))
if m is "L": # left turn
if m == "L": # left turn
pyaw.append(pyaw[-1] + d)
elif m is "S": # Straight
elif m == "S": # Straight
pyaw.append(pyaw[-1])
elif m is "R": # right turn
elif m == "R": # right turn
pyaw.append(pyaw[-1] - d)
pd += d
@@ -246,11 +247,11 @@ def generate_course(length, mode, c):
px.append(px[-1] + d * c * math.cos(pyaw[-1]))
py.append(py[-1] + d * c * math.sin(pyaw[-1]))
if m is "L": # left turn
if m == "L": # left turn
pyaw.append(pyaw[-1] + d)
elif m is "S": # Straight
elif m == "S": # Straight
pyaw.append(pyaw[-1])
elif m is "R": # right turn
elif m == "R": # right turn
pyaw.append(pyaw[-1] - d)
pd += d