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Changed the computation method of to_goal_cost

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Signed-off-by: KoenHan <sliver1998324@gmail.com>
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KoenHan
2019-06-02 04:35:51 +09:00
parent 1896ee7df2
commit a4f33de46e
1 changed files with 1 additions and 2 deletions
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3
PathPlanning/DynamicWindowApproach/dynamic_window_approach.py
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@@ -33,7 +33,6 @@ class Config():
self.predict_time = 3.0 # [s]
self.to_goal_cost_gain = 0.15
self.speed_cost_gain = 1.0
self.ob_cost_gain = 1.0
self.robot_radius = 1.0 # [m]
@@ -134,7 +133,7 @@ def calc_obstacle_cost(traj, ob, config):
if minr >= r:
minr = r
return config.ob_cost_gain / minr # OK
return 1.0 / minr # OK
def calc_to_goal_cost(traj, goal, config):