From a4f33de46ef2930eca67e86a007bde5f61657d06 Mon Sep 17 00:00:00 2001 From: KoenHan Date: Sun, 2 Jun 2019 04:35:51 +0900 Subject: [PATCH] Changed the computation method of to_goal_cost Signed-off-by: KoenHan --- PathPlanning/DynamicWindowApproach/dynamic_window_approach.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py b/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py index ff588f03..f8eefb74 100644 --- a/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py +++ b/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py @@ -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):