From 97570de50c222c3362dfda765fd951f37cfb900f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?G=C3=B6ktu=C4=9F=20Karaka=C5=9Fl=C4=B1?=
 <20567087+goktug97@users.noreply.github.com>
Date: Wed, 23 Oct 2019 10:14:14 +0300
Subject: [PATCH] Fix wrong rotation direction

- The obstacle rotation for the rectangle obstacle calculation
is wrong. It should be positive instead of negative.
---
 PathPlanning/DynamicWindowApproach/dynamic_window_approach.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py b/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py
index c2a8674a..c8a44349 100644
--- a/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py
+++ b/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py
@@ -2,7 +2,7 @@
 
 Mobile robot motion planning sample with Dynamic Window Approach
 
-author: Atsushi Sakai (@Atsushi_twi), Goktug Karakasli
+author: Atsushi Sakai (@Atsushi_twi), Göktuğ Karakaşlı
 
 """
 
@@ -172,7 +172,7 @@ def calc_obstacle_cost(trajectory, ob, config):
         rot = np.transpose(rot, [2, 0, 1])
         local_ob = ob[:, None] - trajectory[:, 0:2]
         local_ob = local_ob.reshape(-1, local_ob.shape[-1])
-        local_ob = np.array([local_ob @ -x for x in rot])
+        local_ob = np.array([local_ob @ x for x in rot])
         local_ob = local_ob.reshape(-1, local_ob.shape[-1])
         upper_check = local_ob[:, 0] <= config.robot_length / 2
         right_check = local_ob[:, 1] <= config.robot_width / 2