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Replaced sqrt(x**2+y**2) with hypot in PathPlanning/VoronoiRoadMap/voronoi_road_map.py

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Guillaume Jacquenot
2019-12-07 22:53:08 +01:00
parent d20f1e336e
commit c63a80b0ef
1 changed files with 2 additions and 2 deletions
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PathPlanning/VoronoiRoadMap/voronoi_road_map.py
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@@ -95,7 +95,7 @@ def is_collision(sx, sy, gx, gy, rr, okdtree):
dx = gx - sx
dy = gy - sy
yaw = math.atan2(gy - sy, gx - sx)
d = math.sqrt(dx**2 + dy**2)
d = math.hypot(dx, dy)
if d >= MAX_EDGE_LEN:
return True
@@ -203,7 +203,7 @@ def dijkstra_planning(sx, sy, gx, gy, ox, oy, rr, road_map, sample_x, sample_y):
n_id = road_map[c_id][i]
dx = sample_x[n_id] - current.x
dy = sample_y[n_id] - current.y
d = math.sqrt(dx**2 + dy**2)
d = math.hypot(dx, dy)
node = Node(sample_x[n_id], sample_y[n_id],
current.cost + d, c_id)