github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-01-14 12:18:01 -05:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Guillaume Jacquenot
2019-12-07 22:53:08 +01:00
parent ed9b84dfc3
commit cf538756e6
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
PathPlanning/ClosedLoopRRTStar/pure_pursuit.py
View File

@@ -161,7 +161,7 @@ def set_stop_point(target_speed, cx, cy, cyaw):
for i in range(len(cx) - 1):
dx = cx[i + 1] - cx[i]
dy = cy[i + 1] - cy[i]
d.append(math.sqrt(dx ** 2.0 + dy ** 2.0))
d.append(math.hypot(dx, dy))
iyaw = cyaw[i]
move_direction = math.atan2(dy, dx)
is_back = abs(move_direction - iyaw) >= math.pi / 2.0