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Merge pull request #48 from daniel-s-ingram/master

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Fixed issue with float index for Python 2
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Atsushi Sakai
2018-03-22 14:35:18 -07:00
committed by GitHub
parent 9b73af28d0 ec3d28ac0b
commit d345989397
2 changed files with 7 additions and 7 deletions
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6
Mapping/raycasting_grid_map/raycasting_grid_map.py
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@@ -50,7 +50,7 @@ def atan_zero_to_twopi(y, x):
def precasting(minx, miny, xw, yw, xyreso, yawreso):
precast = [[] for i in range(round((math.pi * 2.0) / yawreso) + 1)]
precast = [[] for i in range(int(round((math.pi * 2.0) / yawreso)) + 1)]
for ix in range(xw):
for iy in range(yw):
@@ -59,7 +59,7 @@ def precasting(minx, miny, xw, yw, xyreso, yawreso):
d = math.sqrt(px**2 + py**2)
angle = atan_zero_to_twopi(py, px)
angleid = math.floor(angle / yawreso)
angleid = int(math.floor(angle / yawreso))
pc = precastDB()
@@ -87,7 +87,7 @@ def generate_ray_casting_grid_map(ox, oy, xyreso, yawreso):
d = math.sqrt(x**2 + y**2)
angle = atan_zero_to_twopi(y, x)
angleid = math.floor(angle / yawreso)
angleid = int(math.floor(angle / yawreso))
gridlist = precast[angleid]

8
PathPlanning/PotentialFieldPlanning/potential_field_planning.py
View File

@@ -25,8 +25,8 @@ def calc_potential_field(gx, gy, ox, oy, reso, rr):
miny = min(oy) - AREA_WIDTH / 2.0
maxx = max(ox) + AREA_WIDTH / 2.0
maxy = max(oy) + AREA_WIDTH / 2.0
xw = round((maxx - minx) / reso)
yw = round((maxy - miny) / reso)
xw = int(round((maxx - minx) / reso))
yw = int(round((maxy - miny) / reso))
# calc each potential
pmap = [[0.0 for i in range(yw)] for i in range(xw)]
@@ -107,8 +107,8 @@ def potential_field_planning(sx, sy, gx, gy, ox, oy, reso, rr):
minp = float("inf")
minix, miniy = -1, -1
for i in range(len(motion)):
inx = ix + motion[i][0]
iny = iy + motion[i][1]
inx = int(ix + motion[i][0])
iny = int(iy + motion[i][1])
if inx >= len(pmap) or iny >= len(pmap[0]):
p = float("inf") # outside area
else: