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Set old index

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Kitsunow
2019-05-09 14:22:15 +02:00
parent 4706e4be0a
commit d5d026db0f
1 changed files with 1 additions and 0 deletions
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PathTracking/pure_pursuit/pure_pursuit.py
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@@ -87,6 +87,7 @@ def calc_target_index(state, cx, cy):
dy = [state.rear_y - icy for icy in cy]
d = [abs(math.sqrt(idx ** 2 + idy ** 2)) for (idx, idy) in zip(dx, dy)]
ind = d.index(min(d))
old_nearest_point_index = ind
else:
index = old_nearest_point_index
distance_this_index = calc_distance(state, cx[index], cy[index])