github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-01-13 20:08:06 -05:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #155 from tks10/master

Browse Source 
Fixed a bug of calculating parameters in pure pursuit module
This commit is contained in:
Atsushi Sakai
2019-01-15 20:09:39 +09:00
committed by GitHub
parent 9afe37e376 9461aa039f
commit d9ee56e3e9
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
PathTracking/pure_pursuit/pure_pursuit.py
View File

@@ -85,7 +85,7 @@ def calc_target_index(state, cx, cy):
# search look ahead target point index
while Lf > L and (ind + 1) < len(cx):
dx = cx[ind + 1] - cx[ind]
dy = cx[ind + 1] - cx[ind]
dy = cy[ind + 1] - cy[ind]
L += math.sqrt(dx ** 2 + dy ** 2)
ind += 1