From 9461aa039f041775e1610d2a22b38ae3353f36ec Mon Sep 17 00:00:00 2001 From: tks10 Date: Tue, 15 Jan 2019 00:05:16 +0900 Subject: [PATCH] fix: calc_target_index in pure_pursuit module --- PathTracking/pure_pursuit/pure_pursuit.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/PathTracking/pure_pursuit/pure_pursuit.py b/PathTracking/pure_pursuit/pure_pursuit.py index 7fc98c33..020df7f4 100644 --- a/PathTracking/pure_pursuit/pure_pursuit.py +++ b/PathTracking/pure_pursuit/pure_pursuit.py @@ -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