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DWA Fix wrong rotation direction #246

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Merged
merged 1 commit into from
Oct 27, 2019
Merged

DWA Fix wrong rotation direction #246

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4 changes: 2 additions & 2 deletions PathPlanning/DynamicWindowApproach/dynamic_window_approach.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@

Mobile robot motion planning sample with Dynamic Window Approach

author: Atsushi Sakai (@Atsushi_twi), Goktug Karakasli
author: Atsushi Sakai (@Atsushi_twi), Göktuğ Karakaşlı

"""

Expand Down Expand Up @@ -172,7 +172,7 @@ def calc_obstacle_cost(trajectory, ob, config):
rot = np.transpose(rot, [2, 0, 1])
local_ob = ob[:, None] - trajectory[:, 0:2]
local_ob = local_ob.reshape(-1, local_ob.shape[-1])
local_ob = np.array([local_ob @ -x for x in rot])
local_ob = np.array([local_ob @ x for x in rot])
local_ob = local_ob.reshape(-1, local_ob.shape[-1])
upper_check = local_ob[:, 0] <= config.robot_length / 2
right_check = local_ob[:, 1] <= config.robot_width / 2
Expand Down