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Fix the problem that the optimal path may be discarded. #487

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Merged
merged 1 commit into from
Mar 16, 2021
Merged

Fix the problem that the optimal path may be discarded. #487

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5 changes: 3 additions & 2 deletions PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,8 @@ def plot_arrow(x, y, yaw, length=1.0, width=0.5, fc="r", ec="k"):


def mod2pi(x):
v = np.mod(x, 2.0 * math.pi)
# Be consistent with fmod in cplusplus here.
v = np.mod(x, np.copysign(2.0 * math.pi, x))
if v < -math.pi:
v += 2.0 * math.pi
else:
Expand Down Expand Up @@ -76,7 +77,7 @@ def set_path(paths, lengths, ctypes):
for tpath in paths:
typeissame = (tpath.ctypes == path.ctypes)
if typeissame:
if sum(tpath.lengths) - sum(path.lengths) <= 0.01:
if sum(np.abs(tpath.lengths)) - sum(np.abs(path.lengths)) <= 0.01:
return paths # not insert path

path.L = sum([abs(i) for i in lengths])
Expand Down