Replaced sqrt(x**2+y**2) with hypot in PathPlanning/Dijkstra/dijkstra.py

Author: Gjacquenot

PathPlanning/Dijkstra/dijkstra.py

@@ -123,7 +123,7 @@ def calc_final_path(self, ngoal, closedset):
 
     def calc_heuristic(self, n1, n2):
         w = 1.0  # weight of heuristic
-        d = w * math.sqrt((n1.x - n2.x)**2 + (n1.y - n2.y)**2)
+        d = w * math.hypot(n1.x - n2.x, n1.y - n2.y)
         return d
 
     def calc_position(self, index, minp):
@@ -178,7 +178,7 @@ def calc_obstacle_map(self, ox, oy):
             for iy in range(self.ywidth):
                 y = self.calc_position(iy, self.miny)
                 for iox, ioy in zip(ox, oy):
-                    d = math.sqrt((iox - x)**2 + (ioy - y)**2)
+                    d = math.hypot(iox - x, ioy - y)
                     if d <= self.rr:
                         self.obmap[ix][iy] = True
                         break