From 6b09b9ddc9f41c53035722546687958498b6d2d5 Mon Sep 17 00:00:00 2001 From: matssteinweg Date: Wed, 4 Dec 2019 23:29:22 +0100 Subject: [PATCH] Remove update of member variables in update bounds --- reference_path.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/reference_path.py b/reference_path.py index f7c81ec..357df29 100644 --- a/reference_path.py +++ b/reference_path.py @@ -395,9 +395,9 @@ class ReferencePath: lb_ls = wp.x - lb * np.cos(angle_lb), wp.y - lb * np.sin(angle_lb) # Update member variables of waypoint - wp.ub = ub - wp.lb = lb - wp.border_cells = (ub_ls, lb_ls) + #wp.ub = ub + #wp.lb = lb + #wp.border_cells = (ub_ls, lb_ls) return lb, ub @@ -435,7 +435,7 @@ class ReferencePath: # Plot map in gray-scale and set extent to match world coordinates canvas = np.ones(self.map.data.shape) - canvas = np.flipud(self.map.data) + # canvas = np.flipud(self.map.data) plt.imshow(canvas, cmap='gray', extent=[self.map.origin[0], self.map.origin[0] + self.map.width * self.map.resolution, @@ -503,7 +503,7 @@ class ReferencePath: if __name__ == '__main__': # Select Path | 'Race' or 'Q' - path = 'Q' + path = 'Race' # Create Map if path == 'Race': @@ -540,7 +540,7 @@ if __name__ == '__main__': smoothing_distance=5, max_width=1.5, n_extension=30, circular=False) obs1 = Obstacle(cx=-6.3, cy=-11.1, radius=0.20) - obs2 = Obstacle(cx=-2.2, cy=-6.8, radius=1.75) + obs2 = Obstacle(cx=-2.2, cy=-6.8, radius=0.25) obs3 = Obstacle(cx=1.7, cy=-1.0, radius=0.15) obs4 = Obstacle(cx=2.0, cy=-1.2, radius=0.25) reference_path.add_obstacles([obs1, obs2, obs3, obs4])