From 8fea8d12225b1550a1ab7c8ea1fa253573c92823 Mon Sep 17 00:00:00 2001
From: Jason233Wang <40457090+Jason33Wang@users.noreply.github.com>
Date: Mon, 9 Nov 2020 17:10:59 +0800
Subject: [PATCH] Update rrt_connect.py
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fixed a error in line 57
’if node_new_prim and not self.utils.is_collision(node_new_prim, node_new_prim) ‘ has changed to be
’if node_new_prim and not self.utils.is_collision(node_new_prim, node_near_prim):‘
---
 Sampling_based_Planning/rrt_2D/rrt_connect.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Sampling_based_Planning/rrt_2D/rrt_connect.py b/Sampling_based_Planning/rrt_2D/rrt_connect.py
index ffeaee7..0eb8720 100644
--- a/Sampling_based_Planning/rrt_2D/rrt_connect.py
+++ b/Sampling_based_Planning/rrt_2D/rrt_connect.py
@@ -54,7 +54,7 @@ class RrtConnect:
                 node_near_prim = self.nearest_neighbor(self.V2, node_new)
                 node_new_prim = self.new_state(node_near_prim, node_new)
 
-                if node_new_prim and not self.utils.is_collision(node_new_prim, node_new_prim):
+                if node_new_prim and not self.utils.is_collision(node_new_prim, node_near_prim):
                     self.V2.append(node_new_prim)
 
                     while True: