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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):‘
This commit is contained in:
Jason233Wang
2020-11-09 17:10:59 +08:00
committed by GitHub
parent ec6b5f95d7
commit 8fea8d1222
1 changed files with 1 additions and 1 deletions
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Sampling_based_Planning/rrt_2D/rrt_connect.py
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@@ -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: