update frenet conversion

f1tenth · Sep 16, 2024 · 9e49830 · 9e49830
1 parent c4dd6bb
commit 9e49830
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py
@@ -182,7 +182,7 @@ def calc_arclength_inaccurate(self, x: float, y: float) -> tuple[float, float]:
             + t * (self.s[min_dist_segment + 1] - self.s[min_dist_segment])
         )
 
-        return s, 0.0
+        return s, ey
 
     def _calc_tangent(self, s: float) -> np.ndarray:
         """

diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
@@ -276,7 +276,7 @@ def cartesian_to_frenet(self, x, y, phi, s_guess=0):
             ey: lateral deviation
             ephi: heading deviation
         """
-        s, ey = self.centerline.spline.calc_arclength(x, y, s_guess)
+        s, ey = self.centerline.spline.calc_arclength_inaccurate(x, y)
         if s > self.centerline.spline.s[-1]:
             # Wrap around
             s = s - self.centerline.spline.s[-1]