From 9e498307bd3f1e389afb3cc3edb8e49677c7b15d Mon Sep 17 00:00:00 2001 From: Billy Zheng Date: Mon, 16 Sep 2024 10:21:27 -0400 Subject: [PATCH] update frenet conversion --- f1tenth_gym/envs/track/cubic_spline.py | 2 +- f1tenth_gym/envs/track/track.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/f1tenth_gym/envs/track/cubic_spline.py b/f1tenth_gym/envs/track/cubic_spline.py index a8af32da..ebb31991 100644 --- 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 index c6a0d973..9dca442a 100644 --- 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]