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Changed step_size to 0.5 in collision checker #3365

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Merged
SteveMacenski merged 2 commits into from
Jan 17, 2023
Merged

Changed step_size to 0.5 in collision checker #3365

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8ace23f
Changed step_size to 0.5 in collision checker
afifswaidan Jan 15, 2023
3b7ec65
Updated docstring for new step_size value
afifswaidan Jan 15, 2023
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4 changes: 2 additions & 2 deletions nav2_simple_commander/nav2_simple_commander/footprint_collision_checker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,7 +91,7 @@ def footprintCost(self, footprint: Polygon):

return max(float(self.lineCost(xstart, x1, ystart, y1)), footprint_cost)

def lineCost(self, x0, x1, y0, y1, step_size=0.1):
def lineCost(self, x0, x1, y0, y1, step_size=0.5):
"""
Iterate over all the points along a line and check for collision.

Expand All @@ -101,7 +101,7 @@ def lineCost(self, x0, x1, y0, y1, step_size=0.1):
y0 (float): Ordinate of the initial point in map coordinates
x1 (float): Abscissa of the final point in map coordinates
y1 (float): Ordinate of the final point in map coordinates
step_size (float): Optional, Increments' resolution, defaults to 0.1
step_size (float): Optional, Increments' resolution, defaults to 0.5

Returns
-------
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