From f62c0ec9c1c22e725b9e4570eae6e18d47796fd8 Mon Sep 17 00:00:00 2001 From: Anil Kumar Chavali <44644339+akchobby@users.noreply.github.com> Date: Wed, 4 Oct 2023 21:55:27 +0200 Subject: [PATCH] simplication of lattice_generator.py, fixes #3858 * simplification of equation to compute the max_value/outer edge of the lattice based on number of headings. --- nav2_smac_planner/lattice_primitives/lattice_generator.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/nav2_smac_planner/lattice_primitives/lattice_generator.py b/nav2_smac_planner/lattice_primitives/lattice_generator.py index 3bcf735de80..e8968c20091 100644 --- a/nav2_smac_planner/lattice_primitives/lattice_generator.py +++ b/nav2_smac_planner/lattice_primitives/lattice_generator.py @@ -119,7 +119,7 @@ def _get_heading_discretization(self, number_of_headings: int) -> list: A list of headings in radians """ - max_val = int((((number_of_headings + 4) / 4) - 1) / 2) + max_val = int(number_of_headings / 8) outer_edge_x = [] outer_edge_y = []