gnxlxnxx/dubins_path
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Fix some mistakes

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- start of the rsr vector was wrong because I took the wrong angle
- shortest path was always rsr because I didn't replace them properly in
  the first place
This commit is contained in:
gnxlxnxx
2021-02-13 16:23:27 +01:00
parent 88d978be8a
commit 5992ec7008
1 changed files with 4 additions and 4 deletions
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src/lib.rs
+4 -4
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@@ -233,7 +233,7 @@ where
// get the tangent origin by moving the vector from the start circle center // get the tangent origin by moving the vector from the start circle center
// π/2 to it's own direction and the magnitude of the circle radius // π/2 to it's own direction and the magnitude of the circle radius
let tangent_origin = start_center let tangent_origin = start_center
+ Rotation::new(Angle::pi() - end_angle) + Rotation::new(Angle::pi() - start_angle)
.transform_vector(Vector::new(radius, 0.0.into())); .transform_vector(Vector::new(radius, 0.0.into()));
// get the angle of the start circle // get the angle of the start circle
@@ -480,9 +480,9 @@ where
let mut route_csc; let mut route_csc;
let route_rsr = Self::rsr(radius, end_point, end_angle).unwrap(); let route_rsr = Self::rsr(radius, end_point, end_angle).unwrap();
let route_lsl = Self::rsr(radius, end_point, end_angle).unwrap(); let route_lsl = Self::lsl(radius, end_point, end_angle).unwrap();
let route_lsr = Self::rsr(radius, end_point, end_angle); let route_lsr = Self::lsr(radius, end_point, end_angle);
let route_rsl = Self::rsr(radius, end_point, end_angle); let route_rsl = Self::rsl(radius, end_point, end_angle);
route_csc = route_rsr; route_csc = route_rsr;
if route_lsl.get_length() < route_csc.get_length() { if route_lsl.get_length() < route_csc.get_length() {