Merge pull request #228 from naveenkul/patch-1

convert 1D array to scalar for np.matmul operation
AtsushiSakai · Oct 3, 2019 · 591ba9e · 591ba9e
2 parents 7e697d8 + 6714107
commit 591ba9e
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/AerialNavigation/drone_3d_trajectory_following/drone_3d_trajectory_following.py b/AerialNavigation/drone_3d_trajectory_following/drone_3d_trajectory_following.py
@@ -99,7 +99,7 @@ def quad_sim(x_c, y_c, z_c):
 
             R = rotation_matrix(roll, pitch, yaw)
             acc = (np.matmul(R, np.array(
-                [0, 0, thrust]).T) - np.array([0, 0, m * g]).T) / m
+                [0, 0, thrust.item()]).T) - np.array([0, 0, m * g]).T) / m
             x_acc = acc[0]
             y_acc = acc[1]
             z_acc = acc[2]
@@ -209,4 +209,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()