Merge pull request #155 from tks10/master

Fixed a bug of calculating parameters in pure pursuit module
AtsushiSakai · Jan 15, 2019 · d9ee56e · d9ee56e
2 parents 9afe37e + 9461aa0
commit d9ee56e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/PathTracking/pure_pursuit/pure_pursuit.py b/PathTracking/pure_pursuit/pure_pursuit.py
@@ -85,7 +85,7 @@ def calc_target_index(state, cx, cy):
     # search look ahead target point index
     while Lf > L and (ind + 1) < len(cx):
         dx = cx[ind + 1] - cx[ind]
-        dy = cx[ind + 1] - cx[ind]
+        dy = cy[ind + 1] - cy[ind]
         L += math.sqrt(dx ** 2 + dy ** 2)
         ind += 1