From b7f7a453e419f276f13aa4a1f227286dfd5fadde Mon Sep 17 00:00:00 2001 From: Lea Date: Wed, 20 Nov 2024 12:32:59 +0100 Subject: [PATCH] fixed calculation of dilation in _update_robot_geometries --- .../bitbots_path_planning/bitbots_path_planning/map.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/map.py b/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/map.py index fbeea88df..1d18adc2e 100644 --- a/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/map.py +++ b/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/map.py @@ -102,7 +102,7 @@ def _update_robot_geometries(self): for robot in self.robot_buffer: center = shapely.Point(robot.bb.center.position.x, robot.bb.center.position.y) radius = max(numpify(robot.bb.size)[:2]) / 2 - dilation = self.config_inflation_dialation * self.node.config.map.resolution + dilation = self.config_inflation_dialation / self.node.config.map.resolution geometry = center.buffer(radius + dilation, quad_segs=CIRCLE_APPROXIMATION_SEGMENTS // 4) self._obstacles.append(geometry) self._obstacles_union = shapely.union_all(self._obstacles)