From 35c31254a2208ebc85ad7e2a2a56d4c38d830957 Mon Sep 17 00:00:00 2001 From: Ahmad Amine Date: Fri, 9 Aug 2024 00:35:40 -0400 Subject: [PATCH] Fix wrong scan simulator resolution --- examples/waypoint_follow.py | 4 ++-- f1tenth_gym/envs/laser_models.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/waypoint_follow.py b/examples/waypoint_follow.py index cf35c128..53b89cd3 100644 --- a/examples/waypoint_follow.py +++ b/examples/waypoint_follow.py @@ -205,8 +205,8 @@ def render_lookahead_point(self, e): Callback to render the lookahead point. """ if self.lookahead_point is not None: + points = self.lookahead_point[:2][None] # shape (1, 2)~ if self.lookahead_point_render is None: - points = self.lookahead_point[:2][None] # shape (1, 2) self.lookahead_point_render = e.render_points(points, color=(0, 0, 128), size=2) else: self.lookahead_point_render.setData(points) @@ -216,8 +216,8 @@ def render_local_plan(self, e): update waypoints being drawn by EnvRenderer """ if self.current_index is not None: + points = self.waypoints[self.current_index : self.current_index + 10, :2] if self.local_plan_render is None: - points = self.waypoints[self.current_index : self.current_index + 10, :2] self.local_plan_render = e.render_lines(points, color=(0, 128, 0), size=1) else: self.local_plan_render.updateItems(points) diff --git a/f1tenth_gym/envs/laser_models.py b/f1tenth_gym/envs/laser_models.py index bd400507..0e80e6f9 100644 --- a/f1tenth_gym/envs/laser_models.py +++ b/f1tenth_gym/envs/laser_models.py @@ -480,7 +480,7 @@ def set_map(self, map: str | Track, map_scale: float = 1.0) -> bool: self.map_width = self.map_img.shape[1] # load map specification - self.map_resolution = self.track.spec.resolution * map_scale + self.map_resolution = self.track.spec.resolution self.origin = self.track.spec.origin self.orig_x = self.origin[0]