added condition if marker cannot be found

2019-06-27 14:11:19 +02:00 · 2019-06-27 14:11:19 +02:00 · 2a5e0e8ae7
commit 2a5e0e8ae7
parent b54c2d565c
1 changed files with 3 additions and 2 deletions
--- a/remote_control/casadi_opt.py
+++ b/remote_control/casadi_opt.py
@ -236,6 +236,7 @@ class OpenLoopSolver:
        for o in obstacles:
            p = obstacles[o].pos
            r = obstacles[o].radius
+            if p is not None:
                for k in range(1,self.N):
                    self.opti.subject_to((self.X[0,k]-p[0])**2 + (self.X[1,k]-p[1])**2 + self.slack > r**2)
        #    pass