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added condition if marker cannot be found

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Simon Pirkelmann 2019-06-27 14:11:19 +02:00
parent b54c2d565c
commit 2a5e0e8ae7
1 changed files with 3 additions and 2 deletions
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5
remote_control/casadi_opt.py
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@ -236,8 +236,9 @@ class OpenLoopSolver:
for o in obstacles: for o in obstacles:
p = obstacles[o].pos p = obstacles[o].pos
r = obstacles[o].radius r = obstacles[o].radius
for k in range(1,self.N): if p is not None:
self.opti.subject_to((self.X[0,k]-p[0])**2 + (self.X[1,k]-p[1])**2 + self.slack > r**2) 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 # pass
posx = self.X[0, :] posx = self.X[0, :]
posy = self.X[1, :] posy = self.X[1, :]