From 131675945954847213abf5357c645adf6ea1ff7b Mon Sep 17 00:00:00 2001 From: Chris Gerth Date: Fri, 27 Sep 2024 01:06:04 -0500 Subject: [PATCH] double obstacle, working well! --- navigation/repulsorFieldPlanner.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/navigation/repulsorFieldPlanner.py b/navigation/repulsorFieldPlanner.py index dff6fe5..9db55ba 100644 --- a/navigation/repulsorFieldPlanner.py +++ b/navigation/repulsorFieldPlanner.py @@ -123,7 +123,9 @@ def setGoal(self, goal:Pose2d|None): self.goal = goal def add_obstcale_observaton(self, pose:Pose2d): - obstacle = PointObstacle(location=Translation2d(pose.X() + 3,pose.Y()),strength=.5) + obstacle = PointObstacle(location=Translation2d(pose.X() + 3,pose.Y()-0.5),strength=.7) + self.transientObstcales.append(obstacle) + obstacle = PointObstacle(location=Translation2d(pose.X() - 3,pose.Y()+0.5),strength=.7) self.transientObstcales.append(obstacle) def getGoalForce(self, curLocation:Translation2d) -> Force: