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UBCSailbot / raye-local-pathfinding

UBC Sailbot's Local Pathfinding Repository: OMPL-based pathfinding that avoids upwind/downwind sailing, minimizes turning, and minimizes path length.
https://www.ubcsailbot.org/
MIT License
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Add back smooth changes in heading and speed + add some noise and controller challenges #228

Open tylerlum opened 3 years ago

tylerlum commented 3 years ago

https://github.com/UBCSailbot/local-pathfinding/blob/bd939882ea9ce553e3b577d84e9cdf8b752aaa84/python/MOCK_controller_and_boat.py Before we had smooth changes in speed and heading here, but they were lost when we moved to MOCK_sensors.

Update this code: https://github.com/UBCSailbot/local-pathfinding/blob/master/python/MOCK_sensors.py

tylerlum commented 2 years ago

The exact lines of code for reference: https://github.com/UBCSailbot/local-pathfinding/blob/bd939882ea9ce553e3b577d84e9cdf8b752aaa84/python/MOCK_controller_and_boat.py#L58