changing the way angle to tangent is calculated

duckietown / gym-duckietown

Self-driving car simulator for the Duckietown universe

http://duckietown.org

Other

52 stars 19 forks source link

changing the way angle to tangent is calculated #114

Closed jzilly closed 5 years ago

jzilly commented 5 years ago

This change should fix the "good_angle" and "valid_direction" calculation. Now angle is always positive and with respect to the tangent regardless of driving direction. Please review and test.

AndreaCensi commented 5 years ago

Please preserve the semantics of angle as a coordinate in the lane reference frame.

Localization for example wants to have that.

The rule scorer will take the abs.

jzilly commented 5 years ago

Noted. Have moved these changes to the scorer. https://github.com/duckietown/challenge-aido1_LF1/pull/7