Error when running online_planning_example_1.m

BorneWang commented 4 years ago

Hi,

When I run the example code "running online_planning_example_1.m", I got these errors:

####################################################### Error using world_to_local Too many input arguments.

Error in segway_RTD_planner_static/process_world_info (line 99) O_FRS = world_to_local(P.agent_state,O,x0,y0,D) ;

Error in generic_RTD_planner/prep_for_trajopt (line 283) P.process_world_info(world_info,start_tic) ;

Error in generic_RTD_planner/replan (line 246) P.prep_for_trajopt(agent_info,world_info,replan_start_tic)

Error in simulator/run (line 211) [T_nom,U_nom,Z_nom] = P.replan(agent_info,world_info) ;

Error in online_planning_example_1 (line 23) S.run ; #########################################################

And I checked these functions, the input parameters are either too much or less. Please help me figure this out.

Thanks!

skousik commented 4 years ago

Hi,

I've fixed the bug. Instead of calling world_to_local in segway_RTD_planner_static (line 99), it should be world_to_FRS

An additional bug was removing the extra input arguments on line 132 to world_to_local

Thanks for your help!

skousik commented 4 years ago

By the way, we also have new code available here: https://github.com/skvaskov/RTD

ramvasudevan / RTD