Context:
Currently I've been generating the circular grid naïvely starting at the origin:
This becomes a problem because the center of the robot is at the origin. Since the robot has a diameter of roughly 0.45m, then there's a lot of unnecessary grid points that are being generating inside the robot:
What I did:
I offset the generation of the circular grid so that it starts off the circumference of the robot. In addition, I offset the maximum radius of the grid by the radius of the robot. As a result, there's no unnecessary grid points being generated inside the robot and the grid now has more range.
Context: Currently I've been generating the circular grid naïvely starting at the origin:
This becomes a problem because the center of the robot is at the origin. Since the robot has a diameter of roughly
0.45m, then there's a lot of unnecessary grid points that are being generating inside the robot:What I did: I offset the generation of the circular grid so that it starts off the circumference of the robot. In addition, I offset the maximum radius of the grid by the radius of the robot. As a result, there's no unnecessary grid points being generated inside the robot and the grid now has more range.