From ead17f2ad97f71fd21fa6f66237a7c05364ed98e Mon Sep 17 00:00:00 2001 From: yuan-yin Date: Wed, 12 Nov 2025 10:56:37 +0000 Subject: [PATCH] Correct the coordinates order --- sim/utils/sim_utils.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sim/utils/sim_utils.py b/sim/utils/sim_utils.py index 8dd81d3..9a2b27a 100644 --- a/sim/utils/sim_utils.py +++ b/sim/utils/sim_utils.py @@ -58,7 +58,7 @@ def traj2control(plan_traj, info): plan_traj_stats = np.zeros((plan_traj.shape[0]+1, 5)) plan_traj_stats[1:, :2] = plan_traj[:, [1,0]] prev_a, prev_b = 0.0, 0.0 - for i, (a, b) in enumerate(plan_traj): + for i, (b, a) in enumerate(plan_traj): rot = np.arctan2(b - prev_b, a - prev_a) rot = np.where(rot > np.pi/2, rot - np.pi, rot) rot = np.where(rot < -np.pi/2, rot + np.pi, rot)