obstacle

[Technician13]

There is a flaw in the traversal logic in function get_d_grad(self, x, y) in obstacle.py

 if mino['type'] == 'circle':
     ox, oy = o['centerx'], o['centery']

should be modified as

 if mino['type'] == 'circle':
     ox, oy = mino['centerx'], mino['centery']

Because mino was already found in the previous traversal, but the traversal did not break, and the traversal may still continue. Therefore, according to the original code, o may not necessarily be the same obstacle as mino.