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Robotic-Decision-Making-Lab · Jun 10, 2024 · d40d537 · d40d537
1 parent b27413a
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Showing 2 changed files with 2 additions and 7 deletions.
diff --git a/docking_control/src/docking_control/auv_hinsdale.py b/docking_control/src/docking_control/auv_hinsdale.py
@@ -1,4 +1,3 @@
-
 import numpy as np
 import yaml
 from casadi import (

diff --git a/docking_control/utils/sonar_to_grid_map.py b/docking_control/utils/sonar_to_grid_map.py
@@ -99,12 +99,8 @@ def generate_ray_casting_grid_map(ox, oy, xy_resolution):
     occupancy_map = np.zeros((x_w, y_w))
     # occupancy_map = np.ones((x_w, y_w)) / 2
 
-    int(
-        np.floor(-min_x / xy_resolution)
-    )  # center x coordinate of the grid map
-    int(
-        np.floor(-min_y / xy_resolution)
-    )  # center y coordinate of the grid map
+    int(np.floor(-min_x / xy_resolution))  # center x coordinate of the grid map
+    int(np.floor(-min_y / xy_resolution))  # center y coordinate of the grid map
 
     # occupancy grid computed with bresenham ray casting
     for x, y in tqdm(zip(ox, oy), total=len(ox)):