From 3eb57dabb8fcf58ca796688954ac6000658ce39a Mon Sep 17 00:00:00 2001
From: rachelmoan <moanrachel516@gmail.com>
Date: Mon, 26 Aug 2024 17:04:19 -0500
Subject: [PATCH] remove pointless while loop
---
guided_mrmp/tests/traj_from_points_test.py | 38 +++++++++++-----------
1 file changed, 19 insertions(+), 19 deletions(-)
diff --git a/guided_mrmp/tests/traj_from_points_test.py b/guided_mrmp/tests/traj_from_points_test.py
index b365c92..b323a96 100644
--- a/guided_mrmp/tests/traj_from_points_test.py
+++ b/guided_mrmp/tests/traj_from_points_test.py
@@ -30,26 +30,26 @@ def test_traj_from_points():
start = robot_starts[i]
goal = robot_goals[i]
- while time.time() - start_time < 10:
- try:
- rrtstar = RRTStar(env, (start[0], start[1]), (goal[0], goal[1]), 0.5, 0.05, 500, r=2.0)
- rrtstarpath = rrtstar.run()
- rrtstarpath = list(reversed(rrtstarpath))
- xs = []
- ys = []
- for node in rrtstarpath:
- xs.append(node[0])
- ys.append(node[1])
+
+ try:
+ rrtstar = RRTStar(env, (start[0], start[1]), (goal[0], goal[1]), 0.5, 0.05, 500, r=2.0)
+ rrtstarpath = rrtstar.run()
+ rrtstarpath = list(reversed(rrtstarpath))
+ xs = []
+ ys = []
+ for node in rrtstarpath:
+ xs.append(node[0])
+ ys.append(node[1])
- x,y,h,path = get_traj_from_points(np.array([start[0], start[1],0]), dynamics, target_velocity, T, DT, [xs, ys])
- x_hists.append(x)
- y_hists.append(y)
- h_hists.append(h)
- paths.append(path)
- success_count += 1
- break
- except Exception as e:
- print(f"Robot {i} failed to find a valid trajectory: {e}")
+ x,y,h,path = get_traj_from_points(np.array([start[0], start[1],0]), dynamics, target_velocity, T, DT, [xs, ys])
+ x_hists.append(x)
+ y_hists.append(y)
+ h_hists.append(h)
+ paths.append(path)
+ success_count += 1
+
+ except Exception as e:
+ print(f"Robot {i} failed to find a valid trajectory: {e}")
end_time = time.time()
total_time += (end_time - start_time)
--
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