From 5b5ff222deb8ca89c25e286baaf971243fc6e0a3 Mon Sep 17 00:00:00 2001
From: rachelmoan <moanrachel516@gmail.com>
Date: Mon, 2 Sep 2024 21:54:55 -0500
Subject: [PATCH] remove some unused code
---
guided_mrmp/planners/multirobot/db_guided_mrmp.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/guided_mrmp/planners/multirobot/db_guided_mrmp.py b/guided_mrmp/planners/multirobot/db_guided_mrmp.py
index c138977..fec2c2e 100644
--- a/guided_mrmp/planners/multirobot/db_guided_mrmp.py
+++ b/guided_mrmp/planners/multirobot/db_guided_mrmp.py
@@ -85,7 +85,7 @@ class GuidedMRMP:
return trajectory
- def find_all_conflicts(self, desired_controls, desired_trajs, dt):
+ def find_all_conflicts(self, desired_trajs, dt):
"""
Check for any conflicts that will occur between robots in the next time horizon
"""
@@ -174,8 +174,8 @@ class GuidedMRMP:
# get the next control for each robot
next_desired_controls, trajectories = self.get_next_controls_and_trajectories(screen)
- # find all the conflicts at the next timestep
- conflicts = self.find_all_conflicts(next_desired_controls, trajectories, dt)
+ # find all the conflicts at the next time horizon
+ conflicts = self.find_all_conflicts(trajectories, dt)
# resolve the conflicts using the database
# resolver = TrajOptDBResolver(10, 60, conflicts, self.robots)
--
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