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fixed the scope of range function #1276

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Merged
merged 1 commit into from
Oct 6, 2025
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fixed the scope of range function #1276

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2 changes: 1 addition & 1 deletion ...king/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
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Original file line number Diff line number Diff line change
Expand Up @@ -318,7 +318,7 @@ def calc_ref_trajectory(state, cx, cy, cyaw, ck, sp, dl, pind):

travel = 0.0

for i in range(T + 1):
for i in range(1, T + 1):
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Copilot AI Oct 4, 2025

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Changing the range from range(T + 1) to range(1, T + 1) reduces the number of iterations from T+1 to T, which may affect the trajectory calculation. Verify that this change doesn't break the algorithm's expected behavior, as the loop now skips the initial state (i=0) and may not compute the full prediction horizon.
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travel += abs(state.v) * DT
dind = int(round(travel / dl))

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