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error in calculating curvature? #9

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JinlongLi2016 opened this issue Nov 18, 2021 · 1 comment

JinlongLi2016 commented Nov 18, 2021

frenet/python/src/cubic_spline_planner.py

Line 167 in a7e8dd5

k = (ddy * dx - ddx * dy) / (dx ** 2 + dy ** 2)

It seems that the divisor should be $(x'**2 + y'**2)^{3/2}$?

Owner

fjp commented Nov 18, 2021

You are correct, thanks for spotting this error. Feel free to open a PR to fix this mistake.

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