clean up, fix yaw angle bounding

f1tenth · Aug 6, 2024 · 50b4214 · 50b4214
1 parent 69e9dfe
commit 50b4214
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Showing 2 changed files with 1 addition and 310 deletions.
diff --git a/f1tenth_gym/envs/base_classes.py b/f1tenth_gym/envs/base_classes.py
@@ -310,10 +310,7 @@ def update_pose(self, raw_steer, vel):
         )
 
         # bound yaw angle
-        if self.state[4] > 2 * np.pi:
-            self.state[4] = self.state[4] - 2 * np.pi
-        elif self.state[4] < 0:
-            self.state[4] = self.state[4] + 2 * np.pi
+        self.state[4] %= 2 * np.pi
 
         # update scan
         current_scan = RaceCar.scan_simulator.scan(

diff --git a/gym/f110_gym/envs/track.py b/gym/f110_gym/envs/track.py