simplication of lattice_generator.py, fixes #3858 (#3859)

* simplification of equation to compute the max_value/outer edge of the lattice based on number of headings.
ros-navigation · Oct 4, 2023 · 4ce7702 · 4ce7702
1 parent 67bae86
commit 4ce7702
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/nav2_smac_planner/lattice_primitives/lattice_generator.py b/nav2_smac_planner/lattice_primitives/lattice_generator.py
@@ -119,7 +119,7 @@ def _get_heading_discretization(self, number_of_headings: int) -> list:
             A list of headings in radians
 
         """
-        max_val = int((((number_of_headings + 4) / 4) - 1) / 2)
+        max_val = int(number_of_headings / 8)
 
         outer_edge_x = []
         outer_edge_y = []