Showing 1 of 1 files from the diff.

@@ -135,15 +135,13 @@
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135 135
        return i_temp - 2*i, j_temp - 2*j, counter, got_goal
136 136
137 137
    def in_line_of_sight(self, x1, y1, x2, y2):
138 -
        for x in range(min(int(x1), int(x2) + 1),
139 -
                       max(int(x1), int(x2) + 1)):
140 -
            if self.obs_grid[(x, int(y1))]:
141 -
                return False, None
142 -
        for y in range(min(int(y1), int(y2) + 1),
143 -
                       max(int(y1), int(y2) + 1)):
144 -
            print((int(x2), y))
145 -
            if self.obs_grid[(int(x2), y)]:
138 +
        t = 0
139 +
        while t <= 1:
140 +
            xt = (1 - t) * x1 + t * x2
141 +
            yt = (1 - t) * y1 + t * y2
142 +
            if self.obs_grid[(int(xt), int(yt))]:
146 143
                return False, None
144 +
            t += 0.01
147 145
        return True, abs(x2 - x1) + abs(y2 - y1)
148 146
149 147
    def jump_point(self):
Files Coverage
AerialNavigation/drone_3d_trajectory_following 92.35%
ArmNavigation 94.93%
Localization 89.79%
Mapping 90.46%
PathPlanning 86.43%
PathTracking 91.10%
SLAM 97.50%
tests 93.00%
Bipedal/bipedal_planner/bipedal_planner.py 85.53%
Project Totals (129 files) 88.86%

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