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fix: reverse angle

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russian_proger
2026-05-31 18:52:19 +03:00
parent 707288bb61
commit 6e330a6647
1 changed files with 12 additions and 3 deletions
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15
main.py
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@@ -181,7 +181,9 @@ def build(name: str, map_name: str, lat: float, lon: float):
for i in range(5000):
if command.stop:
final_pos = Position(points_coords[-1][0], points_coords[-1][1])
final_pos = simulator.pos.copy() * online_map.pixel_ratio
final_pos.x = points_coords[-1][0]
final_pos.y = points_coords[-1][1]
if not positions or np.hypot(positions[-1].x - final_pos.x, positions[-1].y - final_pos.y) > 1:
positions.append(final_pos)
break
@@ -192,7 +194,9 @@ def build(name: str, map_name: str, lat: float, lon: float):
command.velocity /= online_map.pixel_ratio
if command.stop:
final_pos = Position(points_coords[-1][0], points_coords[-1][1])
final_pos = simulator.pos.copy() * online_map.pixel_ratio
final_pos.x = points_coords[-1][0]
final_pos.y = points_coords[-1][1]
if not positions or np.hypot(positions[-1].x - final_pos.x, positions[-1].y - final_pos.y) > 1:
positions.append(final_pos)
break
@@ -213,6 +217,7 @@ def build(name: str, map_name: str, lat: float, lon: float):
data.update({
'points': points_coords,
'chunk_positions': positions,
'final_build_position': positions[-1].copy() if positions else None,
'initial_geolocation': geo,
'map_provider': map_name,
'map_zoom': map_zoom,
@@ -335,7 +340,11 @@ def run(
simulator = Simulator(online_map)
pilot.target_idx = 0
turn_position = data['chunk_positions'][-1].copy() if data.get('chunk_positions') else Position(forward_points[-1][0], forward_points[-1][1])
turn_position = data.get('final_build_position')
if turn_position is None:
turn_position = data['chunk_positions'][-1].copy() if data.get('chunk_positions') else Position(forward_points[-1][0], forward_points[-1][1])
else:
turn_position = turn_position.copy()
start_position = turn_position / online_map.pixel_ratio
start_position.yaw += np.pi
simulator.pos = start_position.copy()