Replaced sqrt(x**2+y**2) with hypot in PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py

Author: Gjacquenot

PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py

@@ -97,7 +97,7 @@ def is_collision(sx, sy, gx, gy, rr, okdtree):
     dx = gx - sx
     dy = gy - sy
     yaw = math.atan2(gy - sy, gx - sx)
-    d = math.sqrt(dx**2 + dy**2)
+    d = math.hypot(dx, dy)
 
     if d >= MAX_EDGE_LEN:
         return True
@@ -171,7 +171,7 @@ def dijkstra_planning(sx, sy, gx, gy, ox, oy, rr, road_map, sample_x, sample_y):
     road_map: ??? [m]
     sample_x: ??? [m]
     sample_y: ??? [m]
-    
+
     @return: Two lists of path coordinates ([x1, x2, ...], [y1, y2, ...]), empty list when no path was found
     """
 
@@ -182,7 +182,7 @@ def dijkstra_planning(sx, sy, gx, gy, ox, oy, rr, road_map, sample_x, sample_y):
     openset[len(road_map) - 2] = nstart
 
     path_found = True
-    
+
     while True:
         if not openset:
             print("Cannot find path")
@@ -213,7 +213,7 @@ def dijkstra_planning(sx, sy, gx, gy, ox, oy, rr, road_map, sample_x, sample_y):
             n_id = road_map[c_id][i]
             dx = sample_x[n_id] - current.x
             dy = sample_y[n_id] - current.y
-            d = math.sqrt(dx**2 + dy**2)
+            d = math.hypot(dx, dy)
             node = Node(sample_x[n_id], sample_y[n_id],
                         current.cost + d, c_id)
 
@@ -226,7 +226,7 @@ def dijkstra_planning(sx, sy, gx, gy, ox, oy, rr, road_map, sample_x, sample_y):
                     openset[n_id].pind = c_id
             else:
                 openset[n_id] = node
-    
+
     if path_found is False:
         return [], []