patch the yaw=0 direction while expanding

Author: zhkmxx9302013

PathPlanning/HybridAStar/hybrid_a_star.py

@@ -131,7 +131,7 @@ def __init__(self, ox, oy, xyreso, yawreso):
 
 def calc_motion_inputs():
 
-    for steer in np.linspace(-MAX_STEER, MAX_STEER, N_STEER):
+    for steer in np.concatenate((np.linspace(-MAX_STEER, MAX_STEER, N_STEER),[0.0])):
         for d in [1, -1]:
             yield [steer, d]