From 746bb0b96fce5a66cbc897e283cb4d9232817f24 Mon Sep 17 00:00:00 2001
From: Oleksandr <maksymets.o@gmail.com>
Date: Thu, 29 Aug 2019 15:58:29 -0700
Subject: [PATCH] Changed Shortest Path Follower criteria to use geodesic
distance. (#194)
* Changed Shortest Path Follower criteria to use geodesic distance
---
habitat/tasks/nav/shortest_path_follower.py | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/habitat/tasks/nav/shortest_path_follower.py b/habitat/tasks/nav/shortest_path_follower.py
index 2d7b2f184..53f481dfe 100644
--- a/habitat/tasks/nav/shortest_path_follower.py
+++ b/habitat/tasks/nav/shortest_path_follower.py
@@ -69,7 +69,9 @@ class ShortestPathFollower:
"""Returns the next action along the shortest path.
"""
if (
- np.linalg.norm(goal_pos - self._sim.get_agent_state().position)
+ self._sim.geodesic_distance(
+ self._sim.get_agent_state().position, goal_pos
+ )
<= self._goal_radius
):
return self._get_return_value(SimulatorActions.STOP)
--
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