debug angle loss

ai4ce · Oct 26, 2024 · ad5bf65 · ad5bf65
1 parent e2dc456
commit ad5bf65
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/pl_modules/urban_nav_module.py b/pl_modules/urban_nav_module.py
@@ -386,5 +386,5 @@ def waypoints_to_polar(self, waypoints):
         # Compute relative differences
         deltas = torch.diff(waypoints, dim=1, prepend=torch.zeros_like(waypoints[:, :1, :]))
         distance = torch.norm(deltas, dim=2)
-        angle = torch.atan2(deltas[:, :, 1], deltas[:, :, 0]) * 180 / torch.pi
+        angle = torch.atan2(deltas[:, :, 1], deltas[:, :, 0])
         return distance, angle