fixed 'dilate' typo

bit-bots · Nov 20, 2024 · 0b86779 · 0b86779
1 parent 4ecf803
commit 0b86779
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/map.py b/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/map.py
@@ -29,7 +29,7 @@ def __init__(self, node: Node, buffer: tf2.Buffer) -> None:
         self.frame: str = self.node.config.map.planning_frame
         self.config_ball_diameter: float = self.node.config.map.ball_diameter
         self.config_inflation_blur: int = self.node.config.map.inflation.blur
-        self.config_inflation_dialation: int = self.node.config.map.inflation.dialate
+        self.config_inflation_dilation: int = self.node.config.map.inflation.dilate
         self.config_obstacle_value: int = self.node.config.map.obstacle_value
         self.ball_obstacle_active: bool = True
         self._robot_geometries: list[Geometry] = []
@@ -87,7 +87,7 @@ def _update_robot_geometries(self, robots):
             print(robot)
             center = shapely.Point(robot.bb.center.position.x, robot.bb.center.position.y)
             radius = max(numpify(robot.bb.size)[:2]) / 2
-            dilation = self.config_inflation_dialation / self.node.config.map.resolution
+            dilation = self.config_inflation_dilation / self.node.config.map.resolution
             geometry = center.buffer(radius + dilation, quad_segs=CIRCLE_APPROXIMATION_SEGMENTS // 4)
             self._robot_geometries.append(geometry)
 
@@ -97,7 +97,7 @@ def _update_ball_geometries(self, balls):
             for ball in balls:
                 center = shapely.Point(ball.x, ball.y)
                 radius = self.config_ball_diameter / 2
-                dilation = self.config_inflation_dialation / self.node.config.map.resolution
+                dilation = self.config_inflation_dilation / self.node.config.map.resolution
                 geometry = center.buffer(radius + dilation, quad_segs=CIRCLE_APPROXIMATION_SEGMENTS // 4)
                 self._ball_geometries.append(geometry)
 

diff --git a/bitbots_navigation/bitbots_path_planning/config/path_planning_parameters.yaml b/bitbots_navigation/bitbots_path_planning/config/path_planning_parameters.yaml
@@ -59,10 +59,10 @@ bitbots_path_planning:
       description: 'The value of the obstacles in the map'
       read_only: true
     inflation:
-      dialate:
+      dilate:
         type: int
         default_value: 3
-        description: 'The dialte value for the inflation'
+        description: 'The dilation value for the inflation'
         read_only: true
       blur:
         type: int