Bugfix random node (#22)

- Bugfix
bilalkah · Oct 28, 2023 · 1ab0093 · 1ab0093
1 parent 2d0cf1a
commit 1ab0093
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/planning/tree_base/src/common_tree_base.cpp b/planning/tree_base/src/common_tree_base.cpp
@@ -38,8 +38,8 @@ Node RandomNode(const std::shared_ptr<Map> map)
     {
       auto random_point{RandomSampling()};
       random_node =
-          Node(static_cast<int>(random_point.first * map->GetWidth()),
-               static_cast<int>(random_point.second * map->GetHeight()));
+          Node(static_cast<int>(random_point.first * map->GetHeight()),
+               static_cast<int>(random_point.second * map->GetWidth()));
       if (map->GetNodeState(random_node) == NodeState::kFree)
         {
           is_valid = true;