Merge remote-tracking branch 'origin/master'

src/cs4313_utilities/robot_math.py

@@ -561,19 +561,19 @@ def compute_circle(pt1, pt2, pt3):
     x3y3Sqr = pt3[0] * pt3[0] + pt3[1] * pt3[1]
 
     try:
-        centerX = determinant3x3(x1y1Sqr, pt1[1], 1.0,   \
-                                 x2y2Sqr, pt2[1], 1.0,   \
-                                 x3y3Sqr, pt3[1], 1.0) / \
-                  (2.0 * determinant3x3(pt1[0], pt1[1], 1.0, \
-                                        pt2[1], pt2[1], 1.0, \
-                                        pt3[1], pt3[1], 1.0))
-        centerY = determinant3x3(pt1[0], x1y1Sqr, 1.0, \
-                                 pt2[0], x2y2Sqr, 1.0, \
-                                 pt3[0], x3y3Sqr, 1.0) / \
-                  (2.0 * determinant3x3(pt1[0], pt1[1], 1.0, \
-                                        pt2[0], pt2[1], 1.0, \
-                                        pt3[0], pt3[1], 1.0))
-        radius = distance((centerX, centerY), pt1)
+        centerX = determinant3x3(((x1y1Sqr, pt1[1], 1.0),   \
+                                  (x2y2Sqr, pt2[1], 1.0),   \
+                                  (x3y3Sqr, pt3[1], 1.0))) / \
+                  (2.0 * determinant3x3(((pt1[0], pt1[1], 1.0), \
+                                         (pt2[1], pt2[1], 1.0), \
+                                         (pt3[1], pt3[1], 1.0))))
+        centerY = determinant3x3(((pt1[0], x1y1Sqr, 1.0), \
+                                  (pt2[0], x2y2Sqr, 1.0), \
+                                  (pt3[0], x3y3Sqr, 1.0))) / \
+                  (2.0 * determinant3x3(((pt1[0], pt1[1], 1.0), \
+                                         (pt2[0], pt2[1], 1.0), \
+                                         (pt3[0], pt3[1], 1.0))))
+        radius = cartesian_distance((centerX, centerY), pt1)
         return ( ( centerX, centerY ), radius )
 
     except:    # probably division by zero--means the points are colinear