adding correct V function

agbot_stanley_teacher.py

@@ -79,8 +79,8 @@ class DTreeAgBotStanleyGurobiTeacher(DTreeGurobiTeacherBase):
                          state_dim=3, perc_dim=2, ctrl_dim=1, norm_ord=norm_ord)
 
     def is_positive_example(self, ex) -> bool:
-        def v(cte, psi) -> float:
-            return np.linalg.norm([cte, psi], ord=float(self._norm_ord))
+        def v(ctd, psi) -> float:
+            return abs(psi + np.arctan( (K_P*ctd) / FORWARD_VEL))
 
         def spec(x, y, theta, cte, psi) -> bool:
             m_star = sensor