sadmen
/
dragonpilot
mirror of https://github.com/dragonpilot-community/dragonpilot.git
1
0
Fork 0
Code Issues 60 Packages Projects Releases Wiki Activity

XVA long policy: prev_a becomes numpy anyway (#23175)

Browse Source
pull/214/head
HaraldSchafer 4 years ago committed by GitHub
parent 7e20fe7ca2
commit c41a0cae4b
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 2 additions and 2 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

4
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
Unescape View File

@ -203,7 +203,7 @@ class LongitudinalMpc():
self.solver = AcadosOcpSolverFast('long', N, EXPORT_DIR) self.solver = AcadosOcpSolverFast('long', N, EXPORT_DIR)
self.v_solution = [0.0 for i in range(N+1)] self.v_solution = [0.0 for i in range(N+1)]
self.a_solution = [0.0 for i in range(N+1)] self.a_solution = [0.0 for i in range(N+1)]
self.prev_a = self.a_solution self.prev_a = np.array(self.a_solution)
self.j_solution = [0.0 for i in range(N)] self.j_solution = [0.0 for i in range(N)]
self.yref = np.zeros((N+1, COST_DIM)) self.yref = np.zeros((N+1, COST_DIM))
for i in range(N): for i in range(N):
@ -371,7 +371,7 @@ class LongitudinalMpc():
self.a_solution = self.x_sol[:,2] self.a_solution = self.x_sol[:,2]
self.j_solution = self.u_sol[:,0] self.j_solution = self.u_sol[:,0]
self.prev_a = interp(T_IDXS + 0.05, T_IDXS, self.a_solution) self.prev_a = np.interp(T_IDXS + 0.05, T_IDXS, self.a_solution)
t = sec_since_boot() t = sec_since_boot()
if self.solution_status != 0: if self.solution_status != 0:

Write Preview
Loading…
Cancel
Save