From 05374e2c1b12184de03217f417548e6f3ca20b44 Mon Sep 17 00:00:00 2001 From: Yassine Date: Mon, 9 Oct 2023 13:34:37 -0700 Subject: [PATCH] remove some todos --- selfdrive/controls/lib/lateral_planner.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index af87a7ab07..7bbbc579c6 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -32,8 +32,6 @@ class LateralPlanner: self.debug_mode = debug def update(self, sm): - # TODO: do something for 0 speed - # TODO: is a small first order filter needed here? v_ego_car = sm['carState'].vEgo # Parse model predictions @@ -47,7 +45,6 @@ class LateralPlanner: car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car) self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf) self.v_ego = self.v_plan[0] - # YOLO e2e planning self.x_sol = np.column_stack([md.lateralPlannerSolution.x, md.lateralPlannerSolution.y, md.lateralPlannerSolution.yaw, md.lateralPlannerSolution.yawRate]) # Lane change logic