LongitudinalPlanner: replace hardcoded length with ModelConstants.IDX_N (#32597)

replace hardcoded length
11 months ago · 1e70b23855
parent f717e1e4e6
commit 1e70b23855
1 changed files with 3 additions and 3 deletions
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@ -62,9 +62,9 @@ class LongitudinalPlanner:

  @staticmethod
  def parse_model(model_msg, model_error):
-    if (len(model_msg.position.x) == 33 and
-       len(model_msg.velocity.x) == 33 and
-       len(model_msg.acceleration.x) == 33):
+    if (len(model_msg.position.x) == ModelConstants.IDX_N and
+       len(model_msg.velocity.x) == ModelConstants.IDX_N and
+       len(model_msg.acceleration.x) == ModelConstants.IDX_N):
      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
      a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)