lateral_planner: use nympy.isnan().any() (#23500)

old-commit-hash: dbae5e7601
3 years ago · 384857f2b4
parent 2543a0bc62
commit 384857f2b4
1 changed files with 1 additions and 2 deletions
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@ -1,4 +1,3 @@
-import math
 import numpy as np
 from common.realtime import sec_since_boot, DT_MDL
 from common.numpy_fast import interp
@ -186,7 +185,7 @@ class LateralPlanner:
    self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])

    #  Check for infeasible MPC solution
-    mpc_nans = any(math.isnan(x) for x in self.lat_mpc.x_sol[:, 3])
+    mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any()
    t = sec_since_boot()
    if mpc_nans or self.lat_mpc.solution_status != 0:
      self.reset_mpc()