From 384857f2b4b087005b1e48bcf201e975d70531b4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 12 Jan 2022 22:56:41 +0800 Subject: [PATCH] lateral_planner: use nympy.isnan().any() (#23500) old-commit-hash: dbae5e760101da63a983162e132f327421b3220a --- selfdrive/controls/lib/lateral_planner.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 1d7684e827..110c6def67 100644 --- 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()