lateral_planner: init missing variables (#28222)

Init missing variables in LateralPlanner constructor old-commit-hash: 7b68a13048
2 years ago · 40094396b4
parent 91ccb8b415
commit 40094396b4
1 changed files with 5 additions and 1 deletions
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@ -39,7 +39,11 @@ class LateralPlanner:
    self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
    self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,))
    self.t_idxs = np.arange(TRAJECTORY_SIZE)
-    self.y_pts = np.zeros(TRAJECTORY_SIZE)
+    self.y_pts = np.zeros((TRAJECTORY_SIZE,))
+    self.v_plan = np.zeros((TRAJECTORY_SIZE,))
+    self.v_ego = 0.0
+    self.l_lane_change_prob = 0.0
+    self.r_lane_change_prob = 0.0

    self.lat_mpc = LateralMpc()
    self.reset_mpc(np.zeros(4))