From 40094396b4c05fe0c9db9b70f3b476586032802f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 17 May 2023 14:04:17 -0700 Subject: [PATCH] lateral_planner: init missing variables (#28222) Init missing variables in LateralPlanner constructor old-commit-hash: 7b68a13048df675c0d3b5686d478c6c3f469d631 --- selfdrive/controls/lib/lateral_planner.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index da6465ac24..fc29aeb087 100644 --- 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))