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driving.cc: const reference the return value of get_best_prediction (#22797)

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old-commit-hash: fe22a3563c
commatwo_master
Dean Lee 4 years ago committed by GitHub
parent 39df7ab9b8
commit 4411f90df0
1 changed files with 2 additions and 2 deletions
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  1. 4
      selfdrive/modeld/models/driving.cc

4
selfdrive/modeld/models/driving.cc
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@ -99,7 +99,7 @@ void fill_sigmoid(const float *input, float *output, int len, int stride) {
void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelDataRawLeads &leads, int t_idx, float prob_t) { void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelDataRawLeads &leads, int t_idx, float prob_t) {
std::array<float, LEAD_TRAJ_LEN> lead_t = {0.0, 2.0, 4.0, 6.0, 8.0, 10.0}; std::array<float, LEAD_TRAJ_LEN> lead_t = {0.0, 2.0, 4.0, 6.0, 8.0, 10.0};
auto best_prediction = leads.get_best_prediction(t_idx); const auto &best_prediction = leads.get_best_prediction(t_idx);
lead.setProb(sigmoid(leads.prob[t_idx])); lead.setProb(sigmoid(leads.prob[t_idx]));
lead.setProbTime(prob_t); lead.setProbTime(prob_t);
std::array<float, LEAD_TRAJ_LEN> lead_x, lead_y, lead_v, lead_a; std::array<float, LEAD_TRAJ_LEN> lead_x, lead_y, lead_v, lead_a;
@ -288,7 +288,7 @@ void fill_road_edges(cereal::ModelDataV2::Builder &framed, const std::array<floa
} }
void fill_model(cereal::ModelDataV2::Builder &framed, const ModelDataRaw &net_outputs) { void fill_model(cereal::ModelDataV2::Builder &framed, const ModelDataRaw &net_outputs) {
auto best_plan = net_outputs.plans->get_best_prediction(); const auto &best_plan = net_outputs.plans->get_best_prediction();
std::array<float, TRAJECTORY_SIZE> plan_t; std::array<float, TRAJECTORY_SIZE> plan_t;
std::fill_n(plan_t.data(), plan_t.size(), NAN); std::fill_n(plan_t.data(), plan_t.size(), NAN);
plan_t[0] = 0.0; plan_t[0] = 0.0;

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