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add new interp

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pull/27343/head
Bruce Wayne 2 years ago
parent 95815419d8
commit 659e5aa01a
1 changed files with 6 additions and 6 deletions
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  1. 12
      selfdrive/controls/lib/lateral_planner.py

12
selfdrive/controls/lib/lateral_planner.py
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@ -80,12 +80,12 @@ class LateralPlanner:
LATERAL_ACCEL_COST, LATERAL_JERK_COST, LATERAL_ACCEL_COST, LATERAL_JERK_COST,
STEERING_RATE_COST) STEERING_RATE_COST)
#y_pts = np.interp(plan_odo, self.model_odo, self.path_xyz[:, 1]) y_pts = np.interp(plan_odo, self.model_odo, self.path_xyz[:, 1])
#heading_pts = np.interp(plan_odo, self.model_odo, self.plan_yaw) heading_pts = np.interp(plan_odo, self.model_odo, self.plan_yaw)
#yaw_rate_pts = np.interp(plan_odo, self.model_odo, self.plan_yaw_rate) yaw_rate_pts = np.interp(plan_odo, self.model_odo, self.plan_yaw_rate)
y_pts = np.interp(plan_odo, np.linalg.norm(self.path_xyz, axis=1), self.path_xyz[:, 1]) #y_pts = np.interp(plan_odo, np.linalg.norm(self.path_xyz, axis=1), self.path_xyz[:, 1])
heading_pts = np.interp(plan_odo, np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw) #heading_pts = np.interp(plan_odo, np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
yaw_rate_pts = np.interp(plan_odo, np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw_rate) #yaw_rate_pts = np.interp(plan_odo, np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw_rate)
self.y_pts = y_pts self.y_pts = y_pts
assert len(y_pts) == LAT_MPC_N + 1 assert len(y_pts) == LAT_MPC_N + 1

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