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@ -31,7 +31,7 @@ class Maneuver: |
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def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool) -> float: |
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def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool) -> float: |
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ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill |
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ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill |
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if self.initial_speed < 0.01: |
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if self.initial_speed < 0.01: |
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ready = v_ego < 0.1 and standstill |
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ready = ready and standstill |
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self._ready_cnt = (self._ready_cnt + 1) if ready else 0 |
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self._ready_cnt = (self._ready_cnt + 1) if ready else 0 |
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if self._ready_cnt > (3. / DT_MDL): |
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if self._ready_cnt > (3. / DT_MDL): |
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