From b1ad3e4e8bb161b18dbf6c1949e6cc64debf4008 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 11 Oct 2021 14:20:44 -0700 Subject: [PATCH] more readable (#22519) old-commit-hash: 0885790e346d02ec4581efd4b2900954cc167972 --- selfdrive/modeld/models/driving.cc | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 92d4c8c8a9..5a8c6dcb83 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -126,11 +126,11 @@ void model_free(ModelState* s) { delete s->frame; } -static const float *get_best_data(const float *data, int size, int group_size, int offset) { +static const float *get_best_data(const float *data, int size, int group_size, int weight_idx) { int max_idx = 0; for (int i = 1; i < size; i++) { - if (data[(i + 1) * group_size + offset] > - data[(max_idx + 1) * group_size + offset]) { + if (data[i * group_size + weight_idx] > + data[max_idx * group_size + weight_idx]) { max_idx = i; } } @@ -138,11 +138,11 @@ static const float *get_best_data(const float *data, int size, int group_size, i } static const float *get_plan_data(float *plan) { - return get_best_data(plan, PLAN_MHP_N, PLAN_MHP_GROUP_SIZE, -1); + return get_best_data(plan, PLAN_MHP_N, PLAN_MHP_GROUP_SIZE, PLAN_MHP_GROUP_SIZE - 1); } static const float *get_lead_data(const float *lead, int t_offset) { - return get_best_data(lead, LEAD_MHP_N, LEAD_MHP_GROUP_SIZE, t_offset - LEAD_MHP_SELECTION); + return get_best_data(lead, LEAD_MHP_N, LEAD_MHP_GROUP_SIZE, LEAD_MHP_GROUP_SIZE - LEAD_MHP_SELECTION + t_offset); }