From b500034b8d1cd0f5fd1ba4f55d77c9fa95820511 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 4 Jan 2022 08:00:29 -0700 Subject: [PATCH] LongitudinalMpc: Remove class accel_limit_arr (#23295) * remove class accel_limit_arr remove class accel_limit_arr * make it static * only set static parameters once * just use existing function style * Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py * Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py Co-authored-by: Willem Melching old-commit-hash: 9cb0ebe37d234b292e5f2a482924a6f23ab77ba9 --- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 14 ++++---------- 1 file changed, 4 insertions(+), 10 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 1bb6716850..c07110eefa 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -194,9 +194,6 @@ class LongitudinalMpc: def __init__(self, e2e=False): self.e2e = e2e self.reset() - self.accel_limit_arr = np.zeros((N+1, 2)) - self.accel_limit_arr[:,0] = -1.2 - self.accel_limit_arr[:,1] = 1.2 self.source = SOURCES[2] def reset(self): @@ -224,6 +221,9 @@ class LongitudinalMpc: def set_weights(self): if self.e2e: self.set_weights_for_xva_policy() + self.params[:,0] = -10. + self.params[:,1] = 10. + self.params[:,2] = 1e5 else: self.set_weights_for_lead_policy() @@ -348,15 +348,9 @@ class LongitudinalMpc: for i in range(N): self.solver.cost_set(i, "yref", self.yref[i]) self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) - self.accel_limit_arr[:,0] = -10. - self.accel_limit_arr[:,1] = 10. - x_obstacle = 1e5*np.ones(N+1) - self.params = np.concatenate([self.accel_limit_arr, - x_obstacle[:, None], - self.prev_a[:,None]], axis=1) + self.params[:,3] = np.copy(self.prev_a) self.run() - def run(self): for i in range(N+1): self.solver.set(i, 'p', self.params[i])