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XVA long policy: prev_a becomes numpy anyway (#23175)

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pull/23177/head
HaraldSchafer 3 years ago committed by GitHub
parent 7e20fe7ca2
commit c41a0cae4b
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1 changed files with 2 additions and 2 deletions
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  1. 4
      selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

4
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@ -203,7 +203,7 @@ class LongitudinalMpc():
self.solver = AcadosOcpSolverFast('long', N, EXPORT_DIR) self.solver = AcadosOcpSolverFast('long', N, EXPORT_DIR)
self.v_solution = [0.0 for i in range(N+1)] self.v_solution = [0.0 for i in range(N+1)]
self.a_solution = [0.0 for i in range(N+1)] self.a_solution = [0.0 for i in range(N+1)]
self.prev_a = self.a_solution self.prev_a = np.array(self.a_solution)
self.j_solution = [0.0 for i in range(N)] self.j_solution = [0.0 for i in range(N)]
self.yref = np.zeros((N+1, COST_DIM)) self.yref = np.zeros((N+1, COST_DIM))
for i in range(N): for i in range(N):
@ -371,7 +371,7 @@ class LongitudinalMpc():
self.a_solution = self.x_sol[:,2] self.a_solution = self.x_sol[:,2]
self.j_solution = self.u_sol[:,0] self.j_solution = self.u_sol[:,0]
self.prev_a = interp(T_IDXS + 0.05, T_IDXS, self.a_solution) self.prev_a = np.interp(T_IDXS + 0.05, T_IDXS, self.a_solution)
t = sec_since_boot() t = sec_since_boot()
if self.solution_status != 0: if self.solution_status != 0:

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