From e6668625fa8c0dec0277a87ce3d5bfad4a1a55a6 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 4 Nov 2020 19:52:05 -0800 Subject: [PATCH] set y too (#2448) * set y too * new ref --- selfdrive/controls/lib/pathplanner.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index 594147e11d..a58eae0054 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -43,6 +43,7 @@ DESIRES = { def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay): states[0].x = v_ego * delay states[0].psi = v_ego * curvature_factor * math.radians(steer_angle) / steer_ratio * delay + states[0].y = states[0].x * math.sin(states[0].psi / 2) return states diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 6d23007522..85fdf04eb7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -635052c6f021001fd11ec68ad0f6ee1811ee4a76 \ No newline at end of file +804ee1ffcfa0639782f1322874d89f0c8c412c50 \ No newline at end of file