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Cleanup pathplanner (#19827)

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* no divide by 0

* misc cleanup

* final fixes

* remove last polys

* new ref

* fix test

* update again
This commit is contained in:
HaraldSchafer
2021-01-19 00:02:53 -08:00
committed by GitHub
parent 14f9700f6a
commit 0e49919ab9
14 changed files with 140 additions and 175 deletions
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selfdrive/debug/mpc/live_lateral_mpc.py
+1 -1
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@@ -75,7 +75,7 @@ def mpc_vwr_thread(addr="127.0.0.1"):
r_path_y = np.polyval(l_poly, path_x)
if pp is not None:
p_path_y = np.polyval(pp.pathPlan.dPoly, path_x)
p_path_y = np.polyval(pp.pathPlan.dPolyDEPRECATED, path_x)
lineP.set_xdata(p_path_y)
lineP.set_ydata(path_x)