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compare carspeed float to epsilon instead of zero (#20714)

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* compare carspeed float to epsilon instead of zero

* update ref

* add ref commit again

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
This commit is contained in:
Joost Wooning
2021-04-23 02:55:41 +02:00
committed by GitHub
parent 4a710bfc16
commit d2a2ccfee4
3 changed files with 4 additions and 4 deletions
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selfdrive/locationd/locationd.cc
+2 -2
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@@ -239,9 +239,9 @@ void Localizer::handle_car_state(double current_time, const cereal::CarState::Re
this->speed_counter++;
if (this->speed_counter % SENSOR_DECIMATION == 0) {
this->kf->predict_and_observe(current_time, OBSERVATION_ODOMETRIC_SPEED, { (VectorXd(1) << log.getVEgo()).finished() });
this->kf->predict_and_observe(current_time, OBSERVATION_ODOMETRIC_SPEED, { (VectorXd(1) << log.getVEgoRaw()).finished() });
this->car_speed = std::abs(log.getVEgo());
if (log.getVEgo() == 0.0) { // TODO probably never really 0.0
if (this->car_speed < 1e-3) {
this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) });
}
}