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lagd: make method static

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This commit is contained in:
Shane Smiskol
2025-06-02 20:53:11 -07:00
parent 29afd667cc
commit 1a84b05bde
1 changed files with 2 additions and 1 deletions
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selfdrive/locationd/lagd.py
+2 -1
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@@ -303,7 +303,8 @@ class LateralLagEstimator:
self.block_avg.update(delay)
self.last_estimate_t = self.t
def actuator_delay(self, expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float, float]:
@staticmethod
def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float, float]:
assert len(expected_sig) == len(actual_sig)
max_lag_samples = int(max_lag / dt)
padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples)