mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-06-30 11:02:19 +08:00
Code Issues Packages Projects Releases Wiki Activity

LongitudinalPlanner: replace hardcoded length with ModelConstants.IDX_N (#32597)

Browse Source 
replace hardcoded length
old-commit-hash: 1e70b23855a50e645325edf6f9548b0de73abe8d
This commit is contained in:
Dean Lee
2024-06-03 13:52:45 +08:00
committed by GitHub
parent 10b536f73f
commit 375f2a243f
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/longitudinal_planner.py
+3 -3
View File
@@ -62,9 +62,9 @@ class LongitudinalPlanner:
@staticmethod
def parse_model(model_msg, model_error):
if (len(model_msg.position.x) == 33 and
len(model_msg.velocity.x) == 33 and
len(model_msg.acceleration.x) == 33):
if (len(model_msg.position.x) == ModelConstants.IDX_N and
len(model_msg.velocity.x) == ModelConstants.IDX_N and
len(model_msg.acceleration.x) == ModelConstants.IDX_N):
x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)