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add a change cost

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old-commit-hash: 9afc95474d34925d23f94484a680b117ab0a5b3c
This commit is contained in:
Harald Schafer
2021-12-06 16:16:51 -08:00
parent 4511a8f0ec
commit 3a6a87ffe0
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+1 -1
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@@ -242,7 +242,7 @@ class LongitudinalMpc():
self.solver.cost_set(i, 'Zl', Zl)
def set_weights_for_xva_policy(self):
W = np.asfortranarray(np.diag([0., 10., 1., 10., 1.]))
W = np.asfortranarray(np.diag([0., 10., 1., 10., 0.0, 1.]))
for i in range(N):
self.solver.cost_set(i, 'W', W)
# Setting the slice without the copy make the array not contiguous,