Long mpc: fix xva policy for sim

old-commit-hash: 7e20fe7ca2a75110d8918b2d38c37dbc9e56b6de
2026-07-05 05:22:07 +08:00 · 2021-12-08 15:41:48 -08:00
parent 189c41a614
commit 3ee06e92ed
1 changed files with 1 additions and 1 deletions
@@ -352,7 +352,7 @@ class LongitudinalMpc():
    x_obstacle = 1e5*np.ones((N+1))
    self.params = np.concatenate([self.accel_limit_arr,
                             x_obstacle[:,None],
-                             self.prev_a], axis=1)
+                             self.prev_a[:,None]], axis=1)
    self.run()