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Test model refactor (#2720)

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* template funcion fill_meta

* add function get_plan_max_idx

* add function get_mdn_max_idx

* remove temp builder variables

* get_mdn_max_idx->get_lead_data

* get_pan_max_idx->get_plan_data

* fill_lane_line

* combine fill_lane_line&fill_path into one function

* fill_lead_vw

* using unique_ptr

* prefer using constexpr

* more constexpr,remove duplicate defined TRAJECTORY_SIZE

* remove suffix _arr from variable name

* misc

* remove extern c

* refactor model_publish

* remove unused paramaters

* traffic_convention to c style array

* c style array:prev_desire&pulse_desire

* fix error&make easy for review

* const mat3 &transform

* move cl_command_queue into ModelState

* use maco LEAD_MHP_SELECTION

* move constexpr from .h to .cc

* remove #define MODEL_NAME

* modeldata.h: contexpr

* remove param temporal from model_init

* helper function get_best_data

* fix probs

* int

Co-authored-by: deanlee <deanlee3@gmail.com>
old-commit-hash: 630c7309a560e573a9398acd77c96aedcb65dfae
This commit is contained in:
HaraldSchafer
2020-12-09 22:48:14 -08:00
committed by GitHub
parent 65d1793bff
commit 89b03fa2ee
6 changed files with 161 additions and 279 deletions
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selfdrive/common/modeldata.h
+8 -8
View File
@@ -1,10 +1,10 @@
#pragma once
#define MODEL_PATH_DISTANCE 192
#define TRAJECTORY_SIZE 33
#define MIN_DRAW_DISTANCE 10.0
#define MAX_DRAW_DISTANCE 100.0
#define POLYFIT_DEGREE 4
#define SPEED_PERCENTILES 10
#define DESIRE_PRED_SIZE 32
#define OTHER_META_SIZE 4
constexpr int MODEL_PATH_DISTANCE = 192;
constexpr int TRAJECTORY_SIZE = 33;
constexpr float MIN_DRAW_DISTANCE = 10.0;
constexpr float MAX_DRAW_DISTANCE = 100.0;
constexpr int POLYFIT_DEGREE = 4;
constexpr int SPEED_PERCENTILES = 10;
constexpr int DESIRE_PRED_SIZE = 32;
constexpr int OTHER_META_SIZE = 4;