mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-23 15:02:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

XVA long policy: prev_a becomes numpy anyway (#23175)

Browse Source
This commit is contained in:
HaraldSchafer
2021-12-08 16:06:09 -08:00
committed by GitHub
parent 7e20fe7ca2
commit c41a0cae4b
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+2 -2
View File
@@ -203,7 +203,7 @@ class LongitudinalMpc():
self.solver = AcadosOcpSolverFast('long', N, EXPORT_DIR)
self.v_solution = [0.0 for i in range(N+1)]
self.a_solution = [0.0 for i in range(N+1)]
self.prev_a = self.a_solution
self.prev_a = np.array(self.a_solution)
self.j_solution = [0.0 for i in range(N)]
self.yref = np.zeros((N+1, COST_DIM))
for i in range(N):
@@ -371,7 +371,7 @@ class LongitudinalMpc():
self.a_solution = self.x_sol[:,2]
self.j_solution = self.u_sol[:,0]
self.prev_a = interp(T_IDXS + 0.05, T_IDXS, self.a_solution)
self.prev_a = np.interp(T_IDXS + 0.05, T_IDXS, self.a_solution)
t = sec_since_boot()
if self.solution_status != 0: