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How did I miss this jesus

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Jason Wen
2024-02-09 16:06:18 -05:00
parent d914617ee0
commit 46c7ff26a8
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/lateral_planner.py
+1 -1
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@@ -108,7 +108,7 @@ class LateralPlanner:
self.t_idxs = np.array(md.position.t)
self.plan_yaw = np.array(md.orientation.z)
self.plan_yaw_rate = np.array(md.orientationRate.z)
if len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolution.x) == TRAJECTORY_SIZE:
if len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolutionDEPRECATED.x) == TRAJECTORY_SIZE:
self.x_sol = np.column_stack([md.lateralPlannerSolutionDEPRECATED.x, md.lateralPlannerSolutionDEPRECATED.y, md.lateralPlannerSolutionDEPRECATED.yaw, md.lateralPlannerSolutionDEPRECATED.yawRate])
self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z])