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Revert dPoly computation to 0.6.3 behavior (#809)

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* Revert dPoly computation to 0.6.3 behavior

* update test reference

old-commit-hash: 58f376002e
This commit is contained in:
Willem Melching
2019-09-13 17:01:54 -07:00
committed by GitHub
parent 4ba65fee99
commit 802b8de767
2 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/lane_planner.py
+1 -1
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@@ -26,7 +26,7 @@ def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
path_from_right_lane = r_poly.copy()
path_from_right_lane[3] += lane_width / 2.0
lr_prob = l_prob * r_prob
lr_prob = l_prob + r_prob - l_prob * r_prob
d_poly_lane = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
return lr_prob * d_poly_lane + (1.0 - lr_prob) * p_poly
selfdrive/test/tests/process_replay/ref_commit
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@@ -1 +1 @@
8a11bcbc9833e154e10b59a8babb2b4545372f56
9124fa5837ead9b74d97aef85897478a5e8b92d2