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Long e2e planner: better xva weights (#24893)

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better long xva weights
old-commit-hash: 2c877ce490
This commit is contained in:
HaraldSchafer
2022-06-17 10:35:24 -07:00
committed by GitHub
parent 8b603a9d5f
commit c4dcf67acc
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+1 -1
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@@ -251,7 +251,7 @@ class LongitudinalMpc:
self.solver.cost_set(i, 'Zl', Zl)
def set_weights_for_xva_policy(self):
W = np.asfortranarray(np.diag([0., 10., 1., 10., 0.0, 1.]))
W = np.asfortranarray(np.diag([0., 0.2, 0.25, 1., 0.0, .1]))
for i in range(N):
self.solver.cost_set(i, 'W', W)
# Setting the slice without the copy make the array not contiguous,