From dd49490dae548b42bad16ea119f593f56ee341b6 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 2 Feb 2024 00:08:53 -0500 Subject: [PATCH] mapd: Remove more legacy implementation (#275) * mapd: Remove more legacy implementation * bump cereal --- cereal | 2 +- selfdrive/controls/lib/lateral_planner.py | 4 ---- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/cereal b/cereal index 4450066983..e99eb7bdd4 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 4450066983a554851a55c5398936b2c178496797 +Subproject commit e99eb7bdd41d9bf23fe4353ea5f562bdf83052e8 diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 6b56a732fb..61d2b4561b 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -24,7 +24,6 @@ class LateralPlanner: self.v_ego = MIN_SPEED self.l_lane_change_prob = 0.0 self.r_lane_change_prob = 0.0 - self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.debug_mode = debug @@ -80,7 +79,4 @@ class LateralPlanner: lateralPlanSPDEPRECATED = plan_sp_send.lateralPlanSPDEPRECATED lateralPlanSPDEPRECATED.laneChangePrev = self.DH.prev_lane_change - lateralPlanSPDEPRECATED.dPathWLinesX = [float(x) for x in self.d_path_w_lines_xyz[:, 0]] - lateralPlanSPDEPRECATED.dPathWLinesY = [float(y) for y in self.d_path_w_lines_xyz[:, 1]] - pm.send('lateralPlanSPDEPRECATED', plan_sp_send)