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LongitudinalMpc: Remove class accel_limit_arr #23295

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merged 6 commits into from
Jan 4, 2022
Merged

LongitudinalMpc: Remove class accel_limit_arr #23295

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0ac324a
remove class accel_limit_arr
sshane Dec 22, 2021
01a5d41
make it static
sshane Jan 4, 2022
e003a5b
only set static parameters once
sshane Jan 4, 2022
bb8589a
just use existing function
sshane Jan 4, 2022
89ea6a1
Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
pd0wm Jan 4, 2022
08be07e
Update selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
pd0wm Jan 4, 2022
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14 changes: 4 additions & 10 deletions selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -194,9 +194,6 @@ class LongitudinalMpc:
def __init__(self, e2e=False):
self.e2e = e2e
self.reset()
self.accel_limit_arr = np.zeros((N+1, 2))
self.accel_limit_arr[:,0] = -1.2
self.accel_limit_arr[:,1] = 1.2
self.source = SOURCES[2]

def reset(self):
Expand Down Expand Up @@ -224,6 +221,9 @@ def reset(self):
def set_weights(self):
if self.e2e:
self.set_weights_for_xva_policy()
self.params[:,0] = -10.
self.params[:,1] = 10.
self.params[:,2] = 1e5
else:
self.set_weights_for_lead_policy()

Expand Down Expand Up @@ -348,15 +348,9 @@ def update_with_xva(self, x, v, a):
for i in range(N):
self.solver.cost_set(i, "yref", self.yref[i])
self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
self.accel_limit_arr[:,0] = -10.
self.accel_limit_arr[:,1] = 10.
x_obstacle = 1e5*np.ones(N+1)
self.params = np.concatenate([self.accel_limit_arr,
x_obstacle[:, None],
self.prev_a[:,None]], axis=1)
self.params[:,3] = np.copy(self.prev_a)
self.run()


def run(self):
for i in range(N+1):
self.solver.set(i, 'p', self.params[i])
Expand Down