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Add cost to long plan change for smoother lag comp (#22923)

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* add plan changing cost

* fix compile

* set weights

* try this cost

* horizon problem

* looks pretty good

* update refs

* update refs

* smoother plan changes
This commit is contained in:
HaraldSchafer
2021-11-16 17:57:55 -08:00
committed by GitHub
parent 0674726cf4
commit b3b45c8d29
3 changed files with 22 additions and 11 deletions
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selfdrive/test/process_replay/ref_commit
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