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more readable (#22519)

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old-commit-hash: 0885790e34
This commit is contained in:
HaraldSchafer
2021-10-11 14:20:44 -07:00
committed by GitHub
parent f0d16395b7
commit b1ad3e4e8b
1 changed files with 5 additions and 5 deletions
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10
selfdrive/modeld/models/driving.cc
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@@ -126,11 +126,11 @@ void model_free(ModelState* s) {
delete s->frame;
}
static const float *get_best_data(const float *data, int size, int group_size, int offset) {
static const float *get_best_data(const float *data, int size, int group_size, int weight_idx) {
int max_idx = 0;
for (int i = 1; i < size; i++) {
if (data[(i + 1) * group_size + offset] >
data[(max_idx + 1) * group_size + offset]) {
if (data[i * group_size + weight_idx] >
data[max_idx * group_size + weight_idx]) {
max_idx = i;
}
}
@@ -138,11 +138,11 @@ static const float *get_best_data(const float *data, int size, int group_size, i
}
static const float *get_plan_data(float *plan) {
return get_best_data(plan, PLAN_MHP_N, PLAN_MHP_GROUP_SIZE, -1);
return get_best_data(plan, PLAN_MHP_N, PLAN_MHP_GROUP_SIZE, PLAN_MHP_GROUP_SIZE - 1);
}
static const float *get_lead_data(const float *lead, int t_offset) {
return get_best_data(lead, LEAD_MHP_N, LEAD_MHP_GROUP_SIZE, t_offset - LEAD_MHP_SELECTION);
return get_best_data(lead, LEAD_MHP_N, LEAD_MHP_GROUP_SIZE, LEAD_MHP_GROUP_SIZE - LEAD_MHP_SELECTION + t_offset);
}