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longitudinal MPC: add MAX_T in T_IDXS_LST (#23960)

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* longitudinal MPC: add MAX_T in T_IDXS_LST

* update refs

Co-authored-by: KexianShen <shenkexian@gmail.com>
This commit is contained in:
Adeeb Shihadeh
2022-03-13 21:45:23 -07:00
committed by GitHub
parent a9b7f3bdd8
commit f1aab78d08
2 changed files with 2 additions and 2 deletions
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2
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@@ -45,7 +45,7 @@ ACADOS_SOLVER_TYPE = 'SQP_RTI'
# much better convergence of the MPC with low iterations
N = 12
MAX_T = 10.0
T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N+1) for idx in range(N+1)]
T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1)]
T_IDXS = np.array(T_IDXS_LST)
T_DIFFS = np.diff(T_IDXS, prepend=[0.])

2
selfdrive/test/process_replay/ref_commit
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@@ -1 +1 @@
c6d7afb13c183852f8d61d5f79495b828ed401ed
37aa2e3afedc8364d2bbecc5f1b7ed4efec52e30