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compare carspeed float to epsilon instead of zero (#20714) 

* compare carspeed float to epsilon instead of zero

* update ref

* add ref commit again

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
albatross
Joost Wooning 2021-04-23 02:55:41 +02:00 committed by GitHub
parent 4a710bfc16
commit d2a2ccfee4
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3 changed files with 4 additions and 4 deletions
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4
selfdrive/locationd/locationd.cc
View File

@ -239,9 +239,9 @@ void Localizer::handle_car_state(double current_time, const cereal::CarState::Re
this->speed_counter++;
if (this->speed_counter % SENSOR_DECIMATION == 0) {
this->kf->predict_and_observe(current_time, OBSERVATION_ODOMETRIC_SPEED, { (VectorXd(1) << log.getVEgo()).finished() });
this->kf->predict_and_observe(current_time, OBSERVATION_ODOMETRIC_SPEED, { (VectorXd(1) << log.getVEgoRaw()).finished() });
this->car_speed = std::abs(log.getVEgo());
if (log.getVEgo() == 0.0) { // TODO probably never really 0.0
if (this->car_speed < 1e-3) {
this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) });
}
}

2
selfdrive/locationd/locationd.h
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@ -53,7 +53,7 @@ private:
MatrixXdr calib_from_device;
bool calibrated = false;
int car_speed = 0;
double car_speed = 0.0;
std::deque<double> posenet_stds;
std::unique_ptr<LocalCoord> converter;

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
bb1af9fc73c15967a4160d8899f2688b059627bf
381c4976c45f232f413b37945fbcd43391174089