lateral_planner: use nympy.isnan().any() (#23500)
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79577e4dca
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dbae5e7601
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@ -1,4 +1,3 @@
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import math
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import numpy as np
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from common.realtime import sec_since_boot, DT_MDL
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from common.numpy_fast import interp
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@ -186,7 +185,7 @@ class LateralPlanner:
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self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
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# Check for infeasible MPC solution
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mpc_nans = any(math.isnan(x) for x in self.lat_mpc.x_sol[:, 3])
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mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any()
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t = sec_since_boot()
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if mpc_nans or self.lat_mpc.solution_status != 0:
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self.reset_mpc()
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