revert heading cost only
parent
d08b52caef
commit
17174c4999
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@ -64,8 +64,8 @@ class LateralPlanner:
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d_path_xyz = self.path_xyz
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path_cost = np.clip(abs(self.path_xyz[0, 1] / self.path_xyz_stds[0, 1]), 0.5, 1.5) * MPC_COST_LAT.PATH
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# Heading cost is useful at low speed, otherwise end of plan can be off-heading
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heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.0])
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self.lat_mpc.set_weights(path_cost, heading_cost, self.steer_rate_cost)
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# heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.0])
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self.lat_mpc.set_weights(path_cost, MPC_COST_LAT.HEADING, self.steer_rate_cost)
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y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
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heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
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