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use ndarray.tolist to convert numpy array to float (#23485)

pull/23494/head
Dean Lee 2022-01-11 21:34:47 +08:00 committed by GitHub
parent 44592f4b0e
commit 35ec6ac1cb
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 9 additions and 9 deletions
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6
selfdrive/controls/lib/lateral_planner.py
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@ -207,9 +207,9 @@ class LateralPlanner:
lateralPlan = plan_send.lateralPlan
lateralPlan.laneWidth = float(self.LP.lane_width)
lateralPlan.dPathPoints = [float(x) for x in self.y_pts]
lateralPlan.psis = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 2]]
lateralPlan.curvatures = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 3]]
lateralPlan.dPathPoints = self.y_pts.tolist()
lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
lateralPlan.curvatures = self.lat_mpc.x_sol[0:CONTROL_N, 3].tolist()
lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
lateralPlan.lProb = float(self.LP.lll_prob)
lateralPlan.rProb = float(self.LP.rll_prob)

6
selfdrive/controls/lib/longitudinal_planner.py
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@ -112,9 +112,9 @@ class Planner:
longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
longitudinalPlan.speeds = [float(x) for x in self.v_desired_trajectory]
longitudinalPlan.accels = [float(x) for x in self.a_desired_trajectory]
longitudinalPlan.jerks = [float(x) for x in self.j_desired_trajectory]
longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
longitudinalPlan.accels = self.a_desired_trajectory.tolist()
longitudinalPlan.jerks = self.j_desired_trajectory.tolist()
longitudinalPlan.hasLead = sm['radarState'].leadOne.status
longitudinalPlan.longitudinalPlanSource = self.mpc.source

6
selfdrive/locationd/calibrationd.py
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@ -179,9 +179,9 @@ class Calibrator():
msg.liveCalibration.validBlocks = self.valid_blocks
msg.liveCalibration.calStatus = self.cal_status
msg.liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
msg.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
msg.liveCalibration.rpyCalib = [float(x) for x in smooth_rpy]
msg.liveCalibration.rpyCalibSpread = [float(x) for x in self.calib_spread]
msg.liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist()
msg.liveCalibration.rpyCalib = smooth_rpy.tolist()
msg.liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
return msg
def send_data(self, pm) -> None: