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Remove unused path offset learner

pull/1061/head v0.7.2
Willem Melching 2020-02-06 13:48:56 -08:00
parent 105b95ffd7
commit 59bd58c940
1 changed files with 0 additions and 10 deletions
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10
selfdrive/controls/lib/pathplanner.py
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@ -53,7 +53,6 @@ class PathPlanner():
self.setup_mpc()
self.solution_invalid_cnt = 0
self.path_offset_i = 0.0
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
self.lane_change_timer = 0.0
@ -150,15 +149,6 @@ class PathPlanner():
self.LP.update_d_poly(v_ego)
# TODO: Check for active, override, and saturation
# if active:
# self.path_offset_i += self.LP.d_poly[3] / (60.0 * 20.0)
# self.path_offset_i = clip(self.path_offset_i, -0.5, 0.5)
# self.LP.d_poly[3] += self.path_offset_i
# else:
# self.path_offset_i = 0.0
# account for actuation delay
self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset, curvature_factor, VM.sR, CP.steerActuatorDelay)