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lateral_planner: use nympy.isnan().any() (#23500)

pull/23501/head
Dean Lee 2022-01-12 22:56:41 +08:00 committed by GitHub
parent 79577e4dca
commit dbae5e7601
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1 changed files with 1 additions and 2 deletions
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3
selfdrive/controls/lib/lateral_planner.py
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@ -1,4 +1,3 @@
import math
import numpy as np
from common.realtime import sec_since_boot, DT_MDL
from common.numpy_fast import interp
@ -186,7 +185,7 @@ class LateralPlanner:
self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
# Check for infeasible MPC solution
mpc_nans = any(math.isnan(x) for x in self.lat_mpc.x_sol[:, 3])
mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any()
t = sec_since_boot()
if mpc_nans or self.lat_mpc.solution_status != 0:
self.reset_mpc()