modify safety margin in update bounds

2019-12-04 23:28:57 +01:00 · 2019-12-04 23:28:57 +01:00 · 3c305e46d4
parent a5f5fd9f8e
commit 3c305e46d4
1 changed files with 2 additions and 2 deletions
--- a/MPC.py
+++ b/MPC.py
@ -98,8 +98,8 @@ class MPC:
            ur[n] = kappa_r
            # Compute equality constraint offset (B*ur)
            uq[n * nx:n * nx + nx] = B_lin[:, 0] * kappa_r
-            lb, ub = self.model.reference_path.update_bounds(self.model,
-                self.model.wp_id + n)
+            lb, ub = self.model.reference_path.update_bounds(
+                self.model.wp_id + n, self.model.safety_margin[1])
            xmin_dyn[nx * n] = lb
            xmax_dyn[nx * n] = ub