From 3c305e46d49c7bc65f66a6a50551e6379d23196e Mon Sep 17 00:00:00 2001
From: matssteinweg <mats.steinweg@me.com>
Date: Wed, 4 Dec 2019 23:28:57 +0100
Subject: [PATCH] modify safety margin in update bounds

---
 MPC.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/MPC.py b/MPC.py
index b7cb144..ac12f6c 100644
--- 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