remove trivial terminal constraint and associated CasADi generated functions (#23898)

* remove trivial terminal constraint and associated CasADi generated functions

* Update refs

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>

selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

@@ -28,8 +28,6 @@ casadi_cost_0 = [
 casadi_constraints = [
   f'{gen}/long_constraints/long_constr_h_fun.c',
   f'{gen}/long_constraints/long_constr_h_fun_jac_uxt_zt.c',
-  f'{gen}/long_constraints/long_constr_h_e_fun.c',
-  f'{gen}/long_constraints/long_constr_h_e_fun_jac_uxt_zt.c',
 ]
 
 build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + casadi_cost_e +  \
@@ -47,7 +45,6 @@ generated_files = [
 
   f'{gen}/long_model/long_model.h',
   f'{gen}/long_constraints/long_h_constraint.h',
-  f'{gen}/long_constraints/long_h_e_constraint.h',
   f'{gen}/long_cost/long_cost_y_fun.h',
   f'{gen}/long_cost/long_cost_y_e_fun.h',
   f'{gen}/long_cost/long_cost_y_0_fun.h',

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -149,7 +149,6 @@ def gen_long_mpc_solver():
                         (a_max - a_ego),
                         ((x_obstacle - x_ego) - (3/4) * (desired_dist_comfort)) / (v_ego + 10.))
   ocp.model.con_h_expr = constraints
-  ocp.model.con_h_expr_e = vertcat(np.zeros(CONSTR_DIM))
 
   x0 = np.zeros(X_DIM)
   ocp.constraints.x0 = x0
@@ -163,9 +162,7 @@ def gen_long_mpc_solver():
   ocp.cost.zu = cost_weights
 
   ocp.constraints.lh = np.zeros(CONSTR_DIM)
-  ocp.constraints.lh_e = np.zeros(CONSTR_DIM)
   ocp.constraints.uh = 1e4*np.ones(CONSTR_DIM)
-  ocp.constraints.uh_e = 1e4*np.ones(CONSTR_DIM)
   ocp.constraints.idxsh = np.arange(CONSTR_DIM)
 
   # The HPIPM solver can give decent solutions even when it is stopped early

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-072ee2ba6bca1ea5943fef27b0cc764e40275568
+5cd22804273530aaf69ebb9f5039e8d08ca44ef8