Jonathan Frey
baab5d7a7b
Cython acados and minor ( #23835 )
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* acados_ocp_solver_pyx.pyx: implement get_stats for timings and ints
* long_mpc: use acados timers
* acados_ocp_solver_pyx.pyx: fix dynamics_get
* acados_ocp_solver_pyx.pyx: get statistics
* use acados_ocp_solver_pyx.pyx from commaai/cython2 branch
* acados_ocp_solver_pyx.pyx: implement store_iterate
* acados_ocp_solver_pyx.pyx: implement get_residuals
* acados_ocp_solver_pyx.pyx: fix set() for empty fields
* acados_ocp_solver_pyx.pyx: load_iterate
* cython acados: add print_statistics
* test_following_distance: fix typo
* test_longitudinal: unique names for test maneuvers
* longitudinal MPC: comments for evaluation
* longitudinal MPC: add comments to eval acados residuals
* long_mpc: use qp_solver_cond_N = 1
* long MPC: comments, simplify set_cur_state
* update acados version in build script
* longitudinal mpc: weigh a_change in 1 place only
* update ref
* Update ref
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com >
old-commit-hash: d09dffb7cd
2022-02-25 14:16:44 -08:00
Jonathan Frey
6f4c93238f
work on acados lateral MPC ( #23558 )
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* lat_mpc: make v_ego, rotation_radius parameters instead of states
* lat_mpc: remove rotation_radius argument, since it is part of the parameters
* lat_mpc: use qp_solver_cond_N = 1
slightly faster and in line with case study in Fig. 2/ 3 in Frison2016 - https://cdn.syscop.de/publications/Frison2016.pdf
An Efficient Implementation of Partial Condensing for Nonlinear Model Predictive Control
* adapt test_lateral_mpc to formulation with parameters
* lat_mpc: set parameters in reset() and copy values
* acados_ocp_solver_pyx: make options_set useable
* update ref
Co-authored-by: Willem Melching <willem.melching@gmail.com >
old-commit-hash: 0681474840
2022-01-18 09:49:48 -08:00
Joost Wooning
9042f18afd
cython wrapper for acados ( #22784 )
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* cython wrapper for acados
* fix building
* sconscript cleanup
* no cython numpy
* cleanup
* upgrade build script
* try without slices
* new acados commit
* c3 update acados libs
* c2 libs
* make faster
* undo profiling
* fix build
* somewhat faster
* tryout cost_set_slice
* Revert "tryout cost_set_slice"
This reverts commit d358d93a133270e4edab9e7c07ffb6f577c52bd6.
* cleanup
* undo t_renderer change
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: 89d0a52d16
2021-11-12 17:09:08 +01:00
HaraldSchafer
2d4b64ed04
Acados long fast ( #22233 )
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* acados long
* new ref
* SPPEEEEEDDD
* less iterations
* this shouldn't be so high
* reset only essentials
* minimal reset for long mpc
* more cpu usage plannerd
* Use lead mpc even when going to crash
* reset to current state
* Use open loop speed for lead mpc
* 1 iteration is too little for cruise mpc
* add whitespace
* update refs
old-commit-hash: 66c275b711
2021-09-15 19:00:12 -07:00
Harald Schafer
335089db07
fix more acados leaks
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old-commit-hash: 32db9184d4
2021-09-13 17:51:15 -07:00
Harald Schafer
06c018f5bf
acados compiled to pyextra
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old-commit-hash: de478b75fb
2021-09-13 16:32:06 -07:00
Harald Schafer
ab2f65e485
fix more acados mem leaks
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old-commit-hash: d774087408
2021-09-13 16:25:40 -07:00
Adeeb Shihadeh
db3ad9b658
update acados ( #22202 )
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* update acados
* cleanup
old-commit-hash: 63453c951e
2021-09-11 21:50:16 -07:00
HaraldSchafer
b40942ff12
Libraries for acados ( #22079 )
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* libs
* build specific commit
old-commit-hash: 22c8564413
2021-08-30 18:43:33 -07:00
Adeeb Shihadeh
0b401cd9e0
support acados on device ( #21409 )
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* build tera
* larch64
* x86
* aarch64 libs
* aarch tera
Co-authored-by: Comma Device <device@comma.ai >
old-commit-hash: f85226412d
2021-06-28 00:38:07 -07:00
Adeeb Shihadeh
03405b81fd
acados support ( #21319 )
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* acados support
* add pyextra to python path
* x86 libs
old-commit-hash: 6e4c2aa4d2
2021-06-17 16:40:00 -07:00
Adeeb Shihadeh
58c4798332
Remove logentries from pyextra ( #1721 )
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* remove logentries from pyextra
* update release files
* gitignore
old-commit-hash: bbb6fa1172
2020-06-18 11:48:28 -07:00
Willem Melching
0e90443a1b
remove overpy from pyextra
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old-commit-hash: 7b0977dcfd
2020-04-24 14:27:05 -07:00
George Hotz
db5942333a
merge in pyextra
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old-commit-hash: 3fe9bbe665
2020-01-17 10:08:05 -08:00
George Hotz
81dd5a50cf
root commit
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old-commit-hash: 6c33a5c1f3
2020-01-17 10:02:52 -08:00
Vehicle Researcher
5446b30185
Merge pyextra subtree
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old-commit-hash: ae44a57565
2019-06-28 21:09:14 +00:00
Vehicle Researcher
86fb001d62
Merge pyextra subtree
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old-commit-hash: 59bd6b8837
2019-06-06 04:31:54 +00:00
Vehicle Researcher
1bbcc51a36
Merge pyextra subtree
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old-commit-hash: be5c2aef3a
2019-03-26 01:03:51 -07:00
Vehicle Researcher
6b0270ba63
Merge pyextra subtree
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old-commit-hash: 573a6915fc
2018-12-10 14:06:10 -08:00
Vehicle Researcher
29685c91e8
Merge pyextra subtree
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old-commit-hash: 92c596544d
2018-11-17 01:58:38 -08:00
Vehicle Researcher
a481644949
Merge pyextra subtree
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old-commit-hash: 28e3543ec4
2018-05-23 03:55:35 +00:00
Vehicle Researcher
680ec1792b
Merge commit '10c2ef6bfbe0a64c0ac9e499d0dbbbdbffac4fd6' as 'pyextra'
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old-commit-hash: c7b5fb9116
2017-12-23 17:10:45 -08:00
Vehicle Researcher
3468128001
remove submodules
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old-commit-hash: a34c87ab46
2017-12-23 17:06:56 -08:00
Vehicle Researcher
2c0cc6103a
openpilot v0.3.7 release
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old-commit-hash: daf54ad54d
2017-09-30 19:05:03 -07:00
Vehicle Researcher
46e0ee7750
openpilot v0.3.4 release
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old-commit-hash: 6f46f988d9
2017-07-28 03:23:57 -07:00
