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eb8bdc0026
* 10s lat * Full length MPC * redfine N * Leave controls the same for now * Updates * use long plan in lat plan * interp plan * simplergit add selfdrive/controls/plannerd.py selfdrive/controls/ * expand to 10s * revert this * fix linter * vizualize * fix long test * typo * cleanup * compiles * unused * unused * bump cereal * bump cereal * use model if no uiplanm * update replay * update ref commit * bump cereal to master
31 lines
1.5 KiB
C++
31 lines
1.5 KiB
C++
#pragma once
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#include <optional>
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#include <eigen3/Eigen/Dense>
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#include <QMapboxGL>
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#include <QGeoCoordinate>
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#include "common/util.h"
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#include "common/transformations/coordinates.hpp"
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#include "common/transformations/orientation.hpp"
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#include "cereal/messaging/messaging.h"
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const QString MAPBOX_TOKEN = util::getenv("MAPBOX_TOKEN").c_str();
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const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "https://maps.comma.ai" : "https://api.mapbox.com").c_str();
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const QString MAPS_CACHE_PATH = "/data/mbgl-cache-navd.db";
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QString get_mapbox_token();
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QMapboxGLSettings get_mapbox_settings();
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QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in);
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QMapbox::CoordinatesCollections model_to_collection(
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const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
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const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
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const cereal::XYZTData::Reader &line);
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QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c);
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QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
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QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list);
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QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
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std::optional<QMapbox::Coordinate> coordinate_from_param(const std::string ¶m);
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double angle_difference(double angle1, double angle2);
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