HaraldSchafer be5ddd25cd Refactor long (#21433) ...

* refactor

* needs casting

* tests pass

* fix that test

* refactor in controls

* lets not go crazy

* change of names

* use constants

* better naming

* renamed

* soft constraints

* compile slack variables

* rm git conflict

* add slack variables

* unused

* new edition

* fcw

* fix tests

* dividing causes problems

* was way too slow

* take a step back

* byeeee

* for another time

* bad idxs

* little more cpu for cruise mpc

* update refs

* these limits seem fine

* rename

* test model timings fails sometimes

* add default

* save some cpu

* Revert "little more cpu for cruise mpc"

This reverts commit f0a8163ec90e8dc1eabb3c4a4268ad330d23374d.

* Revert "test model timings fails sometimes"

This reverts commit d259d845710ed2cbeb28b383e2600476527d4838.

* update refs

* less cpu

* Revert "Revert "test model timings fails sometimes""

This reverts commit e0263050d9929bfc7ee70c9788234541a4a8461c.

* Revert "less cpu"

This reverts commit 679007472bc2013e7fafb7b17de7a43d6f82359a.

* cleanup

* not too much until we clean up mpc

* more cost on jerk

* change ref

* add todo

* new ref

* indentation

2021-07-07 19:42:26 -07:00

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