mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 01:53:57 +08:00
be5ddd25cd
* 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
83 lines
1.8 KiB
C++
83 lines
1.8 KiB
C++
#include <acado_code_generation.hpp>
|
|
#include "selfdrive/common/modeldata.h"
|
|
|
|
using namespace std;
|
|
|
|
|
|
int main( )
|
|
{
|
|
USING_NAMESPACE_ACADO
|
|
|
|
|
|
DifferentialEquation f;
|
|
|
|
DifferentialState x_ego, v_ego, a_ego;
|
|
DifferentialState dummy_0;
|
|
OnlineData min_a, max_a;
|
|
|
|
Control j_ego, accel_slack;
|
|
|
|
// Equations of motion
|
|
f << dot(x_ego) == v_ego;
|
|
f << dot(v_ego) == a_ego;
|
|
f << dot(a_ego) == j_ego;
|
|
f << dot(dummy_0) == accel_slack;
|
|
|
|
// Running cost
|
|
Function h;
|
|
h << x_ego;
|
|
h << v_ego;
|
|
h << a_ego;
|
|
h << j_ego;
|
|
h << accel_slack;
|
|
|
|
// Weights are defined in mpc.
|
|
BMatrix Q(5,5); Q.setAll(true);
|
|
|
|
// Terminal cost
|
|
Function hN;
|
|
hN << x_ego;
|
|
hN << v_ego;
|
|
hN << a_ego;
|
|
|
|
// Weights are defined in mpc.
|
|
BMatrix QN(3,3); QN.setAll(true);
|
|
|
|
double T_IDXS_ARR[LON_MPC_N + 1];
|
|
memcpy(T_IDXS_ARR, T_IDXS, (LON_MPC_N + 1) * sizeof(double));
|
|
Grid times(LON_MPC_N + 1, T_IDXS_ARR);
|
|
OCP ocp(times);
|
|
ocp.subjectTo(f);
|
|
|
|
ocp.minimizeLSQ(Q, h);
|
|
ocp.minimizeLSQEndTerm(QN, hN);
|
|
|
|
ocp.subjectTo( 0.0 <= v_ego);
|
|
ocp.subjectTo( 0.0 <= a_ego - min_a + accel_slack);
|
|
ocp.subjectTo( a_ego - max_a + accel_slack <= 0.0);
|
|
ocp.setNOD(2);
|
|
|
|
OCPexport mpc(ocp);
|
|
mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
|
|
mpc.set( DISCRETIZATION_TYPE, MULTIPLE_SHOOTING );
|
|
mpc.set( INTEGRATOR_TYPE, INT_RK4 );
|
|
mpc.set( NUM_INTEGRATOR_STEPS, 1000);
|
|
mpc.set( MAX_NUM_QP_ITERATIONS, 50);
|
|
mpc.set( CG_USE_VARIABLE_WEIGHTING_MATRIX, YES);
|
|
|
|
mpc.set( SPARSE_QP_SOLUTION, CONDENSING );
|
|
mpc.set( QP_SOLVER, QP_QPOASES );
|
|
mpc.set( HOTSTART_QP, YES );
|
|
mpc.set( GENERATE_TEST_FILE, NO);
|
|
mpc.set( GENERATE_MAKE_FILE, NO );
|
|
mpc.set( GENERATE_MATLAB_INTERFACE, NO );
|
|
mpc.set( GENERATE_SIMULINK_INTERFACE, NO );
|
|
|
|
if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
|
|
exit( EXIT_FAILURE );
|
|
|
|
mpc.printDimensionsQP( );
|
|
|
|
return EXIT_SUCCESS;
|
|
}
|