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34 lines
753 B
34 lines
753 B
import os
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from cffi import FFI
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from common.ffi_wrapper import suffix
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mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)))
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libmpc_fn = os.path.join(mpc_dir, "libmpc"+suffix())
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ffi = FFI()
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ffi.cdef("""
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const int MPC_N = 32;
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typedef struct {
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double x_ego, v_ego, a_ego;
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} state_t;
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typedef struct {
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double x_ego[MPC_N+1];
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double v_ego[MPC_N+1];
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double a_ego[MPC_N+1];
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double t[MPC_N+1];
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double j_ego[MPC_N];
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double cost;
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} log_t;
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void init(double xCost, double vCost, double aCost, double jerkCost, double constraintCost);
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int run_mpc(state_t * x0, log_t * solution,
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double target_x[MPC_N+1], double target_v[MPC_N+1], double target_a[MPC_N+1],
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double min_a, double max_a);
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""")
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libmpc = ffi.dlopen(libmpc_fn)
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