From 3305024cfcb229889554d669a809f7fdc73625a6 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 15 Sep 2021 21:14:11 -0700 Subject: [PATCH] remove ACADO (#22247) * remove acado * not relevant anymore old-commit-hash: 42d93e94df410dc38b7f96e8061cff462a97d646 --- SConstruct | 4 - phonelibs/acado/01.patch | 3 - phonelibs/acado/build.sh | 3 - .../include/acado/acado_code_generation.hpp | 3 - .../acado/include/acado/acado_controller.hpp | 3 - .../acado/include/acado/acado_gnuplot.hpp | 3 - .../acado/include/acado/acado_integrators.hpp | 3 - .../include/acado/acado_optimal_control.hpp | 3 - .../acado/include/acado/acado_toolkit.hpp | 3 - .../bindings/acado_csparse/acado_csparse.hpp | 3 - .../bindings/acado_gnuplot/gnuplot_window.hpp | 3 - .../bindings/acado_gnuplot/gnuplot_window.ipp | 3 - .../acado_qpoases/qp_solver_qpoases.hpp | 3 - .../acado_qpoases/qp_solver_qpoases.ipp | 3 - phonelibs/acado/include/acado/clock/clock.hpp | 3 - phonelibs/acado/include/acado/clock/clock.ipp | 3 - .../acado/include/acado/clock/real_clock.hpp | 3 - .../acado/include/acado/clock/real_clock.ipp | 3 - .../include/acado/clock/simulation_clock.hpp | 3 - .../include/acado/clock/simulation_clock.ipp | 3 - .../acado/code_generation/code_generation.hpp | 3 - .../code_generation/export_acado_function.hpp | 3 - .../code_generation/export_algorithm.hpp | 3 - .../export_algorithm_factory.hpp | 3 - .../acado/code_generation/export_argument.hpp | 3 - .../export_argument_internal.hpp | 3 - .../code_generation/export_argument_list.hpp | 3 - .../export_arithmetic_statement.hpp | 3 - .../export_auxiliary_functions.hpp | 3 - .../export_cholesky_decomposition.hpp | 3 - .../code_generation/export_common_header.hpp | 3 - .../acado/code_generation/export_data.hpp | 3 - .../export_data_declaration.hpp | 3 - .../code_generation/export_data_internal.hpp | 3 - .../export_exact_hessian_cn2.hpp | 3 - .../export_exact_hessian_qpdunes.hpp | 3 - .../acado/code_generation/export_file.hpp | 3 - .../acado/code_generation/export_for_loop.hpp | 3 - .../export_forces_generator.hpp | 3 - .../export_forces_interface.hpp | 3 - .../acado/code_generation/export_function.hpp | 3 - .../code_generation/export_function_call.hpp | 3 - .../export_function_declaration.hpp | 3 - .../export_gauss_newton_block_cn2.hpp | 3 - .../export_gauss_newton_block_forces.hpp | 3 - .../export_gauss_newton_block_qpdunes.hpp | 3 - .../export_gauss_newton_cn2.hpp | 3 - .../export_gauss_newton_cn2_factorization.hpp | 3 - .../export_gauss_newton_condensed.hpp | 3 - .../export_gauss_newton_forces.hpp | 3 - .../export_gauss_newton_generic.hpp | 3 - .../export_gauss_newton_hpmpc.hpp | 3 - .../export_gauss_newton_qpdunes.hpp | 3 - .../export_hessian_regularization.hpp | 3 - .../export_hpmpc_interface.hpp | 3 - .../acado/code_generation/export_index.hpp | 3 - .../code_generation/export_index_node.hpp | 3 - .../acado/code_generation/export_module.hpp | 3 - .../code_generation/export_nlp_solver.hpp | 3 - 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- .../templates/make_acado_solver_qpdunes.m.in | 3 - .../templates/make_acado_solver_qpoases.m.in | 3 - .../templates/make_acado_solver_qpoases3.m.in | 3 - .../make_acado_solver_sfunction.m.in | 3 - .../templates/makefile.EH_qpdunes.in | 3 - .../templates/makefile.EH_qpoases.in | 3 - .../templates/makefile.EH_qpoases3.in | 3 - .../templates/makefile.forces.in | 3 - .../templates/makefile.hpmpc.in | 3 - .../templates/makefile.integrator.in | 3 - .../templates/makefile.qpdunes.in | 3 - .../templates/makefile.qpoases.in | 3 - .../templates/makefile.qpoases3.in | 3 - .../templates/qpdunes_interface.in | 3 - .../templates/qpdunes_split_interface.in | 3 - .../templates/qpoases3_interface.c.in | 3 - .../templates/qpoases3_interface.h.in | 3 - .../templates/qpoases_interface.cpp.in | 3 - .../templates/qpoases_interface.hpp.in | 3 - .../code_generation/templates/templates.hpp | 3 - .../templates/templates.hpp.in | 3 - .../include/acado/conic_program/banded_cp.hpp | 3 - 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a/phonelibs/acado/include/acado/utils/acado_message_handling.ipp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:aaed482854598f5960ad888aecc73f11ca41555da7e710176b63758ea7b6b6f2 -size 3278 diff --git a/phonelibs/acado/include/acado/utils/acado_namespace_macros.hpp b/phonelibs/acado/include/acado/utils/acado_namespace_macros.hpp deleted file mode 100644 index 1a0f46baa..000000000 --- a/phonelibs/acado/include/acado/utils/acado_namespace_macros.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:bc8b32405f500462bdf765dbf3234b9b89fe48b3243bfaef94486d9874a88085 -size 2315 diff --git a/phonelibs/acado/include/acado/utils/acado_types.hpp b/phonelibs/acado/include/acado/utils/acado_types.hpp deleted file mode 100644 index b50a6996c..000000000 --- a/phonelibs/acado/include/acado/utils/acado_types.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fffceea4d6ff48fa6d57d9ed7fb18f658a7eef82c127db0d3b564b211bae9536 -size 46282 diff --git a/phonelibs/acado/include/acado/utils/acado_utils.hpp b/phonelibs/acado/include/acado/utils/acado_utils.hpp deleted file mode 100644 index 6211bfde5..000000000 --- a/phonelibs/acado/include/acado/utils/acado_utils.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:50a268b1462a85ee859f18e940e641414e6cf703ba42df3f29783c4fab369c5e -size 4979 diff --git a/phonelibs/acado/include/acado/utils/matlab_acado_utils.hpp b/phonelibs/acado/include/acado/utils/matlab_acado_utils.hpp deleted file mode 100644 index 0c70a3bc3..000000000 --- a/phonelibs/acado/include/acado/utils/matlab_acado_utils.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d637c865884aad6976708f3efc1f974fbf628cc1ab4342bdb68eb5dd9e42148b -size 3274 diff --git a/phonelibs/acado/include/acado/validated_integrator/ellipsoidal_integrator.hpp b/phonelibs/acado/include/acado/validated_integrator/ellipsoidal_integrator.hpp deleted file mode 100644 index 124caba32..000000000 --- a/phonelibs/acado/include/acado/validated_integrator/ellipsoidal_integrator.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a121c101f886b3ecf4e392249f1cef63caa6e56a45fc3db268611128f699980b -size 6270 diff --git a/phonelibs/acado/include/acado/validated_integrator/ellipsoidal_integrator.ipp b/phonelibs/acado/include/acado/validated_integrator/ellipsoidal_integrator.ipp deleted file mode 100644 index a48fa79ce..000000000 --- a/phonelibs/acado/include/acado/validated_integrator/ellipsoidal_integrator.ipp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:681bf6d950344954b2c32938d3d4b98138b9e2d33d50e3ae5028f591914b8c76 -size 11729 diff --git a/phonelibs/acado/include/acado/variables_grid/grid.hpp b/phonelibs/acado/include/acado/variables_grid/grid.hpp deleted file mode 100644 index 1bd0e9e74..000000000 --- a/phonelibs/acado/include/acado/variables_grid/grid.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:7aa3f3b1cea056dea9527d510f23f1affad16cb531ac2d3dbc159967d3c7ae30 -size 17347 diff --git a/phonelibs/acado/include/acado/variables_grid/grid.ipp b/phonelibs/acado/include/acado/variables_grid/grid.ipp deleted file mode 100644 index 1bd510454..000000000 --- a/phonelibs/acado/include/acado/variables_grid/grid.ipp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ce548e1e040abb32d53c90accbb457bca90c9b15b17cfb15fd3c2c44c809ae90 -size 6644 diff --git a/phonelibs/acado/include/acado/variables_grid/matrix_variable.hpp b/phonelibs/acado/include/acado/variables_grid/matrix_variable.hpp deleted file mode 100644 index 0644f8f97..000000000 --- a/phonelibs/acado/include/acado/variables_grid/matrix_variable.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:93227e04e9cdc757e4ace9100fa22fb4e52b46c39f261bd15d7452371a41af8f -size 6351 diff --git a/phonelibs/acado/include/acado/variables_grid/matrix_variable.ipp b/phonelibs/acado/include/acado/variables_grid/matrix_variable.ipp deleted file mode 100644 index c99ce9bac..000000000 --- a/phonelibs/acado/include/acado/variables_grid/matrix_variable.ipp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3b45dbe996d48ce4db111e5a5e4ec6178d370917ef3a8ee085bbb98e0c3da81d -size 1508 diff --git a/phonelibs/acado/include/acado/variables_grid/matrix_variables_grid.hpp b/phonelibs/acado/include/acado/variables_grid/matrix_variables_grid.hpp deleted file mode 100644 index 683f38b13..000000000 --- a/phonelibs/acado/include/acado/variables_grid/matrix_variables_grid.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:701c96b6b798059302a5dacf1b355bd72c7a5ebbeb69a80201473c403bd56cdb -size 44064 diff --git a/phonelibs/acado/include/acado/variables_grid/matrix_variables_grid.ipp b/phonelibs/acado/include/acado/variables_grid/matrix_variables_grid.ipp deleted file mode 100644 index f922e49eb..000000000 --- a/phonelibs/acado/include/acado/variables_grid/matrix_variables_grid.ipp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:99acbb2ebf36b6c640148a8a8de8875e8d6c16e185e62793c33f432f21021701 -size 13404 diff --git a/phonelibs/acado/include/acado/variables_grid/variable_settings.hpp b/phonelibs/acado/include/acado/variables_grid/variable_settings.hpp deleted file mode 100644 index 209b575b9..000000000 --- a/phonelibs/acado/include/acado/variables_grid/variable_settings.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:69fcd938ac518960e9196cecd14042121f2e1b6969d579641e4f1859286b2ece -size 13217 diff --git a/phonelibs/acado/include/acado/variables_grid/variable_settings.ipp b/phonelibs/acado/include/acado/variables_grid/variable_settings.ipp deleted file mode 100644 index 59fac87ce..000000000 --- a/phonelibs/acado/include/acado/variables_grid/variable_settings.ipp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:679ed2187bde2137fadc31a2defe0089e653949e74dbacaf6d6d921015d3f141 -size 5541 diff --git a/phonelibs/acado/include/acado/variables_grid/variables_grid.hpp b/phonelibs/acado/include/acado/variables_grid/variables_grid.hpp deleted file mode 100644 index a1019a9c4..000000000 --- a/phonelibs/acado/include/acado/variables_grid/variables_grid.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fde94911a2d08fae228a8c237e016fe01c634cfed817cbe9a03c2e4e704a5711 -size 24057 diff --git a/phonelibs/acado/include/acado/variables_grid/variables_grid.ipp b/phonelibs/acado/include/acado/variables_grid/variables_grid.ipp deleted file mode 100644 index f933303c6..000000000 --- a/phonelibs/acado/include/acado/variables_grid/variables_grid.ipp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9e7fbab99f167f4474e804f1d03fc8dcd5134957cb1a419e548222f342c57263 -size 2790 diff --git a/phonelibs/acado/x86_64/lib/libacado_casadi.a b/phonelibs/acado/x86_64/lib/libacado_casadi.a deleted file mode 100644 index c1ebd8f6b..000000000 --- a/phonelibs/acado/x86_64/lib/libacado_casadi.a +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a81eeca409e202be7eb5cbb4b161839fb3dc11d71065bec2a3bae44260220dd9 -size 56010 diff --git a/phonelibs/acado/x86_64/lib/libacado_csparse.a b/phonelibs/acado/x86_64/lib/libacado_csparse.a deleted file mode 100644 index b0a818877..000000000 --- a/phonelibs/acado/x86_64/lib/libacado_csparse.a +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e1445bb2d8515913ed31d6076d3d767f57c66d1e84372cc3751b3ffabb94b5bc -size 135034 diff --git a/phonelibs/acado/x86_64/lib/libacado_qpoases.a b/phonelibs/acado/x86_64/lib/libacado_qpoases.a deleted file mode 100644 index 4e4eeb1e9..000000000 --- a/phonelibs/acado/x86_64/lib/libacado_qpoases.a +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:bf6c155b390a82819c720ebc7090240d5a3495f166a101665b6912732ec338b6 -size 769380 diff --git a/phonelibs/acado/x86_64/lib/libacado_toolkit.a b/phonelibs/acado/x86_64/lib/libacado_toolkit.a deleted file mode 100644 index b458e2dbe..000000000 --- a/phonelibs/acado/x86_64/lib/libacado_toolkit.a +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8cf5d07ef6a598bb6e73356019e6837aa5bf3e6f50792cabe81ac327ca603e2b -size 27014042 diff --git a/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so b/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so deleted file mode 120000 index 08cbf4e4e..000000000 --- a/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so +++ /dev/null @@ -1 +0,0 @@ -libacado_toolkit_s.so.1 \ No newline at end of file diff --git a/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1 b/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1 deleted file mode 120000 index 228d01293..000000000 --- a/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1 +++ /dev/null @@ -1 +0,0 @@ -libacado_toolkit_s.so.1.2.2beta \ No newline at end of file diff --git a/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1.2.2beta b/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1.2.2beta deleted file mode 100644 index b6da672cb..000000000 --- a/phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1.2.2beta +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:178937c40ec3326eab01c62f3239a885cbfb1308af65436d831dd4fa6a7d619e -size 10304768 diff --git a/release/files_common b/release/files_common index 72e31e558..47c1e255b 100644 --- a/release/files_common +++ b/release/files_common @@ -236,8 +236,6 @@ selfdrive/controls/lib/longitudinal_planner.py selfdrive/controls/lib/radar_helpers.py selfdrive/controls/lib/vehicle_model.py selfdrive/controls/lib/fcw.py -selfdrive/controls/lib/long_mpc.py -selfdrive/controls/lib/lead_mpc.py selfdrive/controls/lib/cluster/* diff --git a/selfdrive/controls/lib/lateral_mpc/.gitignore b/selfdrive/controls/lib/lateral_mpc/.gitignore deleted file mode 100644 index f61a939cd..000000000 --- a/selfdrive/controls/lib/lateral_mpc/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -generator -lib_qp/ diff --git a/selfdrive/controls/lib/lateral_mpc/SConscript b/selfdrive/controls/lib/lateral_mpc/SConscript deleted file mode 100644 index 4812369e0..000000000 --- a/selfdrive/controls/lib/lateral_mpc/SConscript +++ /dev/null @@ -1,48 +0,0 @@ -Import('env', 'arch') - -cpp_path = [ - "#", - "#selfdrive", - "#phonelibs/acado/include", - "#phonelibs/acado/include/acado", - "#phonelibs/qpoases/INCLUDE", - "#phonelibs/qpoases/INCLUDE/EXTRAS", - "#phonelibs/qpoases/SRC/", - "#phonelibs/qpoases", - "lib_mpc_export", -] - -generated_c = [ - 'lib_mpc_export/acado_auxiliary_functions.c', - 'lib_mpc_export/acado_qpoases_interface.cpp', - 'lib_mpc_export/acado_integrator.c', - 'lib_mpc_export/acado_solver.c', -] - -generated_h = [ - 'lib_mpc_export/acado_common.h', - 'lib_mpc_export/acado_auxiliary_functions.h', - 'lib_mpc_export/acado_qpoases_interface.hpp', -] - -interface_dir = Dir('lib_mpc_export') - -SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir']) - -if GetOption('mpc_generate'): - generator_cpp = File('generator.cpp') - - acado_libs = [File(f"#phonelibs/acado/{arch}/lib/libacado_toolkit.a"), - File(f"#phonelibs/acado/{arch}/lib/libacado_casadi.a"), - File(f"#phonelibs/acado/{arch}/lib/libacado_csparse.a")] - - generator = env.Program('generator', generator_cpp, LIBS=acado_libs, CPPPATH=cpp_path, - CCFLAGS=env['CCFLAGS'] + ["-Wno-deprecated", "-Wno-overloaded-shift-op-parentheses"]) - - cmd = f"cd {Dir('.').get_abspath()} && {generator[0].get_abspath()}" - env.Command(generated_c + generated_h, generator, cmd) - - - -mpc_files = ["lateral_mpc.c"] + generated_c -env.SharedLibrary('mpc', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path) diff --git a/selfdrive/controls/lib/lateral_mpc/__init__.py b/selfdrive/controls/lib/lateral_mpc/__init__.py deleted file mode 100644 index e69de29bb..000000000 diff --git a/selfdrive/controls/lib/lateral_mpc/generator.cpp b/selfdrive/controls/lib/lateral_mpc/generator.cpp deleted file mode 100644 index 61a0f5c70..000000000 --- a/selfdrive/controls/lib/lateral_mpc/generator.cpp +++ /dev/null @@ -1,107 +0,0 @@ -#include -#include -#include "selfdrive/common/modeldata.h" - -#define deg2rad(d) (d/180.0*M_PI) - -using namespace std; - -int main( ) -{ - USING_NAMESPACE_ACADO - - - DifferentialEquation f; - - DifferentialState xx; // x position - DifferentialState yy; // y position - DifferentialState psi; // vehicle heading - DifferentialState curvature; - - OnlineData v_ego; - OnlineData rotation_radius; - - Control curvature_rate; - - - // Equations of motion - f << dot(xx) == v_ego * cos(psi); - f << dot(yy) == v_ego * sin(psi); - // disable rotation radius for now - //f << dot(xx) == v_ego * cos(psi) - rotation_radius * sin(psi) * (v_ego * curvature); - //f << dot(yy) == v_ego * sin(psi) + rotation_radius * cos(psi) * (v_ego * curvature); - f << dot(psi) == v_ego * curvature; - f << dot(curvature) == curvature_rate; - - // Running cost - Function h; - - // Distance errors - h << yy; - - // Heading error - h << (v_ego + 5.0 ) * psi; - - // Angular rate error - h << (v_ego + 5.0) * 4 * curvature_rate; - - BMatrix Q(3,3); Q.setAll(true); - // Q(0,0) = 1.0; - // Q(1,1) = 1.0; - // Q(2,2) = 1.0; - // Q(3,3) = 1.0; - // Q(4,4) = 2.0; - - // Terminal cost - Function hN; - - // Distance errors - hN << yy; - - // Heading errors - hN << (2.0 * v_ego + 5.0 ) * psi; - - BMatrix QN(2,2); QN.setAll(true); - // QN(0,0) = 1.0; - // QN(1,1) = 1.0; - // QN(2,2) = 1.0; - // QN(3,3) = 1.0; - - double T_IDXS_ARR[LAT_MPC_N + 1]; - memcpy(T_IDXS_ARR, T_IDXS, (LAT_MPC_N + 1) * sizeof(double)); - Grid times(LAT_MPC_N + 1, T_IDXS_ARR); - OCP ocp(times); - ocp.subjectTo(f); - - ocp.minimizeLSQ(Q, h); - ocp.minimizeLSQEndTerm(QN, hN); - - // car can't go backward to avoid "circles" - ocp.subjectTo( deg2rad(-90) <= psi <= deg2rad(90)); - // more than absolute max steer angle - ocp.subjectTo( deg2rad(-50) <= curvature <= deg2rad(50)); - 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; -} diff --git a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c b/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c deleted file mode 100644 index 6765fe57b..000000000 --- a/selfdrive/controls/lib/lateral_mpc/lateral_mpc.c +++ /dev/null @@ -1,109 +0,0 @@ -#include "acado_common.h" -#include "acado_auxiliary_functions.h" -#include "common/modeldata.h" -#include - -#define NX ACADO_NX /* Number of differential state variables. */ -#define NXA ACADO_NXA /* Number of algebraic variables. */ -#define NU ACADO_NU /* Number of control inputs. */ -#define NOD ACADO_NOD /* Number of online data values. */ - -#define NY ACADO_NY /* Number of measurements/references on nodes 0..N - 1. */ -#define NYN ACADO_NYN /* Number of measurements/references on node N. */ - -#define N ACADO_N /* Number of intervals in the horizon. */ - -ACADOvariables acadoVariables; -ACADOworkspace acadoWorkspace; - -typedef struct { - double x, y, psi, tire_angle, tire_angle_rate; -} state_t; - -typedef struct { - double x[N+1]; - double y[N+1]; - double psi[N+1]; - double curvature[N+1]; - double curvature_rate[N]; - double cost; -} log_t; - -void set_weights(double pathCost, double headingCost, double steerRateCost){ - int i; - const int STEP_MULTIPLIER = 3.0; - - for (i = 0; i < N; i++) { - double f = 20 * (T_IDXS[i+1] - T_IDXS[i]); - // Setup diagonal entries - acadoVariables.W[NY*NY*i + (NY+1)*0] = pathCost * f; - acadoVariables.W[NY*NY*i + (NY+1)*1] = headingCost * f; - acadoVariables.W[NY*NY*i + (NY+1)*2] = steerRateCost * f; - } - acadoVariables.WN[(NYN+1)*0] = pathCost * STEP_MULTIPLIER; - acadoVariables.WN[(NYN+1)*1] = headingCost * STEP_MULTIPLIER; -} - -void init(){ - acado_initializeSolver(); - int i; - - /* Initialize the states and controls. */ - for (i = 0; i < NX * (N + 1); ++i) acadoVariables.x[ i ] = 0.0; - for (i = 0; i < NU * N; ++i) acadoVariables.u[ i ] = 0.0; - - /* Initialize the measurements/reference. */ - for (i = 0; i < NY * N; ++i) acadoVariables.y[ i ] = 0.0; - for (i = 0; i < NYN; ++i) acadoVariables.yN[ i ] = 0.0; - - /* MPC: initialize the current state feedback. */ - for (i = 0; i < NX; ++i) acadoVariables.x0[ i ] = 0.0; -} - -int run_mpc(state_t * x0, log_t * solution, double v_ego, - double rotation_radius, double target_y[N+1], double target_psi[N+1]){ - - int i; - - for (i = 0; i <= NOD * N; i+= NOD){ - acadoVariables.od[i] = v_ego; - acadoVariables.od[i+1] = rotation_radius; - } - for (i = 0; i < N; i+= 1){ - acadoVariables.y[NY*i + 0] = target_y[i]; - acadoVariables.y[NY*i + 1] = (v_ego + 5.0) * target_psi[i]; - acadoVariables.y[NY*i + 2] = 0.0; - } - acadoVariables.yN[0] = target_y[N]; - acadoVariables.yN[1] = (2.0 * v_ego + 5.0) * target_psi[N]; - - acadoVariables.x0[0] = x0->x; - acadoVariables.x0[1] = x0->y; - acadoVariables.x0[2] = x0->psi; - acadoVariables.x0[3] = x0->tire_angle; - - - acado_preparationStep(); - acado_feedbackStep(); - - /* printf("lat its: %d\n", acado_getNWSR()); // n iterations - printf("Objective: %.6f\n", acado_getObjective()); // solution cost */ - - for (i = 0; i <= N; i++){ - solution->x[i] = acadoVariables.x[i*NX]; - solution->y[i] = acadoVariables.x[i*NX+1]; - solution->psi[i] = acadoVariables.x[i*NX+2]; - solution->curvature[i] = acadoVariables.x[i*NX+3]; - if (i < N){ - solution->curvature_rate[i] = acadoVariables.u[i]; - } - } - solution->cost = acado_getObjective(); - - // Dont shift states here. Current solution is closer to next timestep than if - // we use the old solution as a starting point - //acado_shiftStates(2, 0, 0); - //acado_shiftControls( 0 ); - - return acado_getNWSR(); -} diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.c b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.c deleted file mode 100644 index 174ed7500..000000000 --- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.c +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:36c26a2590e54135f7f03b8c784b434d2bd5ef0d42e7e2a9022c2bb56d0e2357 -size 4906 diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.h b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.h deleted file mode 100644 index ac98266ff..000000000 --- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_auxiliary_functions.h +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:606244b9b31362cc30c324793191d9bd34a098d5ebf526612749f437a75a4270 -size 3428 diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h deleted file mode 100644 index d0b3f0a64..000000000 --- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0632df8816a04953959a26e6a5ac5a849dcb3db904ea5f2c31f8b92507662291 -size 8752 diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c deleted file mode 100644 index d3fdfd3ce..000000000 --- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:cc6d5413d58f774a3a288573935f6cec938b053475f094b8642de5c6a31c682e -size 17982 diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.cpp b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.cpp deleted file mode 100644 index ef731a6b5..000000000 --- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.cpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:415810c92f48f825f81fb1c9fee16ed2997edf66ad51859e31ebcb9c1c034d7e -size 1948 diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.hpp b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.hpp deleted file mode 100644 index 1d07d1985..000000000 --- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_qpoases_interface.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d7cc184d2cda2505daa0a122c5396df707ece4f9d1870f59d4e3b6b1bdc8fd63 -size 1820 diff --git a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c b/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c deleted file mode 100644 index 61d64b847..000000000 --- a/selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3d24c95e8374827a8f5959019f3758d4e2c49f29559f5ec23aa359078108b8d2 -size 243595 diff --git a/selfdrive/controls/lib/lateral_mpc/libmpc_py.py b/selfdrive/controls/lib/lateral_mpc/libmpc_py.py deleted file mode 100644 index 2ca3db3a2..000000000 --- a/selfdrive/controls/lib/lateral_mpc/libmpc_py.py +++ /dev/null @@ -1,32 +0,0 @@ -import os - -from cffi import FFI -from common.ffi_wrapper import suffix - -mpc_dir = os.path.dirname(os.path.abspath(__file__)) -libmpc_fn = os.path.join(mpc_dir, "libmpc"+suffix()) - -ffi = FFI() -ffi.cdef(""" -typedef struct { - double x, y, psi, curvature, curvature_rate; -} state_t; -int N = 16; - -typedef struct { - double x[N+1]; - double y[N+1]; - double psi[N+1]; - double curvature[N+1]; - double curvature_rate[N]; - double cost; -} log_t; - -void init(); -void set_weights(double pathCost, double headingCost, double steerRateCost); -int run_mpc(state_t * x0, log_t * solution, - double v_ego, double rotation_radius, - double target_y[N+1], double target_psi[N+1]); -""") - -libmpc = ffi.dlopen(libmpc_fn) diff --git a/selfdrive/controls/lib/lead_mpc.py b/selfdrive/controls/lib/lead_mpc.py deleted file mode 100644 index ee8ea98e7..000000000 --- a/selfdrive/controls/lib/lead_mpc.py +++ /dev/null @@ -1,111 +0,0 @@ -import math -import numpy as np -from common.numpy_fast import interp -from common.realtime import sec_since_boot -from selfdrive.modeld.constants import T_IDXS -from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU -from selfdrive.controls.lib.lead_mpc_lib import libmpc_py -from selfdrive.controls.lib.drive_helpers import MPC_COST_LONG, CONTROL_N -from selfdrive.swaglog import cloudlog - -MPC_T = list(np.arange(0,1.,.2)) + list(np.arange(1.,10.6,.6)) - - -class LeadMpc(): - def __init__(self, mpc_id): - self.lead_id = mpc_id - - self.reset_mpc() - self.prev_lead_status = False - self.prev_lead_x = 0.0 - self.new_lead = False - - self.last_cloudlog_t = 0.0 - self.n_its = 0 - self.duration = 0 - self.status = False - - self.v_solution = np.zeros(CONTROL_N) - self.a_solution = np.zeros(CONTROL_N) - self.j_solution = np.zeros(CONTROL_N) - - def reset_mpc(self): - ffi, self.libmpc = libmpc_py.get_libmpc(self.lead_id) - self.libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE, - MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK) - - self.mpc_solution = ffi.new("log_t *") - self.cur_state = ffi.new("state_t *") - self.cur_state[0].v_ego = 0 - self.cur_state[0].a_ego = 0 - self.a_lead_tau = _LEAD_ACCEL_TAU - - def set_cur_state(self, v, a): - v_safe = max(v, 1e-3) - a_safe = a - self.cur_state[0].v_ego = v_safe - self.cur_state[0].a_ego = a_safe - - def update(self, CS, radarstate, v_cruise): - v_ego = CS.vEgo - if self.lead_id == 0: - lead = radarstate.leadOne - else: - lead = radarstate.leadTwo - self.status = lead.status - - # Setup current mpc state - self.cur_state[0].x_ego = 0.0 - - if lead is not None and lead.status: - x_lead = lead.dRel - v_lead = max(0.0, lead.vLead) - a_lead = lead.aLeadK - - if (v_lead < 0.1 or -a_lead / 2.0 > v_lead): - v_lead = 0.0 - a_lead = 0.0 - - self.a_lead_tau = lead.aLeadTau - self.new_lead = False - if not self.prev_lead_status or abs(x_lead - self.prev_lead_x) > 2.5: - self.libmpc.init_with_simulation(v_ego, x_lead, v_lead, a_lead, self.a_lead_tau) - self.new_lead = True - - self.prev_lead_status = True - self.prev_lead_x = x_lead - self.cur_state[0].x_l = x_lead - self.cur_state[0].v_l = v_lead - else: - self.prev_lead_status = False - # Fake a fast lead car, so mpc keeps running - self.cur_state[0].x_l = 50.0 - self.cur_state[0].v_l = v_ego + 10.0 - a_lead = 0.0 - self.a_lead_tau = _LEAD_ACCEL_TAU - - # Calculate mpc - t = sec_since_boot() - self.n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead) - self.v_solution = interp(T_IDXS[:CONTROL_N], MPC_T, self.mpc_solution.v_ego) - self.a_solution = interp(T_IDXS[:CONTROL_N], MPC_T, self.mpc_solution.a_ego) - self.j_solution = interp(T_IDXS[:CONTROL_N], MPC_T[:-1], self.mpc_solution.j_ego) - self.duration = int((sec_since_boot() - t) * 1e9) - - # Reset if NaN or goes through lead car - crashing = any(lead - ego < -50 for (lead, ego) in zip(self.mpc_solution[0].x_l, self.mpc_solution[0].x_ego)) - nans = any(math.isnan(x) for x in self.mpc_solution[0].v_ego) - backwards = min(self.mpc_solution[0].v_ego) < -0.15 - - if ((backwards or crashing) and self.prev_lead_status) or nans: - if t > self.last_cloudlog_t + 5.0: - self.last_cloudlog_t = t - cloudlog.warning("Longitudinal mpc %d reset - backwards: %s crashing: %s nan: %s" % ( - self.lead_id, backwards, crashing, nans)) - - self.libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE, - MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK) - self.cur_state[0].v_ego = v_ego - self.cur_state[0].a_ego = 0.0 - self.a_mpc = CS.aEgo - self.prev_lead_status = False diff --git a/selfdrive/controls/lib/lead_mpc_lib/generator.cpp b/selfdrive/controls/lib/lead_mpc_lib/generator.cpp deleted file mode 100644 index 9941846a5..000000000 --- a/selfdrive/controls/lib/lead_mpc_lib/generator.cpp +++ /dev/null @@ -1,97 +0,0 @@ -#include - -const int controlHorizon = 50; - -using namespace std; - -#define G 9.81 -#define TR 1.8 - -#define RW(v_ego, v_l) (v_ego * TR - (v_l - v_ego) * TR + v_ego*v_ego/(2*G) - v_l*v_l / (2*G)) -#define NORM_RW_ERROR(v_ego, v_l, p) ((RW(v_ego, v_l) + 4.0 - p)/(sqrt(v_ego + 0.5) + 0.1)) - -int main( ) -{ - USING_NAMESPACE_ACADO - - - DifferentialEquation f; - - DifferentialState x_ego, v_ego, a_ego; - OnlineData x_l, v_l; - - Control j_ego; - - auto desired = 4.0 + RW(v_ego, v_l); - auto d_l = x_l - x_ego; - - // Equations of motion - f << dot(x_ego) == v_ego; - f << dot(v_ego) == a_ego; - f << dot(a_ego) == j_ego; - - // Running cost - Function h; - h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - 1; - h << (d_l - desired) / (0.05 * v_ego + 0.5); - h << a_ego * (0.1 * v_ego + 1.0); - h << j_ego * (0.1 * v_ego + 1.0); - - // Weights are defined in mpc. - BMatrix Q(4,4); Q.setAll(true); - - // Terminal cost - Function hN; - hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - 1; - hN << (d_l - desired) / (0.05 * v_ego + 0.5); - hN << a_ego * (0.1 * v_ego + 1.0); - - // Weights are defined in mpc. - BMatrix QN(3,3); QN.setAll(true); - - // Non uniform time grid - // First 5 timesteps are 0.2, after that it's 0.6 - DMatrix numSteps(20, 1); - for (int i = 0; i < 5; i++){ - numSteps(i) = 1; - } - for (int i = 5; i < 20; i++){ - numSteps(i) = 3; - } - - // Setup Optimal Control Problem - const double tStart = 0.0; - const double tEnd = 10.0; - - OCP ocp( tStart, tEnd, numSteps); - ocp.subjectTo(f); - - ocp.minimizeLSQ(Q, h); - ocp.minimizeLSQEndTerm(QN, hN); - - ocp.subjectTo( -0.1 <= v_ego); - 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, controlHorizon); - 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; -} diff --git a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_auxiliary_functions.c b/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_auxiliary_functions.c deleted file mode 100644 index 174ed7500..000000000 --- a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_auxiliary_functions.c +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:36c26a2590e54135f7f03b8c784b434d2bd5ef0d42e7e2a9022c2bb56d0e2357 -size 4906 diff --git a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_auxiliary_functions.h b/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_auxiliary_functions.h deleted file mode 100644 index ac98266ff..000000000 --- a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_auxiliary_functions.h +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:606244b9b31362cc30c324793191d9bd34a098d5ebf526612749f437a75a4270 -size 3428 diff --git a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_common.h b/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_common.h deleted file mode 100644 index 7766b9c97..000000000 --- a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_common.h +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c595a94faa677114ead7debf35865d576e4eab09c0969a2ab1f2c9adfd143163 -size 8752 diff --git a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_integrator.c b/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_integrator.c deleted file mode 100644 index 1703fea50..000000000 --- a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_integrator.c +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:221b739b59f5a314fc832a29a7fcf49da960012acc22aed82e66331f950ac5f8 -size 11486 diff --git a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_qpoases_interface.cpp b/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_qpoases_interface.cpp deleted file mode 100644 index 4b72f3f95..000000000 --- a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_qpoases_interface.cpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c4099e03a411a516b406ef62cf0d923fb9447b376ae7dcbebe680a29f6c217d9 -size 1948 diff --git a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_qpoases_interface.hpp b/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_qpoases_interface.hpp deleted file mode 100644 index 7569135b8..000000000 --- a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_qpoases_interface.hpp +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:333aa4c0fbe9e0c5b7e75df6b4366a102bb53861b7ae3f0eeb53a3ddf575788f -size 1820 diff --git a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_solver.c b/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_solver.c deleted file mode 100644 index 410661634..000000000 --- a/selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_solver.c +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:24cce37a8698d0553f39cc95491a0bdcff8c0462f05ddfc9e41ef7d1d4a198d5 -size 349703 diff --git a/selfdrive/controls/lib/lead_mpc_lib/libmpc_py.py b/selfdrive/controls/lib/lead_mpc_lib/libmpc_py.py deleted file mode 100644 index d6d11be01..000000000 --- a/selfdrive/controls/lib/lead_mpc_lib/libmpc_py.py +++ /dev/null @@ -1,41 +0,0 @@ -import os - -from cffi import FFI -from common.ffi_wrapper import suffix - -mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__))) - -def _get_libmpc(mpc_id): - libmpc_fn = os.path.join(mpc_dir, "libmpc%d%s" % (mpc_id, suffix())) - - ffi = FFI() - ffi.cdef(""" - typedef struct { - double x_ego, v_ego, a_ego, x_l, v_l, a_l; - } state_t; - - - typedef struct { - double x_ego[21]; - double v_ego[21]; - double a_ego[21]; - double j_ego[20]; - double x_l[21]; - double v_l[21]; - double a_l[21]; - double t[21]; - double cost; - } log_t; - - void init(double ttcCost, double distanceCost, double accelerationCost, double jerkCost); - void init_with_simulation(double v_ego, double x_l, double v_l, double a_l, double l); - int run_mpc(state_t * x0, log_t * solution, - double l, double a_l_0); - """) - - return (ffi, ffi.dlopen(libmpc_fn)) - -mpcs = [_get_libmpc(0), _get_libmpc(1)] - -def get_libmpc(mpc_id): - return mpcs[mpc_id] diff --git a/selfdrive/controls/lib/lead_mpc_lib/longitudinal_mpc.c b/selfdrive/controls/lib/lead_mpc_lib/longitudinal_mpc.c deleted file mode 100644 index d4bfee8c8..000000000 --- a/selfdrive/controls/lib/lead_mpc_lib/longitudinal_mpc.c +++ /dev/null @@ -1,173 +0,0 @@ -#include "acado_common.h" -#include "acado_auxiliary_functions.h" - -#include -#include - -#define NX ACADO_NX /* Number of differential state variables. */ -#define NXA ACADO_NXA /* Number of algebraic variables. */ -#define NU ACADO_NU /* Number of control inputs. */ -#define NOD ACADO_NOD /* Number of online data values. */ - -#define NY ACADO_NY /* Number of measurements/references on nodes 0..N - 1. */ -#define NYN ACADO_NYN /* Number of measurements/references on node N. */ - -#define N ACADO_N /* Number of intervals in the horizon. */ - -ACADOvariables acadoVariables; -ACADOworkspace acadoWorkspace; - -typedef struct { - double x_ego, v_ego, a_ego, x_l, v_l, a_l; -} state_t; - - -typedef struct { - double x_ego[N+1]; - double v_ego[N+1]; - double a_ego[N+1]; - double j_ego[N]; - double x_l[N+1]; - double v_l[N+1]; - double a_l[N+1]; - double t[N+1]; - double cost; -} log_t; - -void init(double ttcCost, double distanceCost, double accelerationCost, double jerkCost){ - acado_initializeSolver(); - int i; - const int STEP_MULTIPLIER = 3; - - /* Initialize the states and controls. */ - for (i = 0; i < NX * (N + 1); ++i) acadoVariables.x[ i ] = 0.0; - for (i = 0; i < NU * N; ++i) acadoVariables.u[ i ] = 0.0; - - /* Initialize the measurements/reference. */ - for (i = 0; i < NY * N; ++i) acadoVariables.y[ i ] = 0.0; - for (i = 0; i < NYN; ++i) acadoVariables.yN[ i ] = 0.0; - - /* MPC: initialize the current state feedback. */ - for (i = 0; i < NX; ++i) acadoVariables.x0[ i ] = 0.0; - // Set weights - - for (i = 0; i < N; i++) { - int f = 1; - if (i > 4){ - f = STEP_MULTIPLIER; - } - // Setup diagonal entries - acadoVariables.W[NY*NY*i + (NY+1)*0] = ttcCost * f; // exponential cost for time-to-collision (ttc) - acadoVariables.W[NY*NY*i + (NY+1)*1] = distanceCost * f; // desired distance - acadoVariables.W[NY*NY*i + (NY+1)*2] = accelerationCost * f; // acceleration - acadoVariables.W[NY*NY*i + (NY+1)*3] = jerkCost * f; // jerk - } - acadoVariables.WN[(NYN+1)*0] = ttcCost * STEP_MULTIPLIER; // exponential cost for danger zone - acadoVariables.WN[(NYN+1)*1] = distanceCost * STEP_MULTIPLIER; // desired distance - acadoVariables.WN[(NYN+1)*2] = accelerationCost * STEP_MULTIPLIER; // acceleration - -} - -void init_with_simulation(double v_ego, double x_l_0, double v_l_0, double a_l_0, double l){ - int i; - - double x_l = x_l_0; - double v_l = v_l_0; - double a_l = a_l_0; - - double x_ego = 0.0; - double a_ego = -(v_ego - v_l) * (v_ego - v_l) / (2.0 * x_l + 0.01) + a_l; - - if (a_ego > 0){ - a_ego = 0.0; - } - - - double dt = 0.2; - double t = 0.; - - for (i = 0; i < N + 1; ++i){ - if (i > 4){ - dt = 0.6; - } - - /* printf("%.2f\t%.2f\t%.2f\t%.2f\n", t, x_ego, v_ego, a_l); */ - acadoVariables.x[i*NX] = x_ego; - acadoVariables.x[i*NX+1] = v_ego; - acadoVariables.x[i*NX+2] = a_ego; - - v_ego += a_ego * dt; - - if (v_ego <= 0.0) { - v_ego = 0.0; - a_ego = 0.0; - } - - x_ego += v_ego * dt; - t += dt; - } - - for (i = 0; i < NU * N; ++i) acadoVariables.u[ i ] = 0.0; - for (i = 0; i < NY * N; ++i) acadoVariables.y[ i ] = 0.0; - for (i = 0; i < NYN; ++i) acadoVariables.yN[ i ] = 0.0; -} - -int run_mpc(state_t * x0, log_t * solution, double l, double a_l_0){ - // Calculate lead vehicle predictions - int i; - double t = 0.; - double dt = 0.2; - double x_l = x0->x_l; - double v_l = x0->v_l; - double a_l = a_l_0; - - /* printf("t\tx_l\t_v_l\t_al\n"); */ - for (i = 0; i < N + 1; ++i){ - if (i > 4){ - dt = 0.6; - } - - /* printf("%.2f\t%.2f\t%.2f\t%.2f\n", t, x_l, v_l, a_l); */ - - acadoVariables.od[i*NOD] = x_l; - acadoVariables.od[i*NOD+1] = v_l; - - solution->x_l[i] = x_l; - solution->v_l[i] = v_l; - solution->a_l[i] = a_l; - solution->t[i] = t; - - a_l = a_l_0 * exp(-l * t * t / 2); - x_l += v_l * dt; - v_l += a_l * dt; - if (v_l < 0.0){ - a_l = 0.0; - v_l = 0.0; - } - - t += dt; - } - - acadoVariables.x[0] = acadoVariables.x0[0] = x0->x_ego; - acadoVariables.x[1] = acadoVariables.x0[1] = x0->v_ego; - acadoVariables.x[2] = acadoVariables.x0[2] = x0->a_ego; - - acado_preparationStep(); - acado_feedbackStep(); - - for (i = 0; i <= N; i++){ - solution->x_ego[i] = acadoVariables.x[i*NX]; - solution->v_ego[i] = acadoVariables.x[i*NX+1]; - solution->a_ego[i] = acadoVariables.x[i*NX+2]; - - if (i < N){ - solution->j_ego[i] = acadoVariables.u[i]; - } - } - solution->cost = acado_getObjective(); - - // Dont shift states here. Current solution is closer to next timestep than if - // we shift by 0.2 seconds. - - return acado_getNWSR(); -} diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py deleted file mode 100644 index 4d6f3846d..000000000 --- a/selfdrive/controls/lib/long_mpc.py +++ /dev/null @@ -1,73 +0,0 @@ -import numpy as np -import math - -from selfdrive.swaglog import cloudlog -from common.realtime import sec_since_boot -from selfdrive.controls.lib.longitudinal_mpc_lib import libmpc_py -from selfdrive.controls.lib.drive_helpers import LON_MPC_N -from selfdrive.modeld.constants import T_IDXS - - -class LongitudinalMpc(): - def __init__(self): - self.reset_mpc() - self.last_cloudlog_t = 0.0 - self.ts = list(range(10)) - self.status = True - self.min_a = -1.2 - self.max_a = 1.2 - - - def reset_mpc(self): - self.libmpc = libmpc_py.libmpc - self.libmpc.init(0.0, 1.0, 0.0, 50.0, 10000.0) - - self.mpc_solution = libmpc_py.ffi.new("log_t *") - self.cur_state = libmpc_py.ffi.new("state_t *") - - self.cur_state[0].x_ego = 0 - self.cur_state[0].v_ego = 0 - self.cur_state[0].a_ego = 0 - - self.v_solution = [0.0 for i in range(len(T_IDXS))] - self.a_solution = [0.0 for i in range(len(T_IDXS))] - self.j_solution = [0.0 for i in range(len(T_IDXS)-1)] - - def set_accel_limits(self, min_a, max_a): - self.min_a = min_a - self.max_a = max_a - - def set_cur_state(self, v, a): - v_safe = max(v, 1e-2) - a_safe = min(a, self.max_a - 1e-2) - a_safe = max(a_safe, self.min_a + 1e-2) - self.cur_state[0].x_ego = 0.0 - self.cur_state[0].v_ego = v_safe - self.cur_state[0].a_ego = a_safe - - def update(self, carstate, radarstate, v_cruise): - v_cruise_clipped = np.clip(v_cruise, self.cur_state[0].v_ego - 10., self.cur_state[0].v_ego + 10.0) - poss = v_cruise_clipped * np.array(T_IDXS[:LON_MPC_N+1]) - speeds = v_cruise_clipped * np.ones(LON_MPC_N+1) - accels = np.zeros(LON_MPC_N+1) - self.update_with_xva(poss, speeds, accels) - - def update_with_xva(self, poss, speeds, accels): - # Calculate mpc - self.libmpc.run_mpc(self.cur_state, self.mpc_solution, - list(poss), list(speeds), list(accels), - self.min_a, self.max_a) - - self.v_solution = list(self.mpc_solution.v_ego) - self.a_solution = list(self.mpc_solution.a_ego) - self.j_solution = list(self.mpc_solution.j_ego) - - # Reset if NaN or goes through lead car - nans = any(math.isnan(x) for x in self.mpc_solution[0].v_ego) - - t = sec_since_boot() - if nans: - if t > self.last_cloudlog_t + 5.0: - self.last_cloudlog_t = t - cloudlog.warning("Longitudinal model mpc reset - nans") - self.reset_mpc() diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/generator.cpp b/selfdrive/controls/lib/longitudinal_mpc_lib/generator.cpp deleted file mode 100644 index d308d102d..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/generator.cpp +++ /dev/null @@ -1,82 +0,0 @@ -#include -#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; -} diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_auxiliary_functions.c b/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_auxiliary_functions.c deleted file mode 100644 index 6f0bb705c..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_auxiliary_functions.c +++ /dev/null @@ -1,212 +0,0 @@ -/* - * This file was auto-generated using the ACADO Toolkit. - * - * While ACADO Toolkit is free software released under the terms of - * the GNU Lesser General Public License (LGPL), the generated code - * as such remains the property of the user who used ACADO Toolkit - * to generate this code. In particular, user dependent data of the code - * do not inherit the GNU LGPL license. On the other hand, parts of the - * generated code that are a direct copy of source code from the - * ACADO Toolkit or the software tools it is based on, remain, as derived - * work, automatically covered by the LGPL license. - * - * ACADO Toolkit is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * - */ - - -#include "acado_auxiliary_functions.h" - -#include - -real_t* acado_getVariablesX( ) -{ - return acadoVariables.x; -} - -real_t* acado_getVariablesU( ) -{ - return acadoVariables.u; -} - -#if ACADO_NY > 0 -real_t* acado_getVariablesY( ) -{ - return acadoVariables.y; -} -#endif - -#if ACADO_NYN > 0 -real_t* acado_getVariablesYN( ) -{ - return acadoVariables.yN; -} -#endif - -real_t* acado_getVariablesX0( ) -{ -#if ACADO_INITIAL_VALUE_FIXED - return acadoVariables.x0; -#else - return 0; -#endif -} - -/** Print differential variables. */ -void acado_printDifferentialVariables( ) -{ - int i, j; - printf("\nDifferential variables:\n[\n"); - for (i = 0; i < ACADO_N + 1; ++i) - { - for (j = 0; j < ACADO_NX; ++j) - printf("\t%e", acadoVariables.x[i * ACADO_NX + j]); - printf("\n"); - } - printf("]\n\n"); -} - -/** Print control variables. */ -void acado_printControlVariables( ) -{ - int i, j; - printf("\nControl variables:\n[\n"); - for (i = 0; i < ACADO_N; ++i) - { - for (j = 0; j < ACADO_NU; ++j) - printf("\t%e", acadoVariables.u[i * ACADO_NU + j]); - printf("\n"); - } - printf("]\n\n"); -} - -/** Print ACADO code generation notice. */ -void acado_printHeader( ) -{ - printf( - "\nACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.\n" - "Copyright (C) 2008-2015 by Boris Houska, Hans Joachim Ferreau,\n" - "Milan Vukov and Rien Quirynen, KU Leuven.\n" - ); - - printf( - "Developed within the Optimization in Engineering Center (OPTEC) under\n" - "supervision of Moritz Diehl. All rights reserved.\n\n" - "ACADO Toolkit is distributed under the terms of the GNU Lesser\n" - "General Public License 3 in the hope that it will be useful,\n" - "but WITHOUT ANY WARRANTY; without even the implied warranty of\n" - "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n" - "GNU Lesser General Public License for more details.\n\n" - ); -} - -#if !(defined _DSPACE) -#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__) - -void acado_tic( acado_timer* t ) -{ - QueryPerformanceFrequency(&t->freq); - QueryPerformanceCounter(&t->tic); -} - -real_t acado_toc( acado_timer* t ) -{ - QueryPerformanceCounter(&t->toc); - return ((t->toc.QuadPart - t->tic.QuadPart) / (real_t)t->freq.QuadPart); -} - - -#elif (defined __APPLE__) - -void acado_tic( acado_timer* t ) -{ - /* read current clock cycles */ - t->tic = mach_absolute_time(); -} - -real_t acado_toc( acado_timer* t ) -{ - - uint64_t duration; /* elapsed time in clock cycles*/ - - t->toc = mach_absolute_time(); - duration = t->toc - t->tic; - - /*conversion from clock cycles to nanoseconds*/ - mach_timebase_info(&(t->tinfo)); - duration *= t->tinfo.numer; - duration /= t->tinfo.denom; - - return (real_t)duration / 1e9; -} - -#else - -#if __STDC_VERSION__ >= 199901L -/* C99 mode */ - -/* read current time */ -void acado_tic( acado_timer* t ) -{ - gettimeofday(&t->tic, 0); -} - -/* return time passed since last call to tic on this timer */ -real_t acado_toc( acado_timer* t ) -{ - struct timeval temp; - - gettimeofday(&t->toc, 0); - - if ((t->toc.tv_usec - t->tic.tv_usec) < 0) - { - temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec - 1; - temp.tv_usec = 1000000 + t->toc.tv_usec - t->tic.tv_usec; - } - else - { - temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec; - temp.tv_usec = t->toc.tv_usec - t->tic.tv_usec; - } - - return (real_t)temp.tv_sec + (real_t)temp.tv_usec / 1e6; -} - -#else -/* ANSI */ - -/* read current time */ -void acado_tic( acado_timer* t ) -{ - clock_gettime(CLOCK_MONOTONIC, &t->tic); -} - - -/* return time passed since last call to tic on this timer */ -real_t acado_toc( acado_timer* t ) -{ - struct timespec temp; - - clock_gettime(CLOCK_MONOTONIC, &t->toc); - - if ((t->toc.tv_nsec - t->tic.tv_nsec) < 0) - { - temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec - 1; - temp.tv_nsec = 1000000000+t->toc.tv_nsec - t->tic.tv_nsec; - } - else - { - temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec; - temp.tv_nsec = t->toc.tv_nsec - t->tic.tv_nsec; - } - - return (real_t)temp.tv_sec + (real_t)temp.tv_nsec / 1e9; -} - -#endif /* __STDC_VERSION__ >= 199901L */ - -#endif /* (defined _WIN32 || _WIN64) */ - -#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_auxiliary_functions.h b/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_auxiliary_functions.h deleted file mode 100644 index b1be0a661..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_auxiliary_functions.h +++ /dev/null @@ -1,138 +0,0 @@ -/* - * This file was auto-generated using the ACADO Toolkit. - * - * While ACADO Toolkit is free software released under the terms of - * the GNU Lesser General Public License (LGPL), the generated code - * as such remains the property of the user who used ACADO Toolkit - * to generate this code. In particular, user dependent data of the code - * do not inherit the GNU LGPL license. On the other hand, parts of the - * generated code that are a direct copy of source code from the - * ACADO Toolkit or the software tools it is based on, remain, as derived - * work, automatically covered by the LGPL license. - * - * ACADO Toolkit is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * - */ - - -#ifndef ACADO_AUXILIARY_FUNCTIONS_H -#define ACADO_AUXILIARY_FUNCTIONS_H - -#include "acado_common.h" - -#ifndef __MATLAB__ -#ifdef __cplusplus -extern "C" -{ -#endif /* __cplusplus */ -#endif /* __MATLAB__ */ - -/** Get pointer to the matrix with differential variables. */ -real_t* acado_getVariablesX( ); - -/** Get pointer to the matrix with control variables. */ -real_t* acado_getVariablesU( ); - -#if ACADO_NY > 0 -/** Get pointer to the matrix with references/measurements. */ -real_t* acado_getVariablesY( ); -#endif - -#if ACADO_NYN > 0 -/** Get pointer to the vector with references/measurement on the last node. */ -real_t* acado_getVariablesYN( ); -#endif - -/** Get pointer to the current state feedback vector. Only applicable for NMPC. */ -real_t* acado_getVariablesX0( ); - -/** Print differential variables. */ -void acado_printDifferentialVariables( ); - -/** Print control variables. */ -void acado_printControlVariables( ); - -/** Print ACADO code generation notice. */ -void acado_printHeader( ); - -/* - * A huge thanks goes to Alexander Domahidi from ETHZ, Switzerland, for - * providing us with the following timing routines. - */ - -#if !(defined _DSPACE) -#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__) - -/* Use Windows QueryPerformanceCounter for timing. */ -#include - -/** A structure for keeping internal timer data. */ -typedef struct acado_timer_ -{ - LARGE_INTEGER tic; - LARGE_INTEGER toc; - LARGE_INTEGER freq; -} acado_timer; - - -#elif (defined __APPLE__) - -#include "unistd.h" -#include - -/** A structure for keeping internal timer data. */ -typedef struct acado_timer_ -{ - uint64_t tic; - uint64_t toc; - mach_timebase_info_data_t tinfo; -} acado_timer; - -#else - -/* Use POSIX clock_gettime() for timing on non-Windows machines. */ -#include - -#if __STDC_VERSION__ >= 199901L -/* C99 mode of operation. */ - -#include -#include - -typedef struct acado_timer_ -{ - struct timeval tic; - struct timeval toc; -} acado_timer; - -#else -/* ANSI C */ - -/** A structure for keeping internal timer data. */ -typedef struct acado_timer_ -{ - struct timespec tic; - struct timespec toc; -} acado_timer; - -#endif /* __STDC_VERSION__ >= 199901L */ - -#endif /* (defined _WIN32 || defined _WIN64) */ - -/** A function for measurement of the current time. */ -void acado_tic( acado_timer* t ); - -/** A function which returns the elapsed time. */ -real_t acado_toc( acado_timer* t ); - -#endif - -#ifndef __MATLAB__ -#ifdef __cplusplus -} /* extern "C" */ -#endif /* __cplusplus */ -#endif /* __MATLAB__ */ - -#endif /* ACADO_AUXILIARY_FUNCTIONS_H */ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_common.h b/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_common.h deleted file mode 100644 index 4951fae46..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_common.h +++ /dev/null @@ -1,372 +0,0 @@ -/* - * This file was auto-generated using the ACADO Toolkit. - * - * While ACADO Toolkit is free software released under the terms of - * the GNU Lesser General Public License (LGPL), the generated code - * as such remains the property of the user who used ACADO Toolkit - * to generate this code. In particular, user dependent data of the code - * do not inherit the GNU LGPL license. On the other hand, parts of the - * generated code that are a direct copy of source code from the - * ACADO Toolkit or the software tools it is based on, remain, as derived - * work, automatically covered by the LGPL license. - * - * ACADO Toolkit is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * - */ - - -#ifndef ACADO_COMMON_H -#define ACADO_COMMON_H - -#include -#include - -#ifndef __MATLAB__ -#ifdef __cplusplus -extern "C" -{ -#endif /* __cplusplus */ -#endif /* __MATLAB__ */ - -/** \defgroup ACADO ACADO CGT generated module. */ -/** @{ */ - -/** qpOASES QP solver indicator. */ -#define ACADO_QPOASES 0 -#define ACADO_QPOASES3 1 -/** FORCES QP solver indicator.*/ -#define ACADO_FORCES 2 -/** qpDUNES QP solver indicator.*/ -#define ACADO_QPDUNES 3 -/** HPMPC QP solver indicator. */ -#define ACADO_HPMPC 4 -#define ACADO_GENERIC 5 - -/** Indicator for determining the QP solver used by the ACADO solver code. */ -#define ACADO_QP_SOLVER ACADO_QPOASES - -#include "acado_qpoases_interface.hpp" - - -/* - * Common definitions - */ -/** User defined block based condensing. */ -#define ACADO_BLOCK_CONDENSING 0 -/** Compute covariance matrix of the last state estimate. */ -#define ACADO_COMPUTE_COVARIANCE_MATRIX 0 -/** Flag indicating whether constraint values are hard-coded or not. */ -#define ACADO_HARDCODED_CONSTRAINT_VALUES 1 -/** Indicator for fixed initial state. */ -#define ACADO_INITIAL_STATE_FIXED 1 -/** Number of control/estimation intervals. */ -#define ACADO_N 32 -/** Number of online data values. */ -#define ACADO_NOD 2 -/** Number of path constraints. */ -#define ACADO_NPAC 2 -/** Number of control variables. */ -#define ACADO_NU 2 -/** Number of differential variables. */ -#define ACADO_NX 4 -/** Number of algebraic variables. */ -#define ACADO_NXA 0 -/** Number of differential derivative variables. */ -#define ACADO_NXD 0 -/** Number of references/measurements per node on the first N nodes. */ -#define ACADO_NY 5 -/** Number of references/measurements on the last (N + 1)st node. */ -#define ACADO_NYN 3 -/** Total number of QP optimization variables. */ -#define ACADO_QP_NV 68 -/** Number of Runge-Kutta stages per integration step. */ -#define ACADO_RK_NSTAGES 4 -/** Providing interface for arrival cost. */ -#define ACADO_USE_ARRIVAL_COST 0 -/** Indicator for usage of non-hard-coded linear terms in the objective. */ -#define ACADO_USE_LINEAR_TERMS 0 -/** Indicator for type of fixed weighting matrices. */ -#define ACADO_WEIGHTING_MATRICES_TYPE 2 - - -/* - * Globally used structure definitions - */ - -/** The structure containing the user data. - * - * Via this structure the user "communicates" with the solver code. - */ -typedef struct ACADOvariables_ -{ -int dummy; -/** Matrix of size: 33 x 4 (row major format) - * - * Matrix containing 33 differential variable vectors. - */ -real_t x[ 132 ]; - -/** Matrix of size: 32 x 2 (row major format) - * - * Matrix containing 32 control variable vectors. - */ -real_t u[ 64 ]; - -/** Matrix of size: 33 x 2 (row major format) - * - * Matrix containing 33 online data vectors. - */ -real_t od[ 66 ]; - -/** Column vector of size: 160 - * - * Matrix containing 32 reference/measurement vectors of size 5 for first 32 nodes. - */ -real_t y[ 160 ]; - -/** Column vector of size: 3 - * - * Reference/measurement vector for the 33. node. - */ -real_t yN[ 3 ]; - -/** Matrix of size: 160 x 5 (row major format) */ -real_t W[ 800 ]; - -/** Matrix of size: 3 x 3 (row major format) */ -real_t WN[ 9 ]; - -/** Column vector of size: 4 - * - * Current state feedback vector. - */ -real_t x0[ 4 ]; - - -} ACADOvariables; - -/** Private workspace used by the auto-generated code. - * - * Data members of this structure are private to the solver. - * In other words, the user code should not modify values of this - * structure. - */ -typedef struct ACADOworkspace_ -{ -real_t rk_ttt; - -/** Row vector of size: 32 */ -real_t rk_xxx[ 32 ]; - -/** Matrix of size: 4 x 28 (row major format) */ -real_t rk_kkk[ 112 ]; - -/** Row vector of size: 32 */ -real_t state[ 32 ]; - -/** Column vector of size: 128 */ -real_t d[ 128 ]; - -/** Column vector of size: 160 */ -real_t Dy[ 160 ]; - -/** Column vector of size: 3 */ -real_t DyN[ 3 ]; - -/** Matrix of size: 128 x 4 (row major format) */ -real_t evGx[ 512 ]; - -/** Matrix of size: 128 x 2 (row major format) */ -real_t evGu[ 256 ]; - -/** Row vector of size: 8 */ -real_t objValueIn[ 8 ]; - -/** Row vector of size: 5 */ -real_t objValueOut[ 5 ]; - -/** Matrix of size: 128 x 4 (row major format) */ -real_t Q1[ 512 ]; - -/** Matrix of size: 128 x 5 (row major format) */ -real_t Q2[ 640 ]; - -/** Matrix of size: 64 x 2 (row major format) */ -real_t R1[ 128 ]; - -/** Matrix of size: 64 x 5 (row major format) */ -real_t R2[ 320 ]; - -/** Matrix of size: 128 x 2 (row major format) */ -real_t S1[ 256 ]; - -/** Matrix of size: 4 x 4 (row major format) */ -real_t QN1[ 16 ]; - -/** Matrix of size: 4 x 3 (row major format) */ -real_t QN2[ 12 ]; - -/** Column vector of size: 12 */ -real_t conAuxVar[ 12 ]; - -/** Row vector of size: 8 */ -real_t conValueIn[ 8 ]; - -/** Row vector of size: 14 */ -real_t conValueOut[ 14 ]; - -/** Column vector of size: 64 */ -real_t evH[ 64 ]; - -/** Matrix of size: 64 x 4 (row major format) */ -real_t evHx[ 256 ]; - -/** Matrix of size: 64 x 2 (row major format) */ -real_t evHu[ 128 ]; - -/** Column vector of size: 2 */ -real_t evHxd[ 2 ]; - -/** Column vector of size: 4 */ -real_t Dx0[ 4 ]; - -/** Matrix of size: 4 x 4 (row major format) */ -real_t T[ 16 ]; - -/** Matrix of size: 2112 x 2 (row major format) */ -real_t E[ 4224 ]; - -/** Matrix of size: 2112 x 2 (row major format) */ -real_t QE[ 4224 ]; - -/** Matrix of size: 128 x 4 (row major format) */ -real_t QGx[ 512 ]; - -/** Column vector of size: 128 */ -real_t Qd[ 128 ]; - -/** Column vector of size: 132 */ -real_t QDy[ 132 ]; - -/** Matrix of size: 64 x 4 (row major format) */ -real_t H10[ 256 ]; - -/** Matrix of size: 68 x 68 (row major format) */ -real_t H[ 4624 ]; - -/** Matrix of size: 96 x 68 (row major format) */ -real_t A[ 6528 ]; - -/** Column vector of size: 68 */ -real_t g[ 68 ]; - -/** Column vector of size: 68 */ -real_t lb[ 68 ]; - -/** Column vector of size: 68 */ -real_t ub[ 68 ]; - -/** Column vector of size: 96 */ -real_t lbA[ 96 ]; - -/** Column vector of size: 96 */ -real_t ubA[ 96 ]; - -/** Column vector of size: 68 */ -real_t x[ 68 ]; - -/** Column vector of size: 164 */ -real_t y[ 164 ]; - - -} ACADOworkspace; - -/* - * Forward function declarations. - */ - - -/** Performs the integration and sensitivity propagation for one shooting interval. - * - * \param rk_eta Working array to pass the input values and return the results. - * \param resetIntegrator The internal memory of the integrator can be reset. - * \param rk_index Number of the shooting interval. - * - * \return Status code of the integrator. - */ -int acado_integrate( real_t* const rk_eta, int resetIntegrator, int rk_index ); - -/** Export of an ACADO symbolic function. - * - * \param in Input to the exported function. - * \param out Output of the exported function. - */ -void acado_rhs_forw(const real_t* in, real_t* out); - -/** Preparation step of the RTI scheme. - * - * \return Status of the integration module. =0: OK, otherwise the error code. - */ -int acado_preparationStep( ); - -/** Feedback/estimation step of the RTI scheme. - * - * \return Status code of the qpOASES QP solver. - */ -int acado_feedbackStep( ); - -/** Solver initialization. Must be called once before any other function call. - * - * \return =0: OK, otherwise an error code of a QP solver. - */ -int acado_initializeSolver( ); - -/** Initialize shooting nodes by a forward simulation starting from the first node. - */ -void acado_initializeNodesByForwardSimulation( ); - -/** Shift differential variables vector by one interval. - * - * \param strategy Shifting strategy: 1. Initialize node 33 with xEnd. 2. Initialize node 33 by forward simulation. - * \param xEnd Value for the x vector on the last node. If =0 the old value is used. - * \param uEnd Value for the u vector on the second to last node. If =0 the old value is used. - */ -void acado_shiftStates( int strategy, real_t* const xEnd, real_t* const uEnd ); - -/** Shift controls vector by one interval. - * - * \param uEnd Value for the u vector on the second to last node. If =0 the old value is used. - */ -void acado_shiftControls( real_t* const uEnd ); - -/** Get the KKT tolerance of the current iterate. - * - * \return The KKT tolerance value. - */ -real_t acado_getKKT( ); - -/** Calculate the objective value. - * - * \return Value of the objective function. - */ -real_t acado_getObjective( ); - - -/* - * Extern declarations. - */ - -extern ACADOworkspace acadoWorkspace; -extern ACADOvariables acadoVariables; - -/** @} */ - -#ifndef __MATLAB__ -#ifdef __cplusplus -} /* extern "C" */ -#endif /* __cplusplus */ -#endif /* __MATLAB__ */ - -#endif /* ACADO_COMMON_H */ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_integrator.c b/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_integrator.c deleted file mode 100644 index 627f5398f..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_integrator.c +++ /dev/null @@ -1,250 +0,0 @@ -/* - * This file was auto-generated using the ACADO Toolkit. - * - * While ACADO Toolkit is free software released under the terms of - * the GNU Lesser General Public License (LGPL), the generated code - * as such remains the property of the user who used ACADO Toolkit - * to generate this code. In particular, user dependent data of the code - * do not inherit the GNU LGPL license. On the other hand, parts of the - * generated code that are a direct copy of source code from the - * ACADO Toolkit or the software tools it is based on, remain, as derived - * work, automatically covered by the LGPL license. - * - * ACADO Toolkit is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * - */ - - -#include "acado_common.h" - - -void acado_rhs_forw(const real_t* in, real_t* out) -{ -const real_t* xd = in; -const real_t* u = in + 28; - -/* Compute outputs: */ -out[0] = xd[1]; -out[1] = xd[2]; -out[2] = u[0]; -out[3] = u[1]; -out[4] = xd[8]; -out[5] = xd[9]; -out[6] = xd[10]; -out[7] = xd[11]; -out[8] = xd[12]; -out[9] = xd[13]; -out[10] = xd[14]; -out[11] = xd[15]; -out[12] = (real_t)(0.0000000000000000e+00); -out[13] = (real_t)(0.0000000000000000e+00); -out[14] = (real_t)(0.0000000000000000e+00); -out[15] = (real_t)(0.0000000000000000e+00); -out[16] = (real_t)(0.0000000000000000e+00); -out[17] = (real_t)(0.0000000000000000e+00); -out[18] = (real_t)(0.0000000000000000e+00); -out[19] = (real_t)(0.0000000000000000e+00); -out[20] = xd[22]; -out[21] = xd[23]; -out[22] = xd[24]; -out[23] = xd[25]; -out[24] = (real_t)(1.0000000000000000e+00); -out[25] = (real_t)(0.0000000000000000e+00); -out[26] = (real_t)(0.0000000000000000e+00); -out[27] = (real_t)(1.0000000000000000e+00); -} - -/* Fixed step size:0.01 */ -int acado_integrate( real_t* const rk_eta, int resetIntegrator, int rk_index ) -{ -int error; - -int run1; -int numSteps[32] = {1, 3, 5, 7, 9, 11, 13, 15, 17, 19, 21, 22, 24, 26, 28, 30, 32, 34, 36, 38, 40, 42, 44, 46, 48, 50, 52, 54, 56, 58, 60, 62}; -int numInts = numSteps[rk_index]; -acadoWorkspace.rk_ttt = 0.0000000000000000e+00; -rk_eta[4] = 1.0000000000000000e+00; -rk_eta[5] = 0.0000000000000000e+00; -rk_eta[6] = 0.0000000000000000e+00; -rk_eta[7] = 0.0000000000000000e+00; -rk_eta[8] = 0.0000000000000000e+00; -rk_eta[9] = 1.0000000000000000e+00; -rk_eta[10] = 0.0000000000000000e+00; -rk_eta[11] = 0.0000000000000000e+00; -rk_eta[12] = 0.0000000000000000e+00; -rk_eta[13] = 0.0000000000000000e+00; -rk_eta[14] = 1.0000000000000000e+00; -rk_eta[15] = 0.0000000000000000e+00; -rk_eta[16] = 0.0000000000000000e+00; -rk_eta[17] = 0.0000000000000000e+00; -rk_eta[18] = 0.0000000000000000e+00; -rk_eta[19] = 1.0000000000000000e+00; -rk_eta[20] = 0.0000000000000000e+00; -rk_eta[21] = 0.0000000000000000e+00; -rk_eta[22] = 0.0000000000000000e+00; -rk_eta[23] = 0.0000000000000000e+00; -rk_eta[24] = 0.0000000000000000e+00; -rk_eta[25] = 0.0000000000000000e+00; -rk_eta[26] = 0.0000000000000000e+00; -rk_eta[27] = 0.0000000000000000e+00; -acadoWorkspace.rk_xxx[28] = rk_eta[28]; -acadoWorkspace.rk_xxx[29] = rk_eta[29]; -acadoWorkspace.rk_xxx[30] = rk_eta[30]; -acadoWorkspace.rk_xxx[31] = rk_eta[31]; - -for (run1 = 0; run1 < 1; ++run1) -{ -for(run1 = 0; run1 < numInts; run1++ ) { -acadoWorkspace.rk_xxx[0] = + rk_eta[0]; -acadoWorkspace.rk_xxx[1] = + rk_eta[1]; -acadoWorkspace.rk_xxx[2] = + rk_eta[2]; -acadoWorkspace.rk_xxx[3] = + rk_eta[3]; -acadoWorkspace.rk_xxx[4] = + rk_eta[4]; -acadoWorkspace.rk_xxx[5] = + rk_eta[5]; -acadoWorkspace.rk_xxx[6] = + rk_eta[6]; -acadoWorkspace.rk_xxx[7] = + rk_eta[7]; -acadoWorkspace.rk_xxx[8] = + rk_eta[8]; -acadoWorkspace.rk_xxx[9] = + rk_eta[9]; -acadoWorkspace.rk_xxx[10] = + rk_eta[10]; -acadoWorkspace.rk_xxx[11] = + rk_eta[11]; -acadoWorkspace.rk_xxx[12] = + rk_eta[12]; -acadoWorkspace.rk_xxx[13] = + rk_eta[13]; -acadoWorkspace.rk_xxx[14] = + rk_eta[14]; -acadoWorkspace.rk_xxx[15] = + rk_eta[15]; -acadoWorkspace.rk_xxx[16] = + rk_eta[16]; -acadoWorkspace.rk_xxx[17] = + rk_eta[17]; -acadoWorkspace.rk_xxx[18] = + rk_eta[18]; -acadoWorkspace.rk_xxx[19] = + rk_eta[19]; -acadoWorkspace.rk_xxx[20] = + rk_eta[20]; -acadoWorkspace.rk_xxx[21] = + rk_eta[21]; -acadoWorkspace.rk_xxx[22] = + rk_eta[22]; -acadoWorkspace.rk_xxx[23] = + rk_eta[23]; -acadoWorkspace.rk_xxx[24] = + rk_eta[24]; -acadoWorkspace.rk_xxx[25] = + rk_eta[25]; -acadoWorkspace.rk_xxx[26] = + rk_eta[26]; -acadoWorkspace.rk_xxx[27] = + rk_eta[27]; -acado_rhs_forw( acadoWorkspace.rk_xxx, acadoWorkspace.rk_kkk ); -acadoWorkspace.rk_xxx[0] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[0] + rk_eta[0]; -acadoWorkspace.rk_xxx[1] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[1] + rk_eta[1]; -acadoWorkspace.rk_xxx[2] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[2] + rk_eta[2]; -acadoWorkspace.rk_xxx[3] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[3] + rk_eta[3]; -acadoWorkspace.rk_xxx[4] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[4] + rk_eta[4]; -acadoWorkspace.rk_xxx[5] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[5] + rk_eta[5]; -acadoWorkspace.rk_xxx[6] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[6] + rk_eta[6]; -acadoWorkspace.rk_xxx[7] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[7] + rk_eta[7]; -acadoWorkspace.rk_xxx[8] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[8] + rk_eta[8]; -acadoWorkspace.rk_xxx[9] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[9] + rk_eta[9]; -acadoWorkspace.rk_xxx[10] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[10] + rk_eta[10]; -acadoWorkspace.rk_xxx[11] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[11] + rk_eta[11]; -acadoWorkspace.rk_xxx[12] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[12] + rk_eta[12]; -acadoWorkspace.rk_xxx[13] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[13] + rk_eta[13]; -acadoWorkspace.rk_xxx[14] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[14] + rk_eta[14]; -acadoWorkspace.rk_xxx[15] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[15] + rk_eta[15]; -acadoWorkspace.rk_xxx[16] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[16] + rk_eta[16]; -acadoWorkspace.rk_xxx[17] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[17] + rk_eta[17]; -acadoWorkspace.rk_xxx[18] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[18] + rk_eta[18]; -acadoWorkspace.rk_xxx[19] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[19] + rk_eta[19]; -acadoWorkspace.rk_xxx[20] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[20] + rk_eta[20]; -acadoWorkspace.rk_xxx[21] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[21] + rk_eta[21]; -acadoWorkspace.rk_xxx[22] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[22] + rk_eta[22]; -acadoWorkspace.rk_xxx[23] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[23] + rk_eta[23]; -acadoWorkspace.rk_xxx[24] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[24] + rk_eta[24]; -acadoWorkspace.rk_xxx[25] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[25] + rk_eta[25]; -acadoWorkspace.rk_xxx[26] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[26] + rk_eta[26]; -acadoWorkspace.rk_xxx[27] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[27] + rk_eta[27]; -acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 28 ]) ); -acadoWorkspace.rk_xxx[0] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[28] + rk_eta[0]; -acadoWorkspace.rk_xxx[1] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[29] + rk_eta[1]; -acadoWorkspace.rk_xxx[2] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[30] + rk_eta[2]; -acadoWorkspace.rk_xxx[3] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[31] + rk_eta[3]; -acadoWorkspace.rk_xxx[4] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[32] + rk_eta[4]; -acadoWorkspace.rk_xxx[5] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[33] + rk_eta[5]; -acadoWorkspace.rk_xxx[6] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[34] + rk_eta[6]; -acadoWorkspace.rk_xxx[7] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[35] + rk_eta[7]; -acadoWorkspace.rk_xxx[8] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[36] + rk_eta[8]; -acadoWorkspace.rk_xxx[9] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[37] + rk_eta[9]; -acadoWorkspace.rk_xxx[10] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[38] + rk_eta[10]; -acadoWorkspace.rk_xxx[11] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[39] + rk_eta[11]; -acadoWorkspace.rk_xxx[12] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[40] + rk_eta[12]; -acadoWorkspace.rk_xxx[13] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[41] + rk_eta[13]; -acadoWorkspace.rk_xxx[14] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[42] + rk_eta[14]; -acadoWorkspace.rk_xxx[15] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[43] + rk_eta[15]; -acadoWorkspace.rk_xxx[16] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[44] + rk_eta[16]; -acadoWorkspace.rk_xxx[17] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[45] + rk_eta[17]; -acadoWorkspace.rk_xxx[18] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[46] + rk_eta[18]; -acadoWorkspace.rk_xxx[19] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[47] + rk_eta[19]; -acadoWorkspace.rk_xxx[20] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[48] + rk_eta[20]; -acadoWorkspace.rk_xxx[21] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[49] + rk_eta[21]; -acadoWorkspace.rk_xxx[22] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[50] + rk_eta[22]; -acadoWorkspace.rk_xxx[23] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[51] + rk_eta[23]; -acadoWorkspace.rk_xxx[24] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[52] + rk_eta[24]; -acadoWorkspace.rk_xxx[25] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[53] + rk_eta[25]; -acadoWorkspace.rk_xxx[26] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[54] + rk_eta[26]; -acadoWorkspace.rk_xxx[27] = + (real_t)5.0000000000000001e-03*acadoWorkspace.rk_kkk[55] + rk_eta[27]; -acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 56 ]) ); -acadoWorkspace.rk_xxx[0] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[56] + rk_eta[0]; -acadoWorkspace.rk_xxx[1] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[57] + rk_eta[1]; -acadoWorkspace.rk_xxx[2] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[58] + rk_eta[2]; -acadoWorkspace.rk_xxx[3] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[59] + rk_eta[3]; -acadoWorkspace.rk_xxx[4] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[60] + rk_eta[4]; -acadoWorkspace.rk_xxx[5] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[61] + rk_eta[5]; -acadoWorkspace.rk_xxx[6] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[62] + rk_eta[6]; -acadoWorkspace.rk_xxx[7] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[63] + rk_eta[7]; -acadoWorkspace.rk_xxx[8] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[64] + rk_eta[8]; -acadoWorkspace.rk_xxx[9] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[65] + rk_eta[9]; -acadoWorkspace.rk_xxx[10] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[66] + rk_eta[10]; -acadoWorkspace.rk_xxx[11] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[67] + rk_eta[11]; -acadoWorkspace.rk_xxx[12] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[68] + rk_eta[12]; -acadoWorkspace.rk_xxx[13] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[69] + rk_eta[13]; -acadoWorkspace.rk_xxx[14] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[70] + rk_eta[14]; -acadoWorkspace.rk_xxx[15] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[71] + rk_eta[15]; -acadoWorkspace.rk_xxx[16] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[72] + rk_eta[16]; -acadoWorkspace.rk_xxx[17] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[73] + rk_eta[17]; -acadoWorkspace.rk_xxx[18] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[74] + rk_eta[18]; -acadoWorkspace.rk_xxx[19] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[75] + rk_eta[19]; -acadoWorkspace.rk_xxx[20] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[76] + rk_eta[20]; -acadoWorkspace.rk_xxx[21] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[77] + rk_eta[21]; -acadoWorkspace.rk_xxx[22] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[78] + rk_eta[22]; -acadoWorkspace.rk_xxx[23] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[79] + rk_eta[23]; -acadoWorkspace.rk_xxx[24] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[80] + rk_eta[24]; -acadoWorkspace.rk_xxx[25] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[81] + rk_eta[25]; -acadoWorkspace.rk_xxx[26] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[82] + rk_eta[26]; -acadoWorkspace.rk_xxx[27] = + (real_t)1.0000000000000000e-02*acadoWorkspace.rk_kkk[83] + rk_eta[27]; -acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 84 ]) ); -rk_eta[0] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[0] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[28] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[56] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[84]; -rk_eta[1] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[1] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[29] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[57] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[85]; -rk_eta[2] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[2] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[30] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[58] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[86]; -rk_eta[3] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[3] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[31] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[59] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[87]; -rk_eta[4] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[4] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[32] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[60] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[88]; -rk_eta[5] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[5] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[33] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[61] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[89]; -rk_eta[6] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[6] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[34] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[62] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[90]; -rk_eta[7] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[7] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[35] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[63] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[91]; -rk_eta[8] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[8] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[36] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[64] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[92]; -rk_eta[9] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[9] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[37] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[65] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[93]; -rk_eta[10] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[10] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[38] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[66] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[94]; -rk_eta[11] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[11] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[39] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[67] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[95]; -rk_eta[12] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[12] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[40] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[68] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[96]; -rk_eta[13] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[13] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[41] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[69] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[97]; -rk_eta[14] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[14] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[42] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[70] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[98]; -rk_eta[15] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[15] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[43] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[71] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[99]; -rk_eta[16] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[16] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[44] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[72] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[100]; -rk_eta[17] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[17] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[45] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[73] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[101]; -rk_eta[18] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[18] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[46] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[74] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[102]; -rk_eta[19] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[19] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[47] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[75] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[103]; -rk_eta[20] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[20] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[48] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[76] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[104]; -rk_eta[21] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[21] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[49] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[77] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[105]; -rk_eta[22] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[22] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[50] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[78] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[106]; -rk_eta[23] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[23] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[51] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[79] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[107]; -rk_eta[24] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[24] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[52] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[80] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[108]; -rk_eta[25] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[25] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[53] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[81] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[109]; -rk_eta[26] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[26] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[54] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[82] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[110]; -rk_eta[27] += + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[27] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[55] + (real_t)3.3333333333333331e-03*acadoWorkspace.rk_kkk[83] + (real_t)1.6666666666666666e-03*acadoWorkspace.rk_kkk[111]; -acadoWorkspace.rk_ttt += 1.0000000000000000e+00; -} -} -error = 0; -return error; -} - diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_qpoases_interface.cpp b/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_qpoases_interface.cpp deleted file mode 100644 index 1c468288e..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_qpoases_interface.cpp +++ /dev/null @@ -1,70 +0,0 @@ -/* - * This file was auto-generated using the ACADO Toolkit. - * - * While ACADO Toolkit is free software released under the terms of - * the GNU Lesser General Public License (LGPL), the generated code - * as such remains the property of the user who used ACADO Toolkit - * to generate this code. In particular, user dependent data of the code - * do not inherit the GNU LGPL license. On the other hand, parts of the - * generated code that are a direct copy of source code from the - * ACADO Toolkit or the software tools it is based on, remain, as derived - * work, automatically covered by the LGPL license. - * - * ACADO Toolkit is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * - */ - - -extern "C" -{ -#include "acado_common.h" -} - -#include "INCLUDE/QProblem.hpp" - -#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1 -#include "INCLUDE/EXTRAS/SolutionAnalysis.hpp" -#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */ - -static int acado_nWSR; - - - -#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1 -static SolutionAnalysis acado_sa; -#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */ - -int acado_solve( void ) -{ - acado_nWSR = QPOASES_NWSRMAX; - - QProblem qp(68, 96); - - returnValue retVal = qp.init(acadoWorkspace.H, acadoWorkspace.g, acadoWorkspace.A, acadoWorkspace.lb, acadoWorkspace.ub, acadoWorkspace.lbA, acadoWorkspace.ubA, acado_nWSR, acadoWorkspace.y); - - qp.getPrimalSolution( acadoWorkspace.x ); - qp.getDualSolution( acadoWorkspace.y ); - -#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1 - - if (retVal != SUCCESSFUL_RETURN) - return (int)retVal; - - retVal = acado_sa.getHessianInverse( &qp,var ); - -#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */ - - return (int)retVal; -} - -int acado_getNWSR( void ) -{ - return acado_nWSR; -} - -const char* acado_getErrorString( int error ) -{ - return MessageHandling::getErrorString( error ); -} diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_qpoases_interface.hpp b/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_qpoases_interface.hpp deleted file mode 100644 index cad2ee200..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_qpoases_interface.hpp +++ /dev/null @@ -1,65 +0,0 @@ -/* - * This file was auto-generated using the ACADO Toolkit. - * - * While ACADO Toolkit is free software released under the terms of - * the GNU Lesser General Public License (LGPL), the generated code - * as such remains the property of the user who used ACADO Toolkit - * to generate this code. In particular, user dependent data of the code - * do not inherit the GNU LGPL license. On the other hand, parts of the - * generated code that are a direct copy of source code from the - * ACADO Toolkit or the software tools it is based on, remain, as derived - * work, automatically covered by the LGPL license. - * - * ACADO Toolkit is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * - */ - - -#ifndef QPOASES_HEADER -#define QPOASES_HEADER - -#ifdef PC_DEBUG -#include -#endif /* PC_DEBUG */ - -#include - -#ifdef __cplusplus -#define EXTERNC extern "C" -#else -#define EXTERNC -#endif - -/* - * A set of options for qpOASES - */ - -/** Maximum number of optimization variables. */ -#define QPOASES_NVMAX 68 -/** Maximum number of constraints. */ -#define QPOASES_NCMAX 96 -/** Maximum number of working set recalculations. */ -#define QPOASES_NWSRMAX 50 -/** Print level for qpOASES. */ -#define QPOASES_PRINTLEVEL PL_NONE -/** The value of EPS */ -#define QPOASES_EPS 2.221e-16 -/** Internally used floating point type */ -typedef double real_t; - -/* - * Forward function declarations - */ - -/** A function that calls the QP solver */ -EXTERNC int acado_solve( void ); - -/** Get the number of active set changes */ -EXTERNC int acado_getNWSR( void ); - -/** Get the error string. */ -const char* acado_getErrorString( int error ); - -#endif /* QPOASES_HEADER */ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_solver.c b/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_solver.c deleted file mode 100644 index 4cd0613bf..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/acado_solver.c +++ /dev/null @@ -1,1932 +0,0 @@ -/* - * This file was auto-generated using the ACADO Toolkit. - * - * While ACADO Toolkit is free software released under the terms of - * the GNU Lesser General Public License (LGPL), the generated code - * as such remains the property of the user who used ACADO Toolkit - * to generate this code. In particular, user dependent data of the code - * do not inherit the GNU LGPL license. On the other hand, parts of the - * generated code that are a direct copy of source code from the - * ACADO Toolkit or the software tools it is based on, remain, as derived - * work, automatically covered by the LGPL license. - * - * ACADO Toolkit is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * - */ - - -#include "acado_common.h" - - - - -/******************************************************************************/ -/* */ -/* ACADO code generation */ -/* */ -/******************************************************************************/ - - -int acado_modelSimulation( ) -{ -int ret; - -int lRun1; -ret = 0; -for (lRun1 = 0; lRun1 < 32; ++lRun1) -{ -acadoWorkspace.state[0] = acadoVariables.x[lRun1 * 4]; -acadoWorkspace.state[1] = acadoVariables.x[lRun1 * 4 + 1]; -acadoWorkspace.state[2] = acadoVariables.x[lRun1 * 4 + 2]; -acadoWorkspace.state[3] = acadoVariables.x[lRun1 * 4 + 3]; - -acadoWorkspace.state[28] = acadoVariables.u[lRun1 * 2]; -acadoWorkspace.state[29] = acadoVariables.u[lRun1 * 2 + 1]; -acadoWorkspace.state[30] = acadoVariables.od[lRun1 * 2]; -acadoWorkspace.state[31] = acadoVariables.od[lRun1 * 2 + 1]; - -ret = acado_integrate(acadoWorkspace.state, 1, lRun1); - -acadoWorkspace.d[lRun1 * 4] = acadoWorkspace.state[0] - acadoVariables.x[lRun1 * 4 + 4]; -acadoWorkspace.d[lRun1 * 4 + 1] = acadoWorkspace.state[1] - acadoVariables.x[lRun1 * 4 + 5]; -acadoWorkspace.d[lRun1 * 4 + 2] = acadoWorkspace.state[2] - acadoVariables.x[lRun1 * 4 + 6]; -acadoWorkspace.d[lRun1 * 4 + 3] = acadoWorkspace.state[3] - acadoVariables.x[lRun1 * 4 + 7]; - -acadoWorkspace.evGx[lRun1 * 16] = acadoWorkspace.state[4]; -acadoWorkspace.evGx[lRun1 * 16 + 1] = acadoWorkspace.state[5]; -acadoWorkspace.evGx[lRun1 * 16 + 2] = acadoWorkspace.state[6]; -acadoWorkspace.evGx[lRun1 * 16 + 3] = acadoWorkspace.state[7]; -acadoWorkspace.evGx[lRun1 * 16 + 4] = acadoWorkspace.state[8]; -acadoWorkspace.evGx[lRun1 * 16 + 5] = acadoWorkspace.state[9]; -acadoWorkspace.evGx[lRun1 * 16 + 6] = acadoWorkspace.state[10]; -acadoWorkspace.evGx[lRun1 * 16 + 7] = acadoWorkspace.state[11]; -acadoWorkspace.evGx[lRun1 * 16 + 8] = acadoWorkspace.state[12]; -acadoWorkspace.evGx[lRun1 * 16 + 9] = acadoWorkspace.state[13]; -acadoWorkspace.evGx[lRun1 * 16 + 10] = acadoWorkspace.state[14]; -acadoWorkspace.evGx[lRun1 * 16 + 11] = acadoWorkspace.state[15]; -acadoWorkspace.evGx[lRun1 * 16 + 12] = acadoWorkspace.state[16]; -acadoWorkspace.evGx[lRun1 * 16 + 13] = acadoWorkspace.state[17]; -acadoWorkspace.evGx[lRun1 * 16 + 14] = acadoWorkspace.state[18]; -acadoWorkspace.evGx[lRun1 * 16 + 15] = acadoWorkspace.state[19]; - -acadoWorkspace.evGu[lRun1 * 8] = acadoWorkspace.state[20]; -acadoWorkspace.evGu[lRun1 * 8 + 1] = acadoWorkspace.state[21]; -acadoWorkspace.evGu[lRun1 * 8 + 2] = acadoWorkspace.state[22]; -acadoWorkspace.evGu[lRun1 * 8 + 3] = acadoWorkspace.state[23]; -acadoWorkspace.evGu[lRun1 * 8 + 4] = acadoWorkspace.state[24]; -acadoWorkspace.evGu[lRun1 * 8 + 5] = acadoWorkspace.state[25]; -acadoWorkspace.evGu[lRun1 * 8 + 6] = acadoWorkspace.state[26]; -acadoWorkspace.evGu[lRun1 * 8 + 7] = acadoWorkspace.state[27]; -} -return ret; -} - -void acado_evaluateLSQ(const real_t* in, real_t* out) -{ -const real_t* xd = in; -const real_t* u = in + 4; - -/* Compute outputs: */ -out[0] = xd[0]; -out[1] = xd[1]; -out[2] = xd[2]; -out[3] = u[0]; -out[4] = u[1]; -} - -void acado_evaluateLSQEndTerm(const real_t* in, real_t* out) -{ -const real_t* xd = in; - -/* Compute outputs: */ -out[0] = xd[0]; -out[1] = xd[1]; -out[2] = xd[2]; -} - -void acado_setObjQ1Q2( real_t* const tmpObjS, real_t* const tmpQ1, real_t* const tmpQ2 ) -{ -tmpQ2[0] = +tmpObjS[0]; -tmpQ2[1] = +tmpObjS[1]; -tmpQ2[2] = +tmpObjS[2]; -tmpQ2[3] = +tmpObjS[3]; -tmpQ2[4] = +tmpObjS[4]; -tmpQ2[5] = +tmpObjS[5]; -tmpQ2[6] = +tmpObjS[6]; -tmpQ2[7] = +tmpObjS[7]; -tmpQ2[8] = +tmpObjS[8]; -tmpQ2[9] = +tmpObjS[9]; -tmpQ2[10] = +tmpObjS[10]; -tmpQ2[11] = +tmpObjS[11]; -tmpQ2[12] = +tmpObjS[12]; -tmpQ2[13] = +tmpObjS[13]; -tmpQ2[14] = +tmpObjS[14]; -tmpQ2[15] = 0.0; -; -tmpQ2[16] = 0.0; -; -tmpQ2[17] = 0.0; -; -tmpQ2[18] = 0.0; -; -tmpQ2[19] = 0.0; -; -tmpQ1[0] = + tmpQ2[0]; -tmpQ1[1] = + tmpQ2[1]; -tmpQ1[2] = + tmpQ2[2]; -tmpQ1[3] = 0.0; -; -tmpQ1[4] = + tmpQ2[5]; -tmpQ1[5] = + tmpQ2[6]; -tmpQ1[6] = + tmpQ2[7]; -tmpQ1[7] = 0.0; -; -tmpQ1[8] = + tmpQ2[10]; -tmpQ1[9] = + tmpQ2[11]; -tmpQ1[10] = + tmpQ2[12]; -tmpQ1[11] = 0.0; -; -tmpQ1[12] = + tmpQ2[15]; -tmpQ1[13] = + tmpQ2[16]; -tmpQ1[14] = + tmpQ2[17]; -tmpQ1[15] = 0.0; -; -} - -void acado_setObjR1R2( real_t* const tmpObjS, real_t* const tmpR1, real_t* const tmpR2 ) -{ -tmpR2[0] = +tmpObjS[15]; -tmpR2[1] = +tmpObjS[16]; -tmpR2[2] = +tmpObjS[17]; -tmpR2[3] = +tmpObjS[18]; -tmpR2[4] = +tmpObjS[19]; -tmpR2[5] = +tmpObjS[20]; -tmpR2[6] = +tmpObjS[21]; -tmpR2[7] = +tmpObjS[22]; -tmpR2[8] = +tmpObjS[23]; -tmpR2[9] = +tmpObjS[24]; -tmpR1[0] = + tmpR2[3]; -tmpR1[1] = + tmpR2[4]; -tmpR1[2] = + tmpR2[8]; -tmpR1[3] = + tmpR2[9]; -} - -void acado_setObjQN1QN2( real_t* const tmpObjSEndTerm, real_t* const tmpQN1, real_t* const tmpQN2 ) -{ -tmpQN2[0] = +tmpObjSEndTerm[0]; -tmpQN2[1] = +tmpObjSEndTerm[1]; -tmpQN2[2] = +tmpObjSEndTerm[2]; -tmpQN2[3] = +tmpObjSEndTerm[3]; -tmpQN2[4] = +tmpObjSEndTerm[4]; -tmpQN2[5] = +tmpObjSEndTerm[5]; -tmpQN2[6] = +tmpObjSEndTerm[6]; -tmpQN2[7] = +tmpObjSEndTerm[7]; -tmpQN2[8] = +tmpObjSEndTerm[8]; -tmpQN2[9] = 0.0; -; -tmpQN2[10] = 0.0; -; -tmpQN2[11] = 0.0; -; -tmpQN1[0] = + tmpQN2[0]; -tmpQN1[1] = + tmpQN2[1]; -tmpQN1[2] = + tmpQN2[2]; -tmpQN1[3] = 0.0; -; -tmpQN1[4] = + tmpQN2[3]; -tmpQN1[5] = + tmpQN2[4]; -tmpQN1[6] = + tmpQN2[5]; -tmpQN1[7] = 0.0; -; -tmpQN1[8] = + tmpQN2[6]; -tmpQN1[9] = + tmpQN2[7]; -tmpQN1[10] = + tmpQN2[8]; -tmpQN1[11] = 0.0; -; -tmpQN1[12] = + tmpQN2[9]; -tmpQN1[13] = + tmpQN2[10]; -tmpQN1[14] = + tmpQN2[11]; -tmpQN1[15] = 0.0; -; -} - -void acado_evaluateObjective( ) -{ -int runObj; -for (runObj = 0; runObj < 32; ++runObj) -{ -acadoWorkspace.objValueIn[0] = acadoVariables.x[runObj * 4]; -acadoWorkspace.objValueIn[1] = acadoVariables.x[runObj * 4 + 1]; -acadoWorkspace.objValueIn[2] = acadoVariables.x[runObj * 4 + 2]; -acadoWorkspace.objValueIn[3] = acadoVariables.x[runObj * 4 + 3]; -acadoWorkspace.objValueIn[4] = acadoVariables.u[runObj * 2]; -acadoWorkspace.objValueIn[5] = acadoVariables.u[runObj * 2 + 1]; -acadoWorkspace.objValueIn[6] = acadoVariables.od[runObj * 2]; -acadoWorkspace.objValueIn[7] = acadoVariables.od[runObj * 2 + 1]; - -acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut ); -acadoWorkspace.Dy[runObj * 5] = acadoWorkspace.objValueOut[0]; -acadoWorkspace.Dy[runObj * 5 + 1] = acadoWorkspace.objValueOut[1]; -acadoWorkspace.Dy[runObj * 5 + 2] = acadoWorkspace.objValueOut[2]; -acadoWorkspace.Dy[runObj * 5 + 3] = acadoWorkspace.objValueOut[3]; -acadoWorkspace.Dy[runObj * 5 + 4] = acadoWorkspace.objValueOut[4]; - -acado_setObjQ1Q2( &(acadoVariables.W[ runObj * 25 ]), &(acadoWorkspace.Q1[ runObj * 16 ]), &(acadoWorkspace.Q2[ runObj * 20 ]) ); - -acado_setObjR1R2( &(acadoVariables.W[ runObj * 25 ]), &(acadoWorkspace.R1[ runObj * 4 ]), &(acadoWorkspace.R2[ runObj * 10 ]) ); - -} -acadoWorkspace.objValueIn[0] = acadoVariables.x[128]; -acadoWorkspace.objValueIn[1] = acadoVariables.x[129]; -acadoWorkspace.objValueIn[2] = acadoVariables.x[130]; -acadoWorkspace.objValueIn[3] = acadoVariables.x[131]; -acadoWorkspace.objValueIn[4] = acadoVariables.od[64]; -acadoWorkspace.objValueIn[5] = acadoVariables.od[65]; -acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut ); - -acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0]; -acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1]; -acadoWorkspace.DyN[2] = acadoWorkspace.objValueOut[2]; - -acado_setObjQN1QN2( acadoVariables.WN, acadoWorkspace.QN1, acadoWorkspace.QN2 ); - -} - -void acado_multGxd( real_t* const dOld, real_t* const Gx1, real_t* const dNew ) -{ -dNew[0] += + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2] + Gx1[3]*dOld[3]; -dNew[1] += + Gx1[4]*dOld[0] + Gx1[5]*dOld[1] + Gx1[6]*dOld[2] + Gx1[7]*dOld[3]; -dNew[2] += + Gx1[8]*dOld[0] + Gx1[9]*dOld[1] + Gx1[10]*dOld[2] + Gx1[11]*dOld[3]; -dNew[3] += + Gx1[12]*dOld[0] + Gx1[13]*dOld[1] + Gx1[14]*dOld[2] + Gx1[15]*dOld[3]; -} - -void acado_moveGxT( real_t* const Gx1, real_t* const Gx2 ) -{ -Gx2[0] = Gx1[0]; -Gx2[1] = Gx1[1]; -Gx2[2] = Gx1[2]; -Gx2[3] = Gx1[3]; -Gx2[4] = Gx1[4]; -Gx2[5] = Gx1[5]; -Gx2[6] = Gx1[6]; -Gx2[7] = Gx1[7]; -Gx2[8] = Gx1[8]; -Gx2[9] = Gx1[9]; -Gx2[10] = Gx1[10]; -Gx2[11] = Gx1[11]; -Gx2[12] = Gx1[12]; -Gx2[13] = Gx1[13]; -Gx2[14] = Gx1[14]; -Gx2[15] = Gx1[15]; -} - -void acado_multGxGx( real_t* const Gx1, real_t* const Gx2, real_t* const Gx3 ) -{ -Gx3[0] = + Gx1[0]*Gx2[0] + Gx1[1]*Gx2[4] + Gx1[2]*Gx2[8] + Gx1[3]*Gx2[12]; -Gx3[1] = + Gx1[0]*Gx2[1] + Gx1[1]*Gx2[5] + Gx1[2]*Gx2[9] + Gx1[3]*Gx2[13]; -Gx3[2] = + Gx1[0]*Gx2[2] + Gx1[1]*Gx2[6] + Gx1[2]*Gx2[10] + Gx1[3]*Gx2[14]; -Gx3[3] = + Gx1[0]*Gx2[3] + Gx1[1]*Gx2[7] + Gx1[2]*Gx2[11] + Gx1[3]*Gx2[15]; -Gx3[4] = + Gx1[4]*Gx2[0] + Gx1[5]*Gx2[4] + Gx1[6]*Gx2[8] + Gx1[7]*Gx2[12]; -Gx3[5] = + Gx1[4]*Gx2[1] + Gx1[5]*Gx2[5] + Gx1[6]*Gx2[9] + Gx1[7]*Gx2[13]; -Gx3[6] = + Gx1[4]*Gx2[2] + Gx1[5]*Gx2[6] + Gx1[6]*Gx2[10] + Gx1[7]*Gx2[14]; -Gx3[7] = + Gx1[4]*Gx2[3] + Gx1[5]*Gx2[7] + Gx1[6]*Gx2[11] + Gx1[7]*Gx2[15]; -Gx3[8] = + Gx1[8]*Gx2[0] + Gx1[9]*Gx2[4] + Gx1[10]*Gx2[8] + Gx1[11]*Gx2[12]; -Gx3[9] = + Gx1[8]*Gx2[1] + Gx1[9]*Gx2[5] + Gx1[10]*Gx2[9] + Gx1[11]*Gx2[13]; -Gx3[10] = + Gx1[8]*Gx2[2] + Gx1[9]*Gx2[6] + Gx1[10]*Gx2[10] + Gx1[11]*Gx2[14]; -Gx3[11] = + Gx1[8]*Gx2[3] + Gx1[9]*Gx2[7] + Gx1[10]*Gx2[11] + Gx1[11]*Gx2[15]; -Gx3[12] = + Gx1[12]*Gx2[0] + Gx1[13]*Gx2[4] + Gx1[14]*Gx2[8] + Gx1[15]*Gx2[12]; -Gx3[13] = + Gx1[12]*Gx2[1] + Gx1[13]*Gx2[5] + Gx1[14]*Gx2[9] + Gx1[15]*Gx2[13]; -Gx3[14] = + Gx1[12]*Gx2[2] + Gx1[13]*Gx2[6] + Gx1[14]*Gx2[10] + Gx1[15]*Gx2[14]; -Gx3[15] = + Gx1[12]*Gx2[3] + Gx1[13]*Gx2[7] + Gx1[14]*Gx2[11] + Gx1[15]*Gx2[15]; -} - -void acado_multGxGu( real_t* const Gx1, real_t* const Gu1, real_t* const Gu2 ) -{ -Gu2[0] = + Gx1[0]*Gu1[0] + Gx1[1]*Gu1[2] + Gx1[2]*Gu1[4] + Gx1[3]*Gu1[6]; -Gu2[1] = + Gx1[0]*Gu1[1] + Gx1[1]*Gu1[3] + Gx1[2]*Gu1[5] + Gx1[3]*Gu1[7]; -Gu2[2] = + Gx1[4]*Gu1[0] + Gx1[5]*Gu1[2] + Gx1[6]*Gu1[4] + Gx1[7]*Gu1[6]; -Gu2[3] = + Gx1[4]*Gu1[1] + Gx1[5]*Gu1[3] + Gx1[6]*Gu1[5] + Gx1[7]*Gu1[7]; -Gu2[4] = + Gx1[8]*Gu1[0] + Gx1[9]*Gu1[2] + Gx1[10]*Gu1[4] + Gx1[11]*Gu1[6]; -Gu2[5] = + Gx1[8]*Gu1[1] + Gx1[9]*Gu1[3] + Gx1[10]*Gu1[5] + Gx1[11]*Gu1[7]; -Gu2[6] = + Gx1[12]*Gu1[0] + Gx1[13]*Gu1[2] + Gx1[14]*Gu1[4] + Gx1[15]*Gu1[6]; -Gu2[7] = + Gx1[12]*Gu1[1] + Gx1[13]*Gu1[3] + Gx1[14]*Gu1[5] + Gx1[15]*Gu1[7]; -} - -void acado_moveGuE( real_t* const Gu1, real_t* const Gu2 ) -{ -Gu2[0] = Gu1[0]; -Gu2[1] = Gu1[1]; -Gu2[2] = Gu1[2]; -Gu2[3] = Gu1[3]; -Gu2[4] = Gu1[4]; -Gu2[5] = Gu1[5]; -Gu2[6] = Gu1[6]; -Gu2[7] = Gu1[7]; -} - -void acado_setBlockH11( int iRow, int iCol, real_t* const Gu1, real_t* const Gu2 ) -{ -acadoWorkspace.H[(iRow * 136 + 272) + (iCol * 2 + 4)] += + Gu1[0]*Gu2[0] + Gu1[2]*Gu2[2] + Gu1[4]*Gu2[4] + Gu1[6]*Gu2[6]; -acadoWorkspace.H[(iRow * 136 + 272) + (iCol * 2 + 5)] += + Gu1[0]*Gu2[1] + Gu1[2]*Gu2[3] + Gu1[4]*Gu2[5] + Gu1[6]*Gu2[7]; -acadoWorkspace.H[(iRow * 136 + 340) + (iCol * 2 + 4)] += + Gu1[1]*Gu2[0] + Gu1[3]*Gu2[2] + Gu1[5]*Gu2[4] + Gu1[7]*Gu2[6]; -acadoWorkspace.H[(iRow * 136 + 340) + (iCol * 2 + 5)] += + Gu1[1]*Gu2[1] + Gu1[3]*Gu2[3] + Gu1[5]*Gu2[5] + Gu1[7]*Gu2[7]; -} - -void acado_setBlockH11_R1( int iRow, int iCol, real_t* const R11 ) -{ -acadoWorkspace.H[(iRow * 136 + 272) + (iCol * 2 + 4)] = R11[0]; -acadoWorkspace.H[(iRow * 136 + 272) + (iCol * 2 + 5)] = R11[1]; -acadoWorkspace.H[(iRow * 136 + 340) + (iCol * 2 + 4)] = R11[2]; -acadoWorkspace.H[(iRow * 136 + 340) + (iCol * 2 + 5)] = R11[3]; -} - -void acado_zeroBlockH11( int iRow, int iCol ) -{ -acadoWorkspace.H[(iRow * 136 + 272) + (iCol * 2 + 4)] = 0.0000000000000000e+00; -acadoWorkspace.H[(iRow * 136 + 272) + (iCol * 2 + 5)] = 0.0000000000000000e+00; -acadoWorkspace.H[(iRow * 136 + 340) + (iCol * 2 + 4)] = 0.0000000000000000e+00; -acadoWorkspace.H[(iRow * 136 + 340) + (iCol * 2 + 5)] = 0.0000000000000000e+00; -} - -void acado_copyHTH( int iRow, int iCol ) -{ -acadoWorkspace.H[(iRow * 136 + 272) + (iCol * 2 + 4)] = acadoWorkspace.H[(iCol * 136 + 272) + (iRow * 2 + 4)]; -acadoWorkspace.H[(iRow * 136 + 272) + (iCol * 2 + 5)] = acadoWorkspace.H[(iCol * 136 + 340) + (iRow * 2 + 4)]; -acadoWorkspace.H[(iRow * 136 + 340) + (iCol * 2 + 4)] = acadoWorkspace.H[(iCol * 136 + 272) + (iRow * 2 + 5)]; -acadoWorkspace.H[(iRow * 136 + 340) + (iCol * 2 + 5)] = acadoWorkspace.H[(iCol * 136 + 340) + (iRow * 2 + 5)]; -} - -void acado_multQ1d( real_t* const Gx1, real_t* const dOld, real_t* const dNew ) -{ -dNew[0] = + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2] + Gx1[3]*dOld[3]; -dNew[1] = + Gx1[4]*dOld[0] + Gx1[5]*dOld[1] + Gx1[6]*dOld[2] + Gx1[7]*dOld[3]; -dNew[2] = + Gx1[8]*dOld[0] + Gx1[9]*dOld[1] + Gx1[10]*dOld[2] + Gx1[11]*dOld[3]; -dNew[3] = + Gx1[12]*dOld[0] + Gx1[13]*dOld[1] + Gx1[14]*dOld[2] + Gx1[15]*dOld[3]; -} - -void acado_multQN1d( real_t* const QN1, real_t* const dOld, real_t* const dNew ) -{ -dNew[0] = + acadoWorkspace.QN1[0]*dOld[0] + acadoWorkspace.QN1[1]*dOld[1] + acadoWorkspace.QN1[2]*dOld[2] + acadoWorkspace.QN1[3]*dOld[3]; -dNew[1] = + acadoWorkspace.QN1[4]*dOld[0] + acadoWorkspace.QN1[5]*dOld[1] + acadoWorkspace.QN1[6]*dOld[2] + acadoWorkspace.QN1[7]*dOld[3]; -dNew[2] = + acadoWorkspace.QN1[8]*dOld[0] + acadoWorkspace.QN1[9]*dOld[1] + acadoWorkspace.QN1[10]*dOld[2] + acadoWorkspace.QN1[11]*dOld[3]; -dNew[3] = + acadoWorkspace.QN1[12]*dOld[0] + acadoWorkspace.QN1[13]*dOld[1] + acadoWorkspace.QN1[14]*dOld[2] + acadoWorkspace.QN1[15]*dOld[3]; -} - -void acado_multRDy( real_t* const R2, real_t* const Dy1, real_t* const RDy1 ) -{ -RDy1[0] = + R2[0]*Dy1[0] + R2[1]*Dy1[1] + R2[2]*Dy1[2] + R2[3]*Dy1[3] + R2[4]*Dy1[4]; -RDy1[1] = + R2[5]*Dy1[0] + R2[6]*Dy1[1] + R2[7]*Dy1[2] + R2[8]*Dy1[3] + R2[9]*Dy1[4]; -} - -void acado_multQDy( real_t* const Q2, real_t* const Dy1, real_t* const QDy1 ) -{ -QDy1[0] = + Q2[0]*Dy1[0] + Q2[1]*Dy1[1] + Q2[2]*Dy1[2] + Q2[3]*Dy1[3] + Q2[4]*Dy1[4]; -QDy1[1] = + Q2[5]*Dy1[0] + Q2[6]*Dy1[1] + Q2[7]*Dy1[2] + Q2[8]*Dy1[3] + Q2[9]*Dy1[4]; -QDy1[2] = + Q2[10]*Dy1[0] + Q2[11]*Dy1[1] + Q2[12]*Dy1[2] + Q2[13]*Dy1[3] + Q2[14]*Dy1[4]; -QDy1[3] = + Q2[15]*Dy1[0] + Q2[16]*Dy1[1] + Q2[17]*Dy1[2] + Q2[18]*Dy1[3] + Q2[19]*Dy1[4]; -} - -void acado_multEQDy( real_t* const E1, real_t* const QDy1, real_t* const U1 ) -{ -U1[0] += + E1[0]*QDy1[0] + E1[2]*QDy1[1] + E1[4]*QDy1[2] + E1[6]*QDy1[3]; -U1[1] += + E1[1]*QDy1[0] + E1[3]*QDy1[1] + E1[5]*QDy1[2] + E1[7]*QDy1[3]; -} - -void acado_multQETGx( real_t* const E1, real_t* const Gx1, real_t* const H101 ) -{ -H101[0] += + E1[0]*Gx1[0] + E1[2]*Gx1[4] + E1[4]*Gx1[8] + E1[6]*Gx1[12]; -H101[1] += + E1[0]*Gx1[1] + E1[2]*Gx1[5] + E1[4]*Gx1[9] + E1[6]*Gx1[13]; -H101[2] += + E1[0]*Gx1[2] + E1[2]*Gx1[6] + E1[4]*Gx1[10] + E1[6]*Gx1[14]; -H101[3] += + E1[0]*Gx1[3] + E1[2]*Gx1[7] + E1[4]*Gx1[11] + E1[6]*Gx1[15]; -H101[4] += + E1[1]*Gx1[0] + E1[3]*Gx1[4] + E1[5]*Gx1[8] + E1[7]*Gx1[12]; -H101[5] += + E1[1]*Gx1[1] + E1[3]*Gx1[5] + E1[5]*Gx1[9] + E1[7]*Gx1[13]; -H101[6] += + E1[1]*Gx1[2] + E1[3]*Gx1[6] + E1[5]*Gx1[10] + E1[7]*Gx1[14]; -H101[7] += + E1[1]*Gx1[3] + E1[3]*Gx1[7] + E1[5]*Gx1[11] + E1[7]*Gx1[15]; -} - -void acado_zeroBlockH10( real_t* const H101 ) -{ -{ int lCopy; for (lCopy = 0; lCopy < 8; lCopy++) H101[ lCopy ] = 0; } -} - -void acado_multEDu( real_t* const E1, real_t* const U1, real_t* const dNew ) -{ -dNew[0] += + E1[0]*U1[0] + E1[1]*U1[1]; -dNew[1] += + E1[2]*U1[0] + E1[3]*U1[1]; -dNew[2] += + E1[4]*U1[0] + E1[5]*U1[1]; -dNew[3] += + E1[6]*U1[0] + E1[7]*U1[1]; -} - -void acado_zeroBlockH00( ) -{ -acadoWorkspace.H[0] = 0.0000000000000000e+00; -acadoWorkspace.H[1] = 0.0000000000000000e+00; -acadoWorkspace.H[2] = 0.0000000000000000e+00; -acadoWorkspace.H[3] = 0.0000000000000000e+00; -acadoWorkspace.H[68] = 0.0000000000000000e+00; -acadoWorkspace.H[69] = 0.0000000000000000e+00; -acadoWorkspace.H[70] = 0.0000000000000000e+00; -acadoWorkspace.H[71] = 0.0000000000000000e+00; -acadoWorkspace.H[136] = 0.0000000000000000e+00; -acadoWorkspace.H[137] = 0.0000000000000000e+00; -acadoWorkspace.H[138] = 0.0000000000000000e+00; -acadoWorkspace.H[139] = 0.0000000000000000e+00; -acadoWorkspace.H[204] = 0.0000000000000000e+00; -acadoWorkspace.H[205] = 0.0000000000000000e+00; -acadoWorkspace.H[206] = 0.0000000000000000e+00; -acadoWorkspace.H[207] = 0.0000000000000000e+00; -} - -void acado_multCTQC( real_t* const Gx1, real_t* const Gx2 ) -{ -acadoWorkspace.H[0] += + Gx1[0]*Gx2[0] + Gx1[4]*Gx2[4] + Gx1[8]*Gx2[8] + Gx1[12]*Gx2[12]; -acadoWorkspace.H[1] += + Gx1[0]*Gx2[1] + Gx1[4]*Gx2[5] + Gx1[8]*Gx2[9] + Gx1[12]*Gx2[13]; -acadoWorkspace.H[2] += + Gx1[0]*Gx2[2] + Gx1[4]*Gx2[6] + Gx1[8]*Gx2[10] + Gx1[12]*Gx2[14]; -acadoWorkspace.H[3] += + Gx1[0]*Gx2[3] + Gx1[4]*Gx2[7] + Gx1[8]*Gx2[11] + Gx1[12]*Gx2[15]; -acadoWorkspace.H[68] += + Gx1[1]*Gx2[0] + Gx1[5]*Gx2[4] + Gx1[9]*Gx2[8] + Gx1[13]*Gx2[12]; -acadoWorkspace.H[69] += + Gx1[1]*Gx2[1] + Gx1[5]*Gx2[5] + Gx1[9]*Gx2[9] + Gx1[13]*Gx2[13]; -acadoWorkspace.H[70] += + Gx1[1]*Gx2[2] + Gx1[5]*Gx2[6] + Gx1[9]*Gx2[10] + Gx1[13]*Gx2[14]; -acadoWorkspace.H[71] += + Gx1[1]*Gx2[3] + Gx1[5]*Gx2[7] + Gx1[9]*Gx2[11] + Gx1[13]*Gx2[15]; -acadoWorkspace.H[136] += + Gx1[2]*Gx2[0] + Gx1[6]*Gx2[4] + Gx1[10]*Gx2[8] + Gx1[14]*Gx2[12]; -acadoWorkspace.H[137] += + Gx1[2]*Gx2[1] + Gx1[6]*Gx2[5] + Gx1[10]*Gx2[9] + Gx1[14]*Gx2[13]; -acadoWorkspace.H[138] += + Gx1[2]*Gx2[2] + Gx1[6]*Gx2[6] + Gx1[10]*Gx2[10] + Gx1[14]*Gx2[14]; -acadoWorkspace.H[139] += + Gx1[2]*Gx2[3] + Gx1[6]*Gx2[7] + Gx1[10]*Gx2[11] + Gx1[14]*Gx2[15]; -acadoWorkspace.H[204] += + Gx1[3]*Gx2[0] + Gx1[7]*Gx2[4] + Gx1[11]*Gx2[8] + Gx1[15]*Gx2[12]; -acadoWorkspace.H[205] += + Gx1[3]*Gx2[1] + Gx1[7]*Gx2[5] + Gx1[11]*Gx2[9] + Gx1[15]*Gx2[13]; -acadoWorkspace.H[206] += + Gx1[3]*Gx2[2] + Gx1[7]*Gx2[6] + Gx1[11]*Gx2[10] + Gx1[15]*Gx2[14]; -acadoWorkspace.H[207] += + Gx1[3]*Gx2[3] + Gx1[7]*Gx2[7] + Gx1[11]*Gx2[11] + Gx1[15]*Gx2[15]; -} - -void acado_multHxC( real_t* const Hx, real_t* const Gx, real_t* const A01 ) -{ -A01[0] = + Hx[0]*Gx[0] + Hx[1]*Gx[4] + Hx[2]*Gx[8] + Hx[3]*Gx[12]; -A01[1] = + Hx[0]*Gx[1] + Hx[1]*Gx[5] + Hx[2]*Gx[9] + Hx[3]*Gx[13]; -A01[2] = + Hx[0]*Gx[2] + Hx[1]*Gx[6] + Hx[2]*Gx[10] + Hx[3]*Gx[14]; -A01[3] = + Hx[0]*Gx[3] + Hx[1]*Gx[7] + Hx[2]*Gx[11] + Hx[3]*Gx[15]; -A01[68] = + Hx[4]*Gx[0] + Hx[5]*Gx[4] + Hx[6]*Gx[8] + Hx[7]*Gx[12]; -A01[69] = + Hx[4]*Gx[1] + Hx[5]*Gx[5] + Hx[6]*Gx[9] + Hx[7]*Gx[13]; -A01[70] = + Hx[4]*Gx[2] + Hx[5]*Gx[6] + Hx[6]*Gx[10] + Hx[7]*Gx[14]; -A01[71] = + Hx[4]*Gx[3] + Hx[5]*Gx[7] + Hx[6]*Gx[11] + Hx[7]*Gx[15]; -} - -void acado_multHxE( real_t* const Hx, real_t* const E, int row, int col ) -{ -acadoWorkspace.A[(row * 136 + 2176) + (col * 2 + 4)] = + Hx[0]*E[0] + Hx[1]*E[2] + Hx[2]*E[4] + Hx[3]*E[6]; -acadoWorkspace.A[(row * 136 + 2176) + (col * 2 + 5)] = + Hx[0]*E[1] + Hx[1]*E[3] + Hx[2]*E[5] + Hx[3]*E[7]; -acadoWorkspace.A[(row * 136 + 2244) + (col * 2 + 4)] = + Hx[4]*E[0] + Hx[5]*E[2] + Hx[6]*E[4] + Hx[7]*E[6]; -acadoWorkspace.A[(row * 136 + 2244) + (col * 2 + 5)] = + Hx[4]*E[1] + Hx[5]*E[3] + Hx[6]*E[5] + Hx[7]*E[7]; -} - -void acado_macHxd( real_t* const Hx, real_t* const tmpd, real_t* const lbA, real_t* const ubA ) -{ -acadoWorkspace.evHxd[0] = + Hx[0]*tmpd[0] + Hx[1]*tmpd[1] + Hx[2]*tmpd[2] + Hx[3]*tmpd[3]; -acadoWorkspace.evHxd[1] = + Hx[4]*tmpd[0] + Hx[5]*tmpd[1] + Hx[6]*tmpd[2] + Hx[7]*tmpd[3]; -lbA[0] -= acadoWorkspace.evHxd[0]; -lbA[1] -= acadoWorkspace.evHxd[1]; -ubA[0] -= acadoWorkspace.evHxd[0]; -ubA[1] -= acadoWorkspace.evHxd[1]; -} - -void acado_evaluatePathConstraints(const real_t* in, real_t* out) -{ -const real_t* xd = in; -const real_t* u = in + 4; -const real_t* od = in + 6; -/* Vector of auxiliary variables; number of elements: 12. */ -real_t* a = acadoWorkspace.conAuxVar; - -/* Compute intermediate quantities: */ -a[0] = (real_t)(0.0000000000000000e+00); -a[1] = (real_t)(0.0000000000000000e+00); -a[2] = (real_t)(1.0000000000000000e+00); -a[3] = (real_t)(0.0000000000000000e+00); -a[4] = (real_t)(0.0000000000000000e+00); -a[5] = (real_t)(0.0000000000000000e+00); -a[6] = (real_t)(1.0000000000000000e+00); -a[7] = (real_t)(0.0000000000000000e+00); -a[8] = (real_t)(0.0000000000000000e+00); -a[9] = (real_t)(1.0000000000000000e+00); -a[10] = (real_t)(0.0000000000000000e+00); -a[11] = (real_t)(1.0000000000000000e+00); - -/* Compute outputs: */ -out[0] = ((xd[2]-od[0])+u[1]); -out[1] = ((xd[2]-od[1])+u[1]); -out[2] = a[0]; -out[3] = a[1]; -out[4] = a[2]; -out[5] = a[3]; -out[6] = a[4]; -out[7] = a[5]; -out[8] = a[6]; -out[9] = a[7]; -out[10] = a[8]; -out[11] = a[9]; -out[12] = a[10]; -out[13] = a[11]; -} - -void acado_macCTSlx( real_t* const C0, real_t* const g0 ) -{ -g0[0] += 0.0; -; -g0[1] += 0.0; -; -g0[2] += 0.0; -; -g0[3] += 0.0; -; -} - -void acado_macETSlu( real_t* const E0, real_t* const g1 ) -{ -g1[0] += 0.0; -; -g1[1] += 0.0; -; -} - -void acado_condensePrep( ) -{ -int lRun1; -int lRun2; -int lRun3; -int lRun4; -int lRun5; -/** Row vector of size: 32 */ -static const int xBoundIndices[ 32 ] = -{ 5, 9, 13, 17, 21, 25, 29, 33, 37, 41, 45, 49, 53, 57, 61, 65, 69, 73, 77, 81, 85, 89, 93, 97, 101, 105, 109, 113, 117, 121, 125, 129 }; -acado_moveGuE( acadoWorkspace.evGu, acadoWorkspace.E ); -for (lRun1 = 1; lRun1 < 32; ++lRun1) -{ -acado_moveGxT( &(acadoWorkspace.evGx[ lRun1 * 16 ]), acadoWorkspace.T ); -acado_multGxd( &(acadoWorkspace.d[ lRun1 * 4-4 ]), &(acadoWorkspace.evGx[ lRun1 * 16 ]), &(acadoWorkspace.d[ lRun1 * 4 ]) ); -acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ lRun1 * 16-16 ]), &(acadoWorkspace.evGx[ lRun1 * 16 ]) ); -for (lRun2 = 0; lRun2 < lRun1; ++lRun2) -{ -lRun4 = (((lRun1) * (lRun1-1)) / (2)) + (lRun2); -lRun3 = (((lRun1 + 1) * (lRun1)) / (2)) + (lRun2); -acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ lRun4 * 8 ]), &(acadoWorkspace.E[ lRun3 * 8 ]) ); -} -lRun3 = (((lRun1 + 1) * (lRun1)) / (2)) + (lRun2); -acado_moveGuE( &(acadoWorkspace.evGu[ lRun1 * 8 ]), &(acadoWorkspace.E[ lRun3 * 8 ]) ); -} - -acado_multGxGx( &(acadoWorkspace.Q1[ 16 ]), acadoWorkspace.evGx, acadoWorkspace.QGx ); -acado_multGxGx( &(acadoWorkspace.Q1[ 32 ]), &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.QGx[ 16 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 48 ]), &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.QGx[ 32 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.QGx[ 48 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.QGx[ 64 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.QGx[ 80 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.QGx[ 96 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.QGx[ 112 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.QGx[ 128 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.QGx[ 144 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.QGx[ 160 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.QGx[ 176 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.QGx[ 192 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.QGx[ 208 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.QGx[ 224 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.QGx[ 240 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.QGx[ 256 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.QGx[ 272 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.QGx[ 288 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 320 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.QGx[ 304 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 336 ]), &(acadoWorkspace.evGx[ 320 ]), &(acadoWorkspace.QGx[ 320 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 352 ]), &(acadoWorkspace.evGx[ 336 ]), &(acadoWorkspace.QGx[ 336 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 368 ]), &(acadoWorkspace.evGx[ 352 ]), &(acadoWorkspace.QGx[ 352 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 384 ]), &(acadoWorkspace.evGx[ 368 ]), &(acadoWorkspace.QGx[ 368 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 400 ]), &(acadoWorkspace.evGx[ 384 ]), &(acadoWorkspace.QGx[ 384 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 416 ]), &(acadoWorkspace.evGx[ 400 ]), &(acadoWorkspace.QGx[ 400 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.evGx[ 416 ]), &(acadoWorkspace.QGx[ 416 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 448 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.QGx[ 432 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 464 ]), &(acadoWorkspace.evGx[ 448 ]), &(acadoWorkspace.QGx[ 448 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 480 ]), &(acadoWorkspace.evGx[ 464 ]), &(acadoWorkspace.QGx[ 464 ]) ); -acado_multGxGx( &(acadoWorkspace.Q1[ 496 ]), &(acadoWorkspace.evGx[ 480 ]), &(acadoWorkspace.QGx[ 480 ]) ); -acado_multGxGx( acadoWorkspace.QN1, &(acadoWorkspace.evGx[ 496 ]), &(acadoWorkspace.QGx[ 496 ]) ); - -for (lRun1 = 0; lRun1 < 31; ++lRun1) -{ -for (lRun2 = 0; lRun2 < lRun1 + 1; ++lRun2) -{ -lRun3 = (((lRun1 + 1) * (lRun1)) / (2)) + (lRun2); -acado_multGxGu( &(acadoWorkspace.Q1[ lRun1 * 16 + 16 ]), &(acadoWorkspace.E[ lRun3 * 8 ]), &(acadoWorkspace.QE[ lRun3 * 8 ]) ); -} -} - -for (lRun2 = 0; lRun2 < lRun1 + 1; ++lRun2) -{ -lRun3 = (((lRun1 + 1) * (lRun1)) / (2)) + (lRun2); -acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ lRun3 * 8 ]), &(acadoWorkspace.QE[ lRun3 * 8 ]) ); -} - -acado_zeroBlockH00( ); -acado_multCTQC( acadoWorkspace.evGx, acadoWorkspace.QGx ); -acado_multCTQC( &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.QGx[ 16 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.QGx[ 32 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.QGx[ 48 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.QGx[ 64 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.QGx[ 80 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.QGx[ 96 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.QGx[ 112 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.QGx[ 128 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.QGx[ 144 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.QGx[ 160 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.QGx[ 176 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.QGx[ 192 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.QGx[ 208 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.QGx[ 224 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.QGx[ 240 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.QGx[ 256 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.QGx[ 272 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.QGx[ 288 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.QGx[ 304 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 320 ]), &(acadoWorkspace.QGx[ 320 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 336 ]), &(acadoWorkspace.QGx[ 336 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 352 ]), &(acadoWorkspace.QGx[ 352 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 368 ]), &(acadoWorkspace.QGx[ 368 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 384 ]), &(acadoWorkspace.QGx[ 384 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 400 ]), &(acadoWorkspace.QGx[ 400 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 416 ]), &(acadoWorkspace.QGx[ 416 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.QGx[ 432 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 448 ]), &(acadoWorkspace.QGx[ 448 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 464 ]), &(acadoWorkspace.QGx[ 464 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 480 ]), &(acadoWorkspace.QGx[ 480 ]) ); -acado_multCTQC( &(acadoWorkspace.evGx[ 496 ]), &(acadoWorkspace.QGx[ 496 ]) ); - -for (lRun1 = 0; lRun1 < 32; ++lRun1) -{ -acado_zeroBlockH10( &(acadoWorkspace.H10[ lRun1 * 8 ]) ); -for (lRun2 = lRun1; lRun2 < 32; ++lRun2) -{ -lRun3 = (((lRun2 + 1) * (lRun2)) / (2)) + (lRun1); -acado_multQETGx( &(acadoWorkspace.QE[ lRun3 * 8 ]), &(acadoWorkspace.evGx[ lRun2 * 16 ]), &(acadoWorkspace.H10[ lRun1 * 8 ]) ); -} -} - -for (lRun2 = 0;lRun2 < 4; ++lRun2) -for (lRun3 = 0;lRun3 < 64; ++lRun3) -acadoWorkspace.H[(lRun2 * 68) + (lRun3 + 4)] = acadoWorkspace.H10[(lRun3 * 4) + (lRun2)]; - -for (lRun1 = 0; lRun1 < 32; ++lRun1) -{ -acado_setBlockH11_R1( lRun1, lRun1, &(acadoWorkspace.R1[ lRun1 * 4 ]) ); -lRun2 = lRun1; -for (lRun3 = lRun1; lRun3 < 32; ++lRun3) -{ -lRun4 = (((lRun3 + 1) * (lRun3)) / (2)) + (lRun1); -lRun5 = (((lRun3 + 1) * (lRun3)) / (2)) + (lRun2); -acado_setBlockH11( lRun1, lRun2, &(acadoWorkspace.E[ lRun4 * 8 ]), &(acadoWorkspace.QE[ lRun5 * 8 ]) ); -} -for (lRun2 = lRun1 + 1; lRun2 < 32; ++lRun2) -{ -acado_zeroBlockH11( lRun1, lRun2 ); -for (lRun3 = lRun2; lRun3 < 32; ++lRun3) -{ -lRun4 = (((lRun3 + 1) * (lRun3)) / (2)) + (lRun1); -lRun5 = (((lRun3 + 1) * (lRun3)) / (2)) + (lRun2); -acado_setBlockH11( lRun1, lRun2, &(acadoWorkspace.E[ lRun4 * 8 ]), &(acadoWorkspace.QE[ lRun5 * 8 ]) ); -} -} -} - -for (lRun1 = 0; lRun1 < 32; ++lRun1) -{ -for (lRun2 = 0; lRun2 < lRun1; ++lRun2) -{ -acado_copyHTH( lRun1, lRun2 ); -} -} - -for (lRun2 = 0;lRun2 < 64; ++lRun2) -for (lRun3 = 0;lRun3 < 4; ++lRun3) -acadoWorkspace.H[(lRun2 * 68 + 272) + (lRun3)] = acadoWorkspace.H10[(lRun2 * 4) + (lRun3)]; - -acado_multQ1d( &(acadoWorkspace.Q1[ 16 ]), acadoWorkspace.d, acadoWorkspace.Qd ); -acado_multQ1d( &(acadoWorkspace.Q1[ 32 ]), &(acadoWorkspace.d[ 4 ]), &(acadoWorkspace.Qd[ 4 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 48 ]), &(acadoWorkspace.d[ 8 ]), &(acadoWorkspace.Qd[ 8 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 64 ]), &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.Qd[ 12 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 80 ]), &(acadoWorkspace.d[ 16 ]), &(acadoWorkspace.Qd[ 16 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 96 ]), &(acadoWorkspace.d[ 20 ]), &(acadoWorkspace.Qd[ 20 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 112 ]), &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.Qd[ 24 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 128 ]), &(acadoWorkspace.d[ 28 ]), &(acadoWorkspace.Qd[ 28 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.d[ 32 ]), &(acadoWorkspace.Qd[ 32 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 160 ]), &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.Qd[ 36 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 176 ]), &(acadoWorkspace.d[ 40 ]), &(acadoWorkspace.Qd[ 40 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 192 ]), &(acadoWorkspace.d[ 44 ]), &(acadoWorkspace.Qd[ 44 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 208 ]), &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.Qd[ 48 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 224 ]), &(acadoWorkspace.d[ 52 ]), &(acadoWorkspace.Qd[ 52 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 240 ]), &(acadoWorkspace.d[ 56 ]), &(acadoWorkspace.Qd[ 56 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 256 ]), &(acadoWorkspace.d[ 60 ]), &(acadoWorkspace.Qd[ 60 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 272 ]), &(acadoWorkspace.d[ 64 ]), &(acadoWorkspace.Qd[ 64 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.d[ 68 ]), &(acadoWorkspace.Qd[ 68 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 304 ]), &(acadoWorkspace.d[ 72 ]), &(acadoWorkspace.Qd[ 72 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 320 ]), &(acadoWorkspace.d[ 76 ]), &(acadoWorkspace.Qd[ 76 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 336 ]), &(acadoWorkspace.d[ 80 ]), &(acadoWorkspace.Qd[ 80 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 352 ]), &(acadoWorkspace.d[ 84 ]), &(acadoWorkspace.Qd[ 84 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 368 ]), &(acadoWorkspace.d[ 88 ]), &(acadoWorkspace.Qd[ 88 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 384 ]), &(acadoWorkspace.d[ 92 ]), &(acadoWorkspace.Qd[ 92 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 400 ]), &(acadoWorkspace.d[ 96 ]), &(acadoWorkspace.Qd[ 96 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 416 ]), &(acadoWorkspace.d[ 100 ]), &(acadoWorkspace.Qd[ 100 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.d[ 104 ]), &(acadoWorkspace.Qd[ 104 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 448 ]), &(acadoWorkspace.d[ 108 ]), &(acadoWorkspace.Qd[ 108 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 464 ]), &(acadoWorkspace.d[ 112 ]), &(acadoWorkspace.Qd[ 112 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 480 ]), &(acadoWorkspace.d[ 116 ]), &(acadoWorkspace.Qd[ 116 ]) ); -acado_multQ1d( &(acadoWorkspace.Q1[ 496 ]), &(acadoWorkspace.d[ 120 ]), &(acadoWorkspace.Qd[ 120 ]) ); -acado_multQN1d( acadoWorkspace.QN1, &(acadoWorkspace.d[ 124 ]), &(acadoWorkspace.Qd[ 124 ]) ); - -acado_macCTSlx( acadoWorkspace.evGx, acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 16 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 32 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 48 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 64 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 80 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 96 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 112 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 128 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 144 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 160 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 176 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 192 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 208 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 224 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 240 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 256 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 272 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 288 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 304 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 320 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 336 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 352 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 368 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 384 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 400 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 416 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 432 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 448 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 464 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 480 ]), acadoWorkspace.g ); -acado_macCTSlx( &(acadoWorkspace.evGx[ 496 ]), acadoWorkspace.g ); -for (lRun1 = 0; lRun1 < 32; ++lRun1) -{ -for (lRun2 = lRun1; lRun2 < 32; ++lRun2) -{ -lRun3 = (((lRun2 + 1) * (lRun2)) / (2)) + (lRun1); -acado_macETSlu( &(acadoWorkspace.QE[ lRun3 * 8 ]), &(acadoWorkspace.g[ lRun1 * 2 + 4 ]) ); -} -} -acadoWorkspace.lb[4] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[0]; -acadoWorkspace.lb[5] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[1]; -acadoWorkspace.lb[6] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[2]; -acadoWorkspace.lb[7] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[3]; -acadoWorkspace.lb[8] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[4]; -acadoWorkspace.lb[9] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[5]; -acadoWorkspace.lb[10] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[6]; -acadoWorkspace.lb[11] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[7]; -acadoWorkspace.lb[12] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[8]; -acadoWorkspace.lb[13] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[9]; -acadoWorkspace.lb[14] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[10]; -acadoWorkspace.lb[15] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[11]; -acadoWorkspace.lb[16] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[12]; -acadoWorkspace.lb[17] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[13]; -acadoWorkspace.lb[18] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[14]; -acadoWorkspace.lb[19] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[15]; -acadoWorkspace.lb[20] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[16]; -acadoWorkspace.lb[21] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[17]; -acadoWorkspace.lb[22] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[18]; -acadoWorkspace.lb[23] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[19]; -acadoWorkspace.lb[24] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[20]; -acadoWorkspace.lb[25] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[21]; -acadoWorkspace.lb[26] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[22]; -acadoWorkspace.lb[27] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[23]; -acadoWorkspace.lb[28] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[24]; -acadoWorkspace.lb[29] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[25]; -acadoWorkspace.lb[30] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[26]; -acadoWorkspace.lb[31] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[27]; -acadoWorkspace.lb[32] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[28]; -acadoWorkspace.lb[33] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[29]; -acadoWorkspace.lb[34] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[30]; -acadoWorkspace.lb[35] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[31]; -acadoWorkspace.lb[36] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[32]; -acadoWorkspace.lb[37] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[33]; -acadoWorkspace.lb[38] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[34]; -acadoWorkspace.lb[39] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[35]; -acadoWorkspace.lb[40] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[36]; -acadoWorkspace.lb[41] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[37]; -acadoWorkspace.lb[42] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[38]; -acadoWorkspace.lb[43] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[39]; -acadoWorkspace.lb[44] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[40]; -acadoWorkspace.lb[45] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[41]; -acadoWorkspace.lb[46] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[42]; -acadoWorkspace.lb[47] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[43]; -acadoWorkspace.lb[48] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[44]; -acadoWorkspace.lb[49] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[45]; -acadoWorkspace.lb[50] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[46]; -acadoWorkspace.lb[51] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[47]; -acadoWorkspace.lb[52] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[48]; -acadoWorkspace.lb[53] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[49]; -acadoWorkspace.lb[54] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[50]; -acadoWorkspace.lb[55] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[51]; -acadoWorkspace.lb[56] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[52]; -acadoWorkspace.lb[57] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[53]; -acadoWorkspace.lb[58] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[54]; -acadoWorkspace.lb[59] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[55]; -acadoWorkspace.lb[60] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[56]; -acadoWorkspace.lb[61] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[57]; -acadoWorkspace.lb[62] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[58]; -acadoWorkspace.lb[63] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[59]; -acadoWorkspace.lb[64] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[60]; -acadoWorkspace.lb[65] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[61]; -acadoWorkspace.lb[66] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[62]; -acadoWorkspace.lb[67] = (real_t)-1.0000000000000000e+12 - acadoVariables.u[63]; -acadoWorkspace.ub[4] = (real_t)1.0000000000000000e+12 - acadoVariables.u[0]; -acadoWorkspace.ub[5] = (real_t)1.0000000000000000e+12 - acadoVariables.u[1]; -acadoWorkspace.ub[6] = (real_t)1.0000000000000000e+12 - acadoVariables.u[2]; -acadoWorkspace.ub[7] = (real_t)1.0000000000000000e+12 - acadoVariables.u[3]; -acadoWorkspace.ub[8] = (real_t)1.0000000000000000e+12 - acadoVariables.u[4]; -acadoWorkspace.ub[9] = (real_t)1.0000000000000000e+12 - acadoVariables.u[5]; -acadoWorkspace.ub[10] = (real_t)1.0000000000000000e+12 - acadoVariables.u[6]; -acadoWorkspace.ub[11] = (real_t)1.0000000000000000e+12 - acadoVariables.u[7]; -acadoWorkspace.ub[12] = (real_t)1.0000000000000000e+12 - acadoVariables.u[8]; -acadoWorkspace.ub[13] = (real_t)1.0000000000000000e+12 - acadoVariables.u[9]; -acadoWorkspace.ub[14] = (real_t)1.0000000000000000e+12 - acadoVariables.u[10]; -acadoWorkspace.ub[15] = (real_t)1.0000000000000000e+12 - acadoVariables.u[11]; -acadoWorkspace.ub[16] = (real_t)1.0000000000000000e+12 - acadoVariables.u[12]; -acadoWorkspace.ub[17] = (real_t)1.0000000000000000e+12 - acadoVariables.u[13]; -acadoWorkspace.ub[18] = (real_t)1.0000000000000000e+12 - acadoVariables.u[14]; -acadoWorkspace.ub[19] = (real_t)1.0000000000000000e+12 - acadoVariables.u[15]; -acadoWorkspace.ub[20] = (real_t)1.0000000000000000e+12 - acadoVariables.u[16]; -acadoWorkspace.ub[21] = (real_t)1.0000000000000000e+12 - acadoVariables.u[17]; -acadoWorkspace.ub[22] = (real_t)1.0000000000000000e+12 - acadoVariables.u[18]; -acadoWorkspace.ub[23] = (real_t)1.0000000000000000e+12 - acadoVariables.u[19]; -acadoWorkspace.ub[24] = (real_t)1.0000000000000000e+12 - acadoVariables.u[20]; -acadoWorkspace.ub[25] = (real_t)1.0000000000000000e+12 - acadoVariables.u[21]; -acadoWorkspace.ub[26] = (real_t)1.0000000000000000e+12 - acadoVariables.u[22]; -acadoWorkspace.ub[27] = (real_t)1.0000000000000000e+12 - acadoVariables.u[23]; -acadoWorkspace.ub[28] = (real_t)1.0000000000000000e+12 - acadoVariables.u[24]; -acadoWorkspace.ub[29] = (real_t)1.0000000000000000e+12 - acadoVariables.u[25]; -acadoWorkspace.ub[30] = (real_t)1.0000000000000000e+12 - acadoVariables.u[26]; -acadoWorkspace.ub[31] = (real_t)1.0000000000000000e+12 - acadoVariables.u[27]; -acadoWorkspace.ub[32] = (real_t)1.0000000000000000e+12 - acadoVariables.u[28]; -acadoWorkspace.ub[33] = (real_t)1.0000000000000000e+12 - acadoVariables.u[29]; -acadoWorkspace.ub[34] = (real_t)1.0000000000000000e+12 - acadoVariables.u[30]; -acadoWorkspace.ub[35] = (real_t)1.0000000000000000e+12 - acadoVariables.u[31]; -acadoWorkspace.ub[36] = (real_t)1.0000000000000000e+12 - acadoVariables.u[32]; -acadoWorkspace.ub[37] = (real_t)1.0000000000000000e+12 - acadoVariables.u[33]; -acadoWorkspace.ub[38] = (real_t)1.0000000000000000e+12 - acadoVariables.u[34]; -acadoWorkspace.ub[39] = (real_t)1.0000000000000000e+12 - acadoVariables.u[35]; -acadoWorkspace.ub[40] = (real_t)1.0000000000000000e+12 - acadoVariables.u[36]; -acadoWorkspace.ub[41] = (real_t)1.0000000000000000e+12 - acadoVariables.u[37]; -acadoWorkspace.ub[42] = (real_t)1.0000000000000000e+12 - acadoVariables.u[38]; -acadoWorkspace.ub[43] = (real_t)1.0000000000000000e+12 - acadoVariables.u[39]; -acadoWorkspace.ub[44] = (real_t)1.0000000000000000e+12 - acadoVariables.u[40]; -acadoWorkspace.ub[45] = (real_t)1.0000000000000000e+12 - acadoVariables.u[41]; -acadoWorkspace.ub[46] = (real_t)1.0000000000000000e+12 - acadoVariables.u[42]; -acadoWorkspace.ub[47] = (real_t)1.0000000000000000e+12 - acadoVariables.u[43]; -acadoWorkspace.ub[48] = (real_t)1.0000000000000000e+12 - acadoVariables.u[44]; -acadoWorkspace.ub[49] = (real_t)1.0000000000000000e+12 - acadoVariables.u[45]; -acadoWorkspace.ub[50] = (real_t)1.0000000000000000e+12 - acadoVariables.u[46]; -acadoWorkspace.ub[51] = (real_t)1.0000000000000000e+12 - acadoVariables.u[47]; -acadoWorkspace.ub[52] = (real_t)1.0000000000000000e+12 - acadoVariables.u[48]; -acadoWorkspace.ub[53] = (real_t)1.0000000000000000e+12 - acadoVariables.u[49]; -acadoWorkspace.ub[54] = (real_t)1.0000000000000000e+12 - acadoVariables.u[50]; -acadoWorkspace.ub[55] = (real_t)1.0000000000000000e+12 - acadoVariables.u[51]; -acadoWorkspace.ub[56] = (real_t)1.0000000000000000e+12 - acadoVariables.u[52]; -acadoWorkspace.ub[57] = (real_t)1.0000000000000000e+12 - acadoVariables.u[53]; -acadoWorkspace.ub[58] = (real_t)1.0000000000000000e+12 - acadoVariables.u[54]; -acadoWorkspace.ub[59] = (real_t)1.0000000000000000e+12 - acadoVariables.u[55]; -acadoWorkspace.ub[60] = (real_t)1.0000000000000000e+12 - acadoVariables.u[56]; -acadoWorkspace.ub[61] = (real_t)1.0000000000000000e+12 - acadoVariables.u[57]; -acadoWorkspace.ub[62] = (real_t)1.0000000000000000e+12 - acadoVariables.u[58]; -acadoWorkspace.ub[63] = (real_t)1.0000000000000000e+12 - acadoVariables.u[59]; -acadoWorkspace.ub[64] = (real_t)1.0000000000000000e+12 - acadoVariables.u[60]; -acadoWorkspace.ub[65] = (real_t)1.0000000000000000e+12 - acadoVariables.u[61]; -acadoWorkspace.ub[66] = (real_t)1.0000000000000000e+12 - acadoVariables.u[62]; -acadoWorkspace.ub[67] = (real_t)1.0000000000000000e+12 - acadoVariables.u[63]; - -for (lRun1 = 0; lRun1 < 32; ++lRun1) -{ -lRun3 = xBoundIndices[ lRun1 ] - 4; -lRun4 = ((lRun3) / (4)) + (1); -acadoWorkspace.A[lRun1 * 68] = acadoWorkspace.evGx[lRun3 * 4]; -acadoWorkspace.A[lRun1 * 68 + 1] = acadoWorkspace.evGx[lRun3 * 4 + 1]; -acadoWorkspace.A[lRun1 * 68 + 2] = acadoWorkspace.evGx[lRun3 * 4 + 2]; -acadoWorkspace.A[lRun1 * 68 + 3] = acadoWorkspace.evGx[lRun3 * 4 + 3]; -for (lRun2 = 0; lRun2 < lRun4; ++lRun2) -{ -lRun5 = (((((lRun4) * (lRun4-1)) / (2)) + (lRun2)) * (4)) + ((lRun3) % (4)); -acadoWorkspace.A[(lRun1 * 68) + (lRun2 * 2 + 4)] = acadoWorkspace.E[lRun5 * 2]; -acadoWorkspace.A[(lRun1 * 68) + (lRun2 * 2 + 5)] = acadoWorkspace.E[lRun5 * 2 + 1]; -} -} - -for (lRun1 = 0; lRun1 < 32; ++lRun1) -{ -acadoWorkspace.conValueIn[0] = acadoVariables.x[lRun1 * 4]; -acadoWorkspace.conValueIn[1] = acadoVariables.x[lRun1 * 4 + 1]; -acadoWorkspace.conValueIn[2] = acadoVariables.x[lRun1 * 4 + 2]; -acadoWorkspace.conValueIn[3] = acadoVariables.x[lRun1 * 4 + 3]; -acadoWorkspace.conValueIn[4] = acadoVariables.u[lRun1 * 2]; -acadoWorkspace.conValueIn[5] = acadoVariables.u[lRun1 * 2 + 1]; -acadoWorkspace.conValueIn[6] = acadoVariables.od[lRun1 * 2]; -acadoWorkspace.conValueIn[7] = acadoVariables.od[lRun1 * 2 + 1]; -acado_evaluatePathConstraints( acadoWorkspace.conValueIn, acadoWorkspace.conValueOut ); -acadoWorkspace.evH[lRun1 * 2] = acadoWorkspace.conValueOut[0]; -acadoWorkspace.evH[lRun1 * 2 + 1] = acadoWorkspace.conValueOut[1]; - -acadoWorkspace.evHx[lRun1 * 8] = acadoWorkspace.conValueOut[2]; -acadoWorkspace.evHx[lRun1 * 8 + 1] = acadoWorkspace.conValueOut[3]; -acadoWorkspace.evHx[lRun1 * 8 + 2] = acadoWorkspace.conValueOut[4]; -acadoWorkspace.evHx[lRun1 * 8 + 3] = acadoWorkspace.conValueOut[5]; -acadoWorkspace.evHx[lRun1 * 8 + 4] = acadoWorkspace.conValueOut[6]; -acadoWorkspace.evHx[lRun1 * 8 + 5] = acadoWorkspace.conValueOut[7]; -acadoWorkspace.evHx[lRun1 * 8 + 6] = acadoWorkspace.conValueOut[8]; -acadoWorkspace.evHx[lRun1 * 8 + 7] = acadoWorkspace.conValueOut[9]; -acadoWorkspace.evHu[lRun1 * 4] = acadoWorkspace.conValueOut[10]; -acadoWorkspace.evHu[lRun1 * 4 + 1] = acadoWorkspace.conValueOut[11]; -acadoWorkspace.evHu[lRun1 * 4 + 2] = acadoWorkspace.conValueOut[12]; -acadoWorkspace.evHu[lRun1 * 4 + 3] = acadoWorkspace.conValueOut[13]; -} - -acadoWorkspace.A[2176] = acadoWorkspace.evHx[0]; -acadoWorkspace.A[2177] = acadoWorkspace.evHx[1]; -acadoWorkspace.A[2178] = acadoWorkspace.evHx[2]; -acadoWorkspace.A[2179] = acadoWorkspace.evHx[3]; -acadoWorkspace.A[2244] = acadoWorkspace.evHx[4]; -acadoWorkspace.A[2245] = acadoWorkspace.evHx[5]; -acadoWorkspace.A[2246] = acadoWorkspace.evHx[6]; -acadoWorkspace.A[2247] = acadoWorkspace.evHx[7]; - -acado_multHxC( &(acadoWorkspace.evHx[ 8 ]), acadoWorkspace.evGx, &(acadoWorkspace.A[ 2312 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 16 ]), &(acadoWorkspace.evGx[ 16 ]), &(acadoWorkspace.A[ 2448 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 24 ]), &(acadoWorkspace.evGx[ 32 ]), &(acadoWorkspace.A[ 2584 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 32 ]), &(acadoWorkspace.evGx[ 48 ]), &(acadoWorkspace.A[ 2720 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 40 ]), &(acadoWorkspace.evGx[ 64 ]), &(acadoWorkspace.A[ 2856 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 48 ]), &(acadoWorkspace.evGx[ 80 ]), &(acadoWorkspace.A[ 2992 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 56 ]), &(acadoWorkspace.evGx[ 96 ]), &(acadoWorkspace.A[ 3128 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 64 ]), &(acadoWorkspace.evGx[ 112 ]), &(acadoWorkspace.A[ 3264 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 72 ]), &(acadoWorkspace.evGx[ 128 ]), &(acadoWorkspace.A[ 3400 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 80 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.A[ 3536 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 88 ]), &(acadoWorkspace.evGx[ 160 ]), &(acadoWorkspace.A[ 3672 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 96 ]), &(acadoWorkspace.evGx[ 176 ]), &(acadoWorkspace.A[ 3808 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 104 ]), &(acadoWorkspace.evGx[ 192 ]), &(acadoWorkspace.A[ 3944 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 112 ]), &(acadoWorkspace.evGx[ 208 ]), &(acadoWorkspace.A[ 4080 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 120 ]), &(acadoWorkspace.evGx[ 224 ]), &(acadoWorkspace.A[ 4216 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 128 ]), &(acadoWorkspace.evGx[ 240 ]), &(acadoWorkspace.A[ 4352 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 136 ]), &(acadoWorkspace.evGx[ 256 ]), &(acadoWorkspace.A[ 4488 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 144 ]), &(acadoWorkspace.evGx[ 272 ]), &(acadoWorkspace.A[ 4624 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 152 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.A[ 4760 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 160 ]), &(acadoWorkspace.evGx[ 304 ]), &(acadoWorkspace.A[ 4896 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 168 ]), &(acadoWorkspace.evGx[ 320 ]), &(acadoWorkspace.A[ 5032 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 176 ]), &(acadoWorkspace.evGx[ 336 ]), &(acadoWorkspace.A[ 5168 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 184 ]), &(acadoWorkspace.evGx[ 352 ]), &(acadoWorkspace.A[ 5304 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 192 ]), &(acadoWorkspace.evGx[ 368 ]), &(acadoWorkspace.A[ 5440 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 200 ]), &(acadoWorkspace.evGx[ 384 ]), &(acadoWorkspace.A[ 5576 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 208 ]), &(acadoWorkspace.evGx[ 400 ]), &(acadoWorkspace.A[ 5712 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 216 ]), &(acadoWorkspace.evGx[ 416 ]), &(acadoWorkspace.A[ 5848 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 224 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.A[ 5984 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 232 ]), &(acadoWorkspace.evGx[ 448 ]), &(acadoWorkspace.A[ 6120 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 240 ]), &(acadoWorkspace.evGx[ 464 ]), &(acadoWorkspace.A[ 6256 ]) ); -acado_multHxC( &(acadoWorkspace.evHx[ 248 ]), &(acadoWorkspace.evGx[ 480 ]), &(acadoWorkspace.A[ 6392 ]) ); - -for (lRun2 = 0; lRun2 < 31; ++lRun2) -{ -for (lRun3 = 0; lRun3 < lRun2 + 1; ++lRun3) -{ -lRun4 = (((lRun2 + 1) * (lRun2)) / (2)) + (lRun3); -lRun5 = lRun2 + 1; -acado_multHxE( &(acadoWorkspace.evHx[ lRun2 * 8 + 8 ]), &(acadoWorkspace.E[ lRun4 * 8 ]), lRun5, lRun3 ); -} -} - -acadoWorkspace.A[2180] = acadoWorkspace.evHu[0]; -acadoWorkspace.A[2181] = acadoWorkspace.evHu[1]; -acadoWorkspace.A[2248] = acadoWorkspace.evHu[2]; -acadoWorkspace.A[2249] = acadoWorkspace.evHu[3]; -acadoWorkspace.A[2318] = acadoWorkspace.evHu[4]; -acadoWorkspace.A[2319] = acadoWorkspace.evHu[5]; -acadoWorkspace.A[2386] = acadoWorkspace.evHu[6]; -acadoWorkspace.A[2387] = acadoWorkspace.evHu[7]; -acadoWorkspace.A[2456] = acadoWorkspace.evHu[8]; -acadoWorkspace.A[2457] = acadoWorkspace.evHu[9]; -acadoWorkspace.A[2524] = acadoWorkspace.evHu[10]; -acadoWorkspace.A[2525] = acadoWorkspace.evHu[11]; -acadoWorkspace.A[2594] = acadoWorkspace.evHu[12]; -acadoWorkspace.A[2595] = acadoWorkspace.evHu[13]; -acadoWorkspace.A[2662] = acadoWorkspace.evHu[14]; -acadoWorkspace.A[2663] = acadoWorkspace.evHu[15]; -acadoWorkspace.A[2732] = acadoWorkspace.evHu[16]; -acadoWorkspace.A[2733] = acadoWorkspace.evHu[17]; -acadoWorkspace.A[2800] = acadoWorkspace.evHu[18]; -acadoWorkspace.A[2801] = acadoWorkspace.evHu[19]; -acadoWorkspace.A[2870] = acadoWorkspace.evHu[20]; -acadoWorkspace.A[2871] = acadoWorkspace.evHu[21]; -acadoWorkspace.A[2938] = acadoWorkspace.evHu[22]; -acadoWorkspace.A[2939] = acadoWorkspace.evHu[23]; -acadoWorkspace.A[3008] = acadoWorkspace.evHu[24]; -acadoWorkspace.A[3009] = acadoWorkspace.evHu[25]; -acadoWorkspace.A[3076] = acadoWorkspace.evHu[26]; -acadoWorkspace.A[3077] = acadoWorkspace.evHu[27]; -acadoWorkspace.A[3146] = acadoWorkspace.evHu[28]; -acadoWorkspace.A[3147] = acadoWorkspace.evHu[29]; -acadoWorkspace.A[3214] = acadoWorkspace.evHu[30]; -acadoWorkspace.A[3215] = acadoWorkspace.evHu[31]; -acadoWorkspace.A[3284] = acadoWorkspace.evHu[32]; -acadoWorkspace.A[3285] = acadoWorkspace.evHu[33]; -acadoWorkspace.A[3352] = acadoWorkspace.evHu[34]; -acadoWorkspace.A[3353] = acadoWorkspace.evHu[35]; -acadoWorkspace.A[3422] = acadoWorkspace.evHu[36]; -acadoWorkspace.A[3423] = acadoWorkspace.evHu[37]; -acadoWorkspace.A[3490] = acadoWorkspace.evHu[38]; -acadoWorkspace.A[3491] = acadoWorkspace.evHu[39]; -acadoWorkspace.A[3560] = acadoWorkspace.evHu[40]; -acadoWorkspace.A[3561] = acadoWorkspace.evHu[41]; -acadoWorkspace.A[3628] = acadoWorkspace.evHu[42]; -acadoWorkspace.A[3629] = acadoWorkspace.evHu[43]; -acadoWorkspace.A[3698] = acadoWorkspace.evHu[44]; -acadoWorkspace.A[3699] = acadoWorkspace.evHu[45]; -acadoWorkspace.A[3766] = acadoWorkspace.evHu[46]; -acadoWorkspace.A[3767] = acadoWorkspace.evHu[47]; -acadoWorkspace.A[3836] = acadoWorkspace.evHu[48]; -acadoWorkspace.A[3837] = acadoWorkspace.evHu[49]; -acadoWorkspace.A[3904] = acadoWorkspace.evHu[50]; -acadoWorkspace.A[3905] = acadoWorkspace.evHu[51]; -acadoWorkspace.A[3974] = acadoWorkspace.evHu[52]; -acadoWorkspace.A[3975] = acadoWorkspace.evHu[53]; -acadoWorkspace.A[4042] = acadoWorkspace.evHu[54]; -acadoWorkspace.A[4043] = acadoWorkspace.evHu[55]; -acadoWorkspace.A[4112] = acadoWorkspace.evHu[56]; -acadoWorkspace.A[4113] = acadoWorkspace.evHu[57]; -acadoWorkspace.A[4180] = acadoWorkspace.evHu[58]; -acadoWorkspace.A[4181] = acadoWorkspace.evHu[59]; -acadoWorkspace.A[4250] = acadoWorkspace.evHu[60]; -acadoWorkspace.A[4251] = acadoWorkspace.evHu[61]; -acadoWorkspace.A[4318] = acadoWorkspace.evHu[62]; -acadoWorkspace.A[4319] = acadoWorkspace.evHu[63]; -acadoWorkspace.A[4388] = acadoWorkspace.evHu[64]; -acadoWorkspace.A[4389] = acadoWorkspace.evHu[65]; -acadoWorkspace.A[4456] = acadoWorkspace.evHu[66]; -acadoWorkspace.A[4457] = acadoWorkspace.evHu[67]; -acadoWorkspace.A[4526] = acadoWorkspace.evHu[68]; -acadoWorkspace.A[4527] = acadoWorkspace.evHu[69]; -acadoWorkspace.A[4594] = acadoWorkspace.evHu[70]; -acadoWorkspace.A[4595] = acadoWorkspace.evHu[71]; -acadoWorkspace.A[4664] = acadoWorkspace.evHu[72]; -acadoWorkspace.A[4665] = acadoWorkspace.evHu[73]; -acadoWorkspace.A[4732] = acadoWorkspace.evHu[74]; -acadoWorkspace.A[4733] = acadoWorkspace.evHu[75]; -acadoWorkspace.A[4802] = acadoWorkspace.evHu[76]; -acadoWorkspace.A[4803] = acadoWorkspace.evHu[77]; -acadoWorkspace.A[4870] = acadoWorkspace.evHu[78]; -acadoWorkspace.A[4871] = acadoWorkspace.evHu[79]; -acadoWorkspace.A[4940] = acadoWorkspace.evHu[80]; -acadoWorkspace.A[4941] = acadoWorkspace.evHu[81]; -acadoWorkspace.A[5008] = acadoWorkspace.evHu[82]; -acadoWorkspace.A[5009] = acadoWorkspace.evHu[83]; -acadoWorkspace.A[5078] = acadoWorkspace.evHu[84]; -acadoWorkspace.A[5079] = acadoWorkspace.evHu[85]; -acadoWorkspace.A[5146] = acadoWorkspace.evHu[86]; -acadoWorkspace.A[5147] = acadoWorkspace.evHu[87]; -acadoWorkspace.A[5216] = acadoWorkspace.evHu[88]; -acadoWorkspace.A[5217] = acadoWorkspace.evHu[89]; -acadoWorkspace.A[5284] = acadoWorkspace.evHu[90]; -acadoWorkspace.A[5285] = acadoWorkspace.evHu[91]; -acadoWorkspace.A[5354] = acadoWorkspace.evHu[92]; -acadoWorkspace.A[5355] = acadoWorkspace.evHu[93]; -acadoWorkspace.A[5422] = acadoWorkspace.evHu[94]; -acadoWorkspace.A[5423] = acadoWorkspace.evHu[95]; -acadoWorkspace.A[5492] = acadoWorkspace.evHu[96]; -acadoWorkspace.A[5493] = acadoWorkspace.evHu[97]; -acadoWorkspace.A[5560] = acadoWorkspace.evHu[98]; -acadoWorkspace.A[5561] = acadoWorkspace.evHu[99]; -acadoWorkspace.A[5630] = acadoWorkspace.evHu[100]; -acadoWorkspace.A[5631] = acadoWorkspace.evHu[101]; -acadoWorkspace.A[5698] = acadoWorkspace.evHu[102]; -acadoWorkspace.A[5699] = acadoWorkspace.evHu[103]; -acadoWorkspace.A[5768] = acadoWorkspace.evHu[104]; -acadoWorkspace.A[5769] = acadoWorkspace.evHu[105]; -acadoWorkspace.A[5836] = acadoWorkspace.evHu[106]; -acadoWorkspace.A[5837] = acadoWorkspace.evHu[107]; -acadoWorkspace.A[5906] = acadoWorkspace.evHu[108]; -acadoWorkspace.A[5907] = acadoWorkspace.evHu[109]; -acadoWorkspace.A[5974] = acadoWorkspace.evHu[110]; -acadoWorkspace.A[5975] = acadoWorkspace.evHu[111]; -acadoWorkspace.A[6044] = acadoWorkspace.evHu[112]; -acadoWorkspace.A[6045] = acadoWorkspace.evHu[113]; -acadoWorkspace.A[6112] = acadoWorkspace.evHu[114]; -acadoWorkspace.A[6113] = acadoWorkspace.evHu[115]; -acadoWorkspace.A[6182] = acadoWorkspace.evHu[116]; -acadoWorkspace.A[6183] = acadoWorkspace.evHu[117]; -acadoWorkspace.A[6250] = acadoWorkspace.evHu[118]; -acadoWorkspace.A[6251] = acadoWorkspace.evHu[119]; -acadoWorkspace.A[6320] = acadoWorkspace.evHu[120]; -acadoWorkspace.A[6321] = acadoWorkspace.evHu[121]; -acadoWorkspace.A[6388] = acadoWorkspace.evHu[122]; -acadoWorkspace.A[6389] = acadoWorkspace.evHu[123]; -acadoWorkspace.A[6458] = acadoWorkspace.evHu[124]; -acadoWorkspace.A[6459] = acadoWorkspace.evHu[125]; -acadoWorkspace.A[6526] = acadoWorkspace.evHu[126]; -acadoWorkspace.A[6527] = acadoWorkspace.evHu[127]; -acadoWorkspace.lbA[32] = - acadoWorkspace.evH[0]; -acadoWorkspace.lbA[33] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[1]; -acadoWorkspace.lbA[34] = - acadoWorkspace.evH[2]; -acadoWorkspace.lbA[35] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[3]; -acadoWorkspace.lbA[36] = - acadoWorkspace.evH[4]; -acadoWorkspace.lbA[37] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[5]; -acadoWorkspace.lbA[38] = - acadoWorkspace.evH[6]; -acadoWorkspace.lbA[39] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[7]; -acadoWorkspace.lbA[40] = - acadoWorkspace.evH[8]; -acadoWorkspace.lbA[41] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[9]; -acadoWorkspace.lbA[42] = - acadoWorkspace.evH[10]; -acadoWorkspace.lbA[43] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[11]; -acadoWorkspace.lbA[44] = - acadoWorkspace.evH[12]; -acadoWorkspace.lbA[45] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[13]; -acadoWorkspace.lbA[46] = - acadoWorkspace.evH[14]; -acadoWorkspace.lbA[47] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[15]; -acadoWorkspace.lbA[48] = - acadoWorkspace.evH[16]; -acadoWorkspace.lbA[49] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[17]; -acadoWorkspace.lbA[50] = - acadoWorkspace.evH[18]; -acadoWorkspace.lbA[51] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[19]; -acadoWorkspace.lbA[52] = - acadoWorkspace.evH[20]; -acadoWorkspace.lbA[53] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[21]; -acadoWorkspace.lbA[54] = - acadoWorkspace.evH[22]; -acadoWorkspace.lbA[55] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[23]; -acadoWorkspace.lbA[56] = - acadoWorkspace.evH[24]; -acadoWorkspace.lbA[57] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[25]; -acadoWorkspace.lbA[58] = - acadoWorkspace.evH[26]; -acadoWorkspace.lbA[59] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[27]; -acadoWorkspace.lbA[60] = - acadoWorkspace.evH[28]; -acadoWorkspace.lbA[61] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[29]; -acadoWorkspace.lbA[62] = - acadoWorkspace.evH[30]; -acadoWorkspace.lbA[63] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[31]; -acadoWorkspace.lbA[64] = - acadoWorkspace.evH[32]; -acadoWorkspace.lbA[65] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[33]; -acadoWorkspace.lbA[66] = - acadoWorkspace.evH[34]; -acadoWorkspace.lbA[67] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[35]; -acadoWorkspace.lbA[68] = - acadoWorkspace.evH[36]; -acadoWorkspace.lbA[69] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[37]; -acadoWorkspace.lbA[70] = - acadoWorkspace.evH[38]; -acadoWorkspace.lbA[71] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[39]; -acadoWorkspace.lbA[72] = - acadoWorkspace.evH[40]; -acadoWorkspace.lbA[73] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[41]; -acadoWorkspace.lbA[74] = - acadoWorkspace.evH[42]; -acadoWorkspace.lbA[75] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[43]; -acadoWorkspace.lbA[76] = - acadoWorkspace.evH[44]; -acadoWorkspace.lbA[77] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[45]; -acadoWorkspace.lbA[78] = - acadoWorkspace.evH[46]; -acadoWorkspace.lbA[79] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[47]; -acadoWorkspace.lbA[80] = - acadoWorkspace.evH[48]; -acadoWorkspace.lbA[81] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[49]; -acadoWorkspace.lbA[82] = - acadoWorkspace.evH[50]; -acadoWorkspace.lbA[83] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[51]; -acadoWorkspace.lbA[84] = - acadoWorkspace.evH[52]; -acadoWorkspace.lbA[85] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[53]; -acadoWorkspace.lbA[86] = - acadoWorkspace.evH[54]; -acadoWorkspace.lbA[87] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[55]; -acadoWorkspace.lbA[88] = - acadoWorkspace.evH[56]; -acadoWorkspace.lbA[89] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[57]; -acadoWorkspace.lbA[90] = - acadoWorkspace.evH[58]; -acadoWorkspace.lbA[91] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[59]; -acadoWorkspace.lbA[92] = - acadoWorkspace.evH[60]; -acadoWorkspace.lbA[93] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[61]; -acadoWorkspace.lbA[94] = - acadoWorkspace.evH[62]; -acadoWorkspace.lbA[95] = (real_t)-1.0000000000000000e+12 - acadoWorkspace.evH[63]; - -acadoWorkspace.ubA[32] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[0]; -acadoWorkspace.ubA[33] = - acadoWorkspace.evH[1]; -acadoWorkspace.ubA[34] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[2]; -acadoWorkspace.ubA[35] = - acadoWorkspace.evH[3]; -acadoWorkspace.ubA[36] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[4]; -acadoWorkspace.ubA[37] = - acadoWorkspace.evH[5]; -acadoWorkspace.ubA[38] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[6]; -acadoWorkspace.ubA[39] = - acadoWorkspace.evH[7]; -acadoWorkspace.ubA[40] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[8]; -acadoWorkspace.ubA[41] = - acadoWorkspace.evH[9]; -acadoWorkspace.ubA[42] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[10]; -acadoWorkspace.ubA[43] = - acadoWorkspace.evH[11]; -acadoWorkspace.ubA[44] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[12]; -acadoWorkspace.ubA[45] = - acadoWorkspace.evH[13]; -acadoWorkspace.ubA[46] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[14]; -acadoWorkspace.ubA[47] = - acadoWorkspace.evH[15]; -acadoWorkspace.ubA[48] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[16]; -acadoWorkspace.ubA[49] = - acadoWorkspace.evH[17]; -acadoWorkspace.ubA[50] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[18]; -acadoWorkspace.ubA[51] = - acadoWorkspace.evH[19]; -acadoWorkspace.ubA[52] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[20]; -acadoWorkspace.ubA[53] = - acadoWorkspace.evH[21]; -acadoWorkspace.ubA[54] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[22]; -acadoWorkspace.ubA[55] = - acadoWorkspace.evH[23]; -acadoWorkspace.ubA[56] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[24]; -acadoWorkspace.ubA[57] = - acadoWorkspace.evH[25]; -acadoWorkspace.ubA[58] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[26]; -acadoWorkspace.ubA[59] = - acadoWorkspace.evH[27]; -acadoWorkspace.ubA[60] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[28]; -acadoWorkspace.ubA[61] = - acadoWorkspace.evH[29]; -acadoWorkspace.ubA[62] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[30]; -acadoWorkspace.ubA[63] = - acadoWorkspace.evH[31]; -acadoWorkspace.ubA[64] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[32]; -acadoWorkspace.ubA[65] = - acadoWorkspace.evH[33]; -acadoWorkspace.ubA[66] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[34]; -acadoWorkspace.ubA[67] = - acadoWorkspace.evH[35]; -acadoWorkspace.ubA[68] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[36]; -acadoWorkspace.ubA[69] = - acadoWorkspace.evH[37]; -acadoWorkspace.ubA[70] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[38]; -acadoWorkspace.ubA[71] = - acadoWorkspace.evH[39]; -acadoWorkspace.ubA[72] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[40]; -acadoWorkspace.ubA[73] = - acadoWorkspace.evH[41]; -acadoWorkspace.ubA[74] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[42]; -acadoWorkspace.ubA[75] = - acadoWorkspace.evH[43]; -acadoWorkspace.ubA[76] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[44]; -acadoWorkspace.ubA[77] = - acadoWorkspace.evH[45]; -acadoWorkspace.ubA[78] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[46]; -acadoWorkspace.ubA[79] = - acadoWorkspace.evH[47]; -acadoWorkspace.ubA[80] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[48]; -acadoWorkspace.ubA[81] = - acadoWorkspace.evH[49]; -acadoWorkspace.ubA[82] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[50]; -acadoWorkspace.ubA[83] = - acadoWorkspace.evH[51]; -acadoWorkspace.ubA[84] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[52]; -acadoWorkspace.ubA[85] = - acadoWorkspace.evH[53]; -acadoWorkspace.ubA[86] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[54]; -acadoWorkspace.ubA[87] = - acadoWorkspace.evH[55]; -acadoWorkspace.ubA[88] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[56]; -acadoWorkspace.ubA[89] = - acadoWorkspace.evH[57]; -acadoWorkspace.ubA[90] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[58]; -acadoWorkspace.ubA[91] = - acadoWorkspace.evH[59]; -acadoWorkspace.ubA[92] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[60]; -acadoWorkspace.ubA[93] = - acadoWorkspace.evH[61]; -acadoWorkspace.ubA[94] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[62]; -acadoWorkspace.ubA[95] = - acadoWorkspace.evH[63]; - -acado_macHxd( &(acadoWorkspace.evHx[ 8 ]), acadoWorkspace.d, &(acadoWorkspace.lbA[ 34 ]), &(acadoWorkspace.ubA[ 34 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 16 ]), &(acadoWorkspace.d[ 4 ]), &(acadoWorkspace.lbA[ 36 ]), &(acadoWorkspace.ubA[ 36 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 24 ]), &(acadoWorkspace.d[ 8 ]), &(acadoWorkspace.lbA[ 38 ]), &(acadoWorkspace.ubA[ 38 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 32 ]), &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.lbA[ 40 ]), &(acadoWorkspace.ubA[ 40 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 40 ]), &(acadoWorkspace.d[ 16 ]), &(acadoWorkspace.lbA[ 42 ]), &(acadoWorkspace.ubA[ 42 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 48 ]), &(acadoWorkspace.d[ 20 ]), &(acadoWorkspace.lbA[ 44 ]), &(acadoWorkspace.ubA[ 44 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 56 ]), &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.lbA[ 46 ]), &(acadoWorkspace.ubA[ 46 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 64 ]), &(acadoWorkspace.d[ 28 ]), &(acadoWorkspace.lbA[ 48 ]), &(acadoWorkspace.ubA[ 48 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 72 ]), &(acadoWorkspace.d[ 32 ]), &(acadoWorkspace.lbA[ 50 ]), &(acadoWorkspace.ubA[ 50 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 80 ]), &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.lbA[ 52 ]), &(acadoWorkspace.ubA[ 52 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 88 ]), &(acadoWorkspace.d[ 40 ]), &(acadoWorkspace.lbA[ 54 ]), &(acadoWorkspace.ubA[ 54 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 96 ]), &(acadoWorkspace.d[ 44 ]), &(acadoWorkspace.lbA[ 56 ]), &(acadoWorkspace.ubA[ 56 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 104 ]), &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.lbA[ 58 ]), &(acadoWorkspace.ubA[ 58 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 112 ]), &(acadoWorkspace.d[ 52 ]), &(acadoWorkspace.lbA[ 60 ]), &(acadoWorkspace.ubA[ 60 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 120 ]), &(acadoWorkspace.d[ 56 ]), &(acadoWorkspace.lbA[ 62 ]), &(acadoWorkspace.ubA[ 62 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 128 ]), &(acadoWorkspace.d[ 60 ]), &(acadoWorkspace.lbA[ 64 ]), &(acadoWorkspace.ubA[ 64 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 136 ]), &(acadoWorkspace.d[ 64 ]), &(acadoWorkspace.lbA[ 66 ]), &(acadoWorkspace.ubA[ 66 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 144 ]), &(acadoWorkspace.d[ 68 ]), &(acadoWorkspace.lbA[ 68 ]), &(acadoWorkspace.ubA[ 68 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 152 ]), &(acadoWorkspace.d[ 72 ]), &(acadoWorkspace.lbA[ 70 ]), &(acadoWorkspace.ubA[ 70 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 160 ]), &(acadoWorkspace.d[ 76 ]), &(acadoWorkspace.lbA[ 72 ]), &(acadoWorkspace.ubA[ 72 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 168 ]), &(acadoWorkspace.d[ 80 ]), &(acadoWorkspace.lbA[ 74 ]), &(acadoWorkspace.ubA[ 74 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 176 ]), &(acadoWorkspace.d[ 84 ]), &(acadoWorkspace.lbA[ 76 ]), &(acadoWorkspace.ubA[ 76 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 184 ]), &(acadoWorkspace.d[ 88 ]), &(acadoWorkspace.lbA[ 78 ]), &(acadoWorkspace.ubA[ 78 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 192 ]), &(acadoWorkspace.d[ 92 ]), &(acadoWorkspace.lbA[ 80 ]), &(acadoWorkspace.ubA[ 80 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 200 ]), &(acadoWorkspace.d[ 96 ]), &(acadoWorkspace.lbA[ 82 ]), &(acadoWorkspace.ubA[ 82 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 208 ]), &(acadoWorkspace.d[ 100 ]), &(acadoWorkspace.lbA[ 84 ]), &(acadoWorkspace.ubA[ 84 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 216 ]), &(acadoWorkspace.d[ 104 ]), &(acadoWorkspace.lbA[ 86 ]), &(acadoWorkspace.ubA[ 86 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 224 ]), &(acadoWorkspace.d[ 108 ]), &(acadoWorkspace.lbA[ 88 ]), &(acadoWorkspace.ubA[ 88 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 232 ]), &(acadoWorkspace.d[ 112 ]), &(acadoWorkspace.lbA[ 90 ]), &(acadoWorkspace.ubA[ 90 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 240 ]), &(acadoWorkspace.d[ 116 ]), &(acadoWorkspace.lbA[ 92 ]), &(acadoWorkspace.ubA[ 92 ]) ); -acado_macHxd( &(acadoWorkspace.evHx[ 248 ]), &(acadoWorkspace.d[ 120 ]), &(acadoWorkspace.lbA[ 94 ]), &(acadoWorkspace.ubA[ 94 ]) ); - -} - -void acado_condenseFdb( ) -{ -int lRun1; -int lRun2; -int lRun3; -real_t tmp; - -acadoWorkspace.Dx0[0] = acadoVariables.x0[0] - acadoVariables.x[0]; -acadoWorkspace.Dx0[1] = acadoVariables.x0[1] - acadoVariables.x[1]; -acadoWorkspace.Dx0[2] = acadoVariables.x0[2] - acadoVariables.x[2]; -acadoWorkspace.Dx0[3] = acadoVariables.x0[3] - acadoVariables.x[3]; - -for (lRun2 = 0; lRun2 < 160; ++lRun2) -acadoWorkspace.Dy[lRun2] -= acadoVariables.y[lRun2]; - -acadoWorkspace.DyN[0] -= acadoVariables.yN[0]; -acadoWorkspace.DyN[1] -= acadoVariables.yN[1]; -acadoWorkspace.DyN[2] -= acadoVariables.yN[2]; - -acado_multRDy( acadoWorkspace.R2, acadoWorkspace.Dy, &(acadoWorkspace.g[ 4 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 10 ]), &(acadoWorkspace.Dy[ 5 ]), &(acadoWorkspace.g[ 6 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 20 ]), &(acadoWorkspace.Dy[ 10 ]), &(acadoWorkspace.g[ 8 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 30 ]), &(acadoWorkspace.Dy[ 15 ]), &(acadoWorkspace.g[ 10 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 40 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.g[ 12 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 50 ]), &(acadoWorkspace.Dy[ 25 ]), &(acadoWorkspace.g[ 14 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 60 ]), &(acadoWorkspace.Dy[ 30 ]), &(acadoWorkspace.g[ 16 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 70 ]), &(acadoWorkspace.Dy[ 35 ]), &(acadoWorkspace.g[ 18 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 80 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.g[ 20 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 90 ]), &(acadoWorkspace.Dy[ 45 ]), &(acadoWorkspace.g[ 22 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 100 ]), &(acadoWorkspace.Dy[ 50 ]), &(acadoWorkspace.g[ 24 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 110 ]), &(acadoWorkspace.Dy[ 55 ]), &(acadoWorkspace.g[ 26 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 120 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.g[ 28 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 130 ]), &(acadoWorkspace.Dy[ 65 ]), &(acadoWorkspace.g[ 30 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 140 ]), &(acadoWorkspace.Dy[ 70 ]), &(acadoWorkspace.g[ 32 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 150 ]), &(acadoWorkspace.Dy[ 75 ]), &(acadoWorkspace.g[ 34 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 160 ]), &(acadoWorkspace.Dy[ 80 ]), &(acadoWorkspace.g[ 36 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 170 ]), &(acadoWorkspace.Dy[ 85 ]), &(acadoWorkspace.g[ 38 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 180 ]), &(acadoWorkspace.Dy[ 90 ]), &(acadoWorkspace.g[ 40 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 190 ]), &(acadoWorkspace.Dy[ 95 ]), &(acadoWorkspace.g[ 42 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 200 ]), &(acadoWorkspace.Dy[ 100 ]), &(acadoWorkspace.g[ 44 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 210 ]), &(acadoWorkspace.Dy[ 105 ]), &(acadoWorkspace.g[ 46 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 220 ]), &(acadoWorkspace.Dy[ 110 ]), &(acadoWorkspace.g[ 48 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 230 ]), &(acadoWorkspace.Dy[ 115 ]), &(acadoWorkspace.g[ 50 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 240 ]), &(acadoWorkspace.Dy[ 120 ]), &(acadoWorkspace.g[ 52 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 250 ]), &(acadoWorkspace.Dy[ 125 ]), &(acadoWorkspace.g[ 54 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 260 ]), &(acadoWorkspace.Dy[ 130 ]), &(acadoWorkspace.g[ 56 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 270 ]), &(acadoWorkspace.Dy[ 135 ]), &(acadoWorkspace.g[ 58 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 280 ]), &(acadoWorkspace.Dy[ 140 ]), &(acadoWorkspace.g[ 60 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 290 ]), &(acadoWorkspace.Dy[ 145 ]), &(acadoWorkspace.g[ 62 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 300 ]), &(acadoWorkspace.Dy[ 150 ]), &(acadoWorkspace.g[ 64 ]) ); -acado_multRDy( &(acadoWorkspace.R2[ 310 ]), &(acadoWorkspace.Dy[ 155 ]), &(acadoWorkspace.g[ 66 ]) ); - -acado_multQDy( acadoWorkspace.Q2, acadoWorkspace.Dy, acadoWorkspace.QDy ); -acado_multQDy( &(acadoWorkspace.Q2[ 20 ]), &(acadoWorkspace.Dy[ 5 ]), &(acadoWorkspace.QDy[ 4 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 40 ]), &(acadoWorkspace.Dy[ 10 ]), &(acadoWorkspace.QDy[ 8 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 60 ]), &(acadoWorkspace.Dy[ 15 ]), &(acadoWorkspace.QDy[ 12 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 80 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.QDy[ 16 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 100 ]), &(acadoWorkspace.Dy[ 25 ]), &(acadoWorkspace.QDy[ 20 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 120 ]), &(acadoWorkspace.Dy[ 30 ]), &(acadoWorkspace.QDy[ 24 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 140 ]), &(acadoWorkspace.Dy[ 35 ]), &(acadoWorkspace.QDy[ 28 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 160 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.QDy[ 32 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 180 ]), &(acadoWorkspace.Dy[ 45 ]), &(acadoWorkspace.QDy[ 36 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 200 ]), &(acadoWorkspace.Dy[ 50 ]), &(acadoWorkspace.QDy[ 40 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 220 ]), &(acadoWorkspace.Dy[ 55 ]), &(acadoWorkspace.QDy[ 44 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 240 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.QDy[ 48 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 260 ]), &(acadoWorkspace.Dy[ 65 ]), &(acadoWorkspace.QDy[ 52 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 280 ]), &(acadoWorkspace.Dy[ 70 ]), &(acadoWorkspace.QDy[ 56 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 300 ]), &(acadoWorkspace.Dy[ 75 ]), &(acadoWorkspace.QDy[ 60 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 320 ]), &(acadoWorkspace.Dy[ 80 ]), &(acadoWorkspace.QDy[ 64 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 340 ]), &(acadoWorkspace.Dy[ 85 ]), &(acadoWorkspace.QDy[ 68 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 360 ]), &(acadoWorkspace.Dy[ 90 ]), &(acadoWorkspace.QDy[ 72 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 380 ]), &(acadoWorkspace.Dy[ 95 ]), &(acadoWorkspace.QDy[ 76 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 400 ]), &(acadoWorkspace.Dy[ 100 ]), &(acadoWorkspace.QDy[ 80 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 420 ]), &(acadoWorkspace.Dy[ 105 ]), &(acadoWorkspace.QDy[ 84 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 440 ]), &(acadoWorkspace.Dy[ 110 ]), &(acadoWorkspace.QDy[ 88 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 460 ]), &(acadoWorkspace.Dy[ 115 ]), &(acadoWorkspace.QDy[ 92 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 480 ]), &(acadoWorkspace.Dy[ 120 ]), &(acadoWorkspace.QDy[ 96 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 500 ]), &(acadoWorkspace.Dy[ 125 ]), &(acadoWorkspace.QDy[ 100 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 520 ]), &(acadoWorkspace.Dy[ 130 ]), &(acadoWorkspace.QDy[ 104 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 540 ]), &(acadoWorkspace.Dy[ 135 ]), &(acadoWorkspace.QDy[ 108 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 560 ]), &(acadoWorkspace.Dy[ 140 ]), &(acadoWorkspace.QDy[ 112 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 580 ]), &(acadoWorkspace.Dy[ 145 ]), &(acadoWorkspace.QDy[ 116 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 600 ]), &(acadoWorkspace.Dy[ 150 ]), &(acadoWorkspace.QDy[ 120 ]) ); -acado_multQDy( &(acadoWorkspace.Q2[ 620 ]), &(acadoWorkspace.Dy[ 155 ]), &(acadoWorkspace.QDy[ 124 ]) ); - -acadoWorkspace.QDy[128] = + acadoWorkspace.QN2[0]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[1]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[2]*acadoWorkspace.DyN[2]; -acadoWorkspace.QDy[129] = + acadoWorkspace.QN2[3]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[4]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[5]*acadoWorkspace.DyN[2]; -acadoWorkspace.QDy[130] = + acadoWorkspace.QN2[6]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[7]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[8]*acadoWorkspace.DyN[2]; -acadoWorkspace.QDy[131] = + acadoWorkspace.QN2[9]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[10]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[11]*acadoWorkspace.DyN[2]; - -for (lRun2 = 0; lRun2 < 128; ++lRun2) -acadoWorkspace.QDy[lRun2 + 4] += acadoWorkspace.Qd[lRun2]; - - -acadoWorkspace.g[0] = + acadoWorkspace.evGx[0]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[4]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[8]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[12]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[16]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[20]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[24]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[28]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[32]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[36]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[40]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[44]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[48]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[52]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[56]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[60]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[64]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[68]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[72]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[76]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[80]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[84]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[88]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[92]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[96]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[100]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[104]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[108]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[112]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[116]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[120]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[124]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[128]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[132]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[136]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[140]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[144]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[148]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[152]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[156]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[160]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[164]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[168]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[172]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[176]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[180]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[184]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[188]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[192]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[196]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[200]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[204]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[208]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[212]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[216]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[220]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[224]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[228]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[232]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[236]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[240]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[244]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[248]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[252]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[256]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[260]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[264]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[268]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[272]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[276]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[280]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[284]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[288]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[292]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[296]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[300]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[304]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[308]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[312]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[316]*acadoWorkspace.QDy[83] + acadoWorkspace.evGx[320]*acadoWorkspace.QDy[84] + acadoWorkspace.evGx[324]*acadoWorkspace.QDy[85] + acadoWorkspace.evGx[328]*acadoWorkspace.QDy[86] + acadoWorkspace.evGx[332]*acadoWorkspace.QDy[87] + acadoWorkspace.evGx[336]*acadoWorkspace.QDy[88] + acadoWorkspace.evGx[340]*acadoWorkspace.QDy[89] + acadoWorkspace.evGx[344]*acadoWorkspace.QDy[90] + acadoWorkspace.evGx[348]*acadoWorkspace.QDy[91] + acadoWorkspace.evGx[352]*acadoWorkspace.QDy[92] + acadoWorkspace.evGx[356]*acadoWorkspace.QDy[93] + acadoWorkspace.evGx[360]*acadoWorkspace.QDy[94] + acadoWorkspace.evGx[364]*acadoWorkspace.QDy[95] + acadoWorkspace.evGx[368]*acadoWorkspace.QDy[96] + acadoWorkspace.evGx[372]*acadoWorkspace.QDy[97] + acadoWorkspace.evGx[376]*acadoWorkspace.QDy[98] + acadoWorkspace.evGx[380]*acadoWorkspace.QDy[99] + acadoWorkspace.evGx[384]*acadoWorkspace.QDy[100] + acadoWorkspace.evGx[388]*acadoWorkspace.QDy[101] + acadoWorkspace.evGx[392]*acadoWorkspace.QDy[102] + acadoWorkspace.evGx[396]*acadoWorkspace.QDy[103] + acadoWorkspace.evGx[400]*acadoWorkspace.QDy[104] + acadoWorkspace.evGx[404]*acadoWorkspace.QDy[105] + acadoWorkspace.evGx[408]*acadoWorkspace.QDy[106] + acadoWorkspace.evGx[412]*acadoWorkspace.QDy[107] + acadoWorkspace.evGx[416]*acadoWorkspace.QDy[108] + acadoWorkspace.evGx[420]*acadoWorkspace.QDy[109] + acadoWorkspace.evGx[424]*acadoWorkspace.QDy[110] + acadoWorkspace.evGx[428]*acadoWorkspace.QDy[111] + acadoWorkspace.evGx[432]*acadoWorkspace.QDy[112] + acadoWorkspace.evGx[436]*acadoWorkspace.QDy[113] + acadoWorkspace.evGx[440]*acadoWorkspace.QDy[114] + acadoWorkspace.evGx[444]*acadoWorkspace.QDy[115] + acadoWorkspace.evGx[448]*acadoWorkspace.QDy[116] + acadoWorkspace.evGx[452]*acadoWorkspace.QDy[117] + acadoWorkspace.evGx[456]*acadoWorkspace.QDy[118] + acadoWorkspace.evGx[460]*acadoWorkspace.QDy[119] + acadoWorkspace.evGx[464]*acadoWorkspace.QDy[120] + acadoWorkspace.evGx[468]*acadoWorkspace.QDy[121] + acadoWorkspace.evGx[472]*acadoWorkspace.QDy[122] + acadoWorkspace.evGx[476]*acadoWorkspace.QDy[123] + acadoWorkspace.evGx[480]*acadoWorkspace.QDy[124] + acadoWorkspace.evGx[484]*acadoWorkspace.QDy[125] + acadoWorkspace.evGx[488]*acadoWorkspace.QDy[126] + acadoWorkspace.evGx[492]*acadoWorkspace.QDy[127] + acadoWorkspace.evGx[496]*acadoWorkspace.QDy[128] + acadoWorkspace.evGx[500]*acadoWorkspace.QDy[129] + acadoWorkspace.evGx[504]*acadoWorkspace.QDy[130] + acadoWorkspace.evGx[508]*acadoWorkspace.QDy[131]; -acadoWorkspace.g[1] = + acadoWorkspace.evGx[1]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[5]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[9]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[13]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[17]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[21]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[25]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[29]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[33]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[37]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[41]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[45]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[49]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[53]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[57]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[61]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[65]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[69]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[73]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[77]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[81]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[85]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[89]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[93]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[97]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[101]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[105]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[109]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[113]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[117]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[121]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[125]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[129]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[133]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[137]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[141]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[145]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[149]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[153]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[157]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[161]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[165]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[169]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[173]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[177]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[181]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[185]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[189]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[193]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[197]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[201]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[205]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[209]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[213]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[217]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[221]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[225]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[229]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[233]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[237]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[241]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[245]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[249]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[253]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[257]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[261]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[265]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[269]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[273]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[277]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[281]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[285]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[289]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[293]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[297]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[301]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[305]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[309]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[313]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[317]*acadoWorkspace.QDy[83] + acadoWorkspace.evGx[321]*acadoWorkspace.QDy[84] + acadoWorkspace.evGx[325]*acadoWorkspace.QDy[85] + acadoWorkspace.evGx[329]*acadoWorkspace.QDy[86] + acadoWorkspace.evGx[333]*acadoWorkspace.QDy[87] + acadoWorkspace.evGx[337]*acadoWorkspace.QDy[88] + acadoWorkspace.evGx[341]*acadoWorkspace.QDy[89] + acadoWorkspace.evGx[345]*acadoWorkspace.QDy[90] + acadoWorkspace.evGx[349]*acadoWorkspace.QDy[91] + acadoWorkspace.evGx[353]*acadoWorkspace.QDy[92] + acadoWorkspace.evGx[357]*acadoWorkspace.QDy[93] + acadoWorkspace.evGx[361]*acadoWorkspace.QDy[94] + acadoWorkspace.evGx[365]*acadoWorkspace.QDy[95] + acadoWorkspace.evGx[369]*acadoWorkspace.QDy[96] + acadoWorkspace.evGx[373]*acadoWorkspace.QDy[97] + acadoWorkspace.evGx[377]*acadoWorkspace.QDy[98] + acadoWorkspace.evGx[381]*acadoWorkspace.QDy[99] + acadoWorkspace.evGx[385]*acadoWorkspace.QDy[100] + acadoWorkspace.evGx[389]*acadoWorkspace.QDy[101] + acadoWorkspace.evGx[393]*acadoWorkspace.QDy[102] + acadoWorkspace.evGx[397]*acadoWorkspace.QDy[103] + acadoWorkspace.evGx[401]*acadoWorkspace.QDy[104] + acadoWorkspace.evGx[405]*acadoWorkspace.QDy[105] + acadoWorkspace.evGx[409]*acadoWorkspace.QDy[106] + acadoWorkspace.evGx[413]*acadoWorkspace.QDy[107] + acadoWorkspace.evGx[417]*acadoWorkspace.QDy[108] + acadoWorkspace.evGx[421]*acadoWorkspace.QDy[109] + acadoWorkspace.evGx[425]*acadoWorkspace.QDy[110] + acadoWorkspace.evGx[429]*acadoWorkspace.QDy[111] + acadoWorkspace.evGx[433]*acadoWorkspace.QDy[112] + acadoWorkspace.evGx[437]*acadoWorkspace.QDy[113] + acadoWorkspace.evGx[441]*acadoWorkspace.QDy[114] + acadoWorkspace.evGx[445]*acadoWorkspace.QDy[115] + acadoWorkspace.evGx[449]*acadoWorkspace.QDy[116] + acadoWorkspace.evGx[453]*acadoWorkspace.QDy[117] + acadoWorkspace.evGx[457]*acadoWorkspace.QDy[118] + acadoWorkspace.evGx[461]*acadoWorkspace.QDy[119] + acadoWorkspace.evGx[465]*acadoWorkspace.QDy[120] + acadoWorkspace.evGx[469]*acadoWorkspace.QDy[121] + acadoWorkspace.evGx[473]*acadoWorkspace.QDy[122] + acadoWorkspace.evGx[477]*acadoWorkspace.QDy[123] + acadoWorkspace.evGx[481]*acadoWorkspace.QDy[124] + acadoWorkspace.evGx[485]*acadoWorkspace.QDy[125] + acadoWorkspace.evGx[489]*acadoWorkspace.QDy[126] + acadoWorkspace.evGx[493]*acadoWorkspace.QDy[127] + acadoWorkspace.evGx[497]*acadoWorkspace.QDy[128] + acadoWorkspace.evGx[501]*acadoWorkspace.QDy[129] + acadoWorkspace.evGx[505]*acadoWorkspace.QDy[130] + acadoWorkspace.evGx[509]*acadoWorkspace.QDy[131]; -acadoWorkspace.g[2] = + acadoWorkspace.evGx[2]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[6]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[10]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[14]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[18]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[22]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[26]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[30]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[34]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[38]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[42]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[46]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[50]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[54]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[58]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[62]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[66]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[70]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[74]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[78]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[82]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[86]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[90]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[94]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[98]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[102]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[106]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[110]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[114]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[118]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[122]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[126]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[130]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[134]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[138]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[142]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[146]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[150]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[154]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[158]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[162]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[166]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[170]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[174]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[178]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[182]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[186]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[190]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[194]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[198]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[202]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[206]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[210]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[214]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[218]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[222]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[226]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[230]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[234]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[238]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[242]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[246]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[250]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[254]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[258]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[262]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[266]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[270]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[274]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[278]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[282]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[286]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[290]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[294]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[298]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[302]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[306]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[310]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[314]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[318]*acadoWorkspace.QDy[83] + acadoWorkspace.evGx[322]*acadoWorkspace.QDy[84] + acadoWorkspace.evGx[326]*acadoWorkspace.QDy[85] + acadoWorkspace.evGx[330]*acadoWorkspace.QDy[86] + acadoWorkspace.evGx[334]*acadoWorkspace.QDy[87] + acadoWorkspace.evGx[338]*acadoWorkspace.QDy[88] + acadoWorkspace.evGx[342]*acadoWorkspace.QDy[89] + acadoWorkspace.evGx[346]*acadoWorkspace.QDy[90] + acadoWorkspace.evGx[350]*acadoWorkspace.QDy[91] + acadoWorkspace.evGx[354]*acadoWorkspace.QDy[92] + acadoWorkspace.evGx[358]*acadoWorkspace.QDy[93] + acadoWorkspace.evGx[362]*acadoWorkspace.QDy[94] + acadoWorkspace.evGx[366]*acadoWorkspace.QDy[95] + acadoWorkspace.evGx[370]*acadoWorkspace.QDy[96] + acadoWorkspace.evGx[374]*acadoWorkspace.QDy[97] + acadoWorkspace.evGx[378]*acadoWorkspace.QDy[98] + acadoWorkspace.evGx[382]*acadoWorkspace.QDy[99] + acadoWorkspace.evGx[386]*acadoWorkspace.QDy[100] + acadoWorkspace.evGx[390]*acadoWorkspace.QDy[101] + acadoWorkspace.evGx[394]*acadoWorkspace.QDy[102] + acadoWorkspace.evGx[398]*acadoWorkspace.QDy[103] + acadoWorkspace.evGx[402]*acadoWorkspace.QDy[104] + acadoWorkspace.evGx[406]*acadoWorkspace.QDy[105] + acadoWorkspace.evGx[410]*acadoWorkspace.QDy[106] + acadoWorkspace.evGx[414]*acadoWorkspace.QDy[107] + acadoWorkspace.evGx[418]*acadoWorkspace.QDy[108] + acadoWorkspace.evGx[422]*acadoWorkspace.QDy[109] + acadoWorkspace.evGx[426]*acadoWorkspace.QDy[110] + acadoWorkspace.evGx[430]*acadoWorkspace.QDy[111] + acadoWorkspace.evGx[434]*acadoWorkspace.QDy[112] + acadoWorkspace.evGx[438]*acadoWorkspace.QDy[113] + acadoWorkspace.evGx[442]*acadoWorkspace.QDy[114] + acadoWorkspace.evGx[446]*acadoWorkspace.QDy[115] + acadoWorkspace.evGx[450]*acadoWorkspace.QDy[116] + acadoWorkspace.evGx[454]*acadoWorkspace.QDy[117] + acadoWorkspace.evGx[458]*acadoWorkspace.QDy[118] + acadoWorkspace.evGx[462]*acadoWorkspace.QDy[119] + acadoWorkspace.evGx[466]*acadoWorkspace.QDy[120] + acadoWorkspace.evGx[470]*acadoWorkspace.QDy[121] + acadoWorkspace.evGx[474]*acadoWorkspace.QDy[122] + acadoWorkspace.evGx[478]*acadoWorkspace.QDy[123] + acadoWorkspace.evGx[482]*acadoWorkspace.QDy[124] + acadoWorkspace.evGx[486]*acadoWorkspace.QDy[125] + acadoWorkspace.evGx[490]*acadoWorkspace.QDy[126] + acadoWorkspace.evGx[494]*acadoWorkspace.QDy[127] + acadoWorkspace.evGx[498]*acadoWorkspace.QDy[128] + acadoWorkspace.evGx[502]*acadoWorkspace.QDy[129] + acadoWorkspace.evGx[506]*acadoWorkspace.QDy[130] + acadoWorkspace.evGx[510]*acadoWorkspace.QDy[131]; -acadoWorkspace.g[3] = + acadoWorkspace.evGx[3]*acadoWorkspace.QDy[4] + acadoWorkspace.evGx[7]*acadoWorkspace.QDy[5] + acadoWorkspace.evGx[11]*acadoWorkspace.QDy[6] + acadoWorkspace.evGx[15]*acadoWorkspace.QDy[7] + acadoWorkspace.evGx[19]*acadoWorkspace.QDy[8] + acadoWorkspace.evGx[23]*acadoWorkspace.QDy[9] + acadoWorkspace.evGx[27]*acadoWorkspace.QDy[10] + acadoWorkspace.evGx[31]*acadoWorkspace.QDy[11] + acadoWorkspace.evGx[35]*acadoWorkspace.QDy[12] + acadoWorkspace.evGx[39]*acadoWorkspace.QDy[13] + acadoWorkspace.evGx[43]*acadoWorkspace.QDy[14] + acadoWorkspace.evGx[47]*acadoWorkspace.QDy[15] + acadoWorkspace.evGx[51]*acadoWorkspace.QDy[16] + acadoWorkspace.evGx[55]*acadoWorkspace.QDy[17] + acadoWorkspace.evGx[59]*acadoWorkspace.QDy[18] + acadoWorkspace.evGx[63]*acadoWorkspace.QDy[19] + acadoWorkspace.evGx[67]*acadoWorkspace.QDy[20] + acadoWorkspace.evGx[71]*acadoWorkspace.QDy[21] + acadoWorkspace.evGx[75]*acadoWorkspace.QDy[22] + acadoWorkspace.evGx[79]*acadoWorkspace.QDy[23] + acadoWorkspace.evGx[83]*acadoWorkspace.QDy[24] + acadoWorkspace.evGx[87]*acadoWorkspace.QDy[25] + acadoWorkspace.evGx[91]*acadoWorkspace.QDy[26] + acadoWorkspace.evGx[95]*acadoWorkspace.QDy[27] + acadoWorkspace.evGx[99]*acadoWorkspace.QDy[28] + acadoWorkspace.evGx[103]*acadoWorkspace.QDy[29] + acadoWorkspace.evGx[107]*acadoWorkspace.QDy[30] + acadoWorkspace.evGx[111]*acadoWorkspace.QDy[31] + acadoWorkspace.evGx[115]*acadoWorkspace.QDy[32] + acadoWorkspace.evGx[119]*acadoWorkspace.QDy[33] + acadoWorkspace.evGx[123]*acadoWorkspace.QDy[34] + acadoWorkspace.evGx[127]*acadoWorkspace.QDy[35] + acadoWorkspace.evGx[131]*acadoWorkspace.QDy[36] + acadoWorkspace.evGx[135]*acadoWorkspace.QDy[37] + acadoWorkspace.evGx[139]*acadoWorkspace.QDy[38] + acadoWorkspace.evGx[143]*acadoWorkspace.QDy[39] + acadoWorkspace.evGx[147]*acadoWorkspace.QDy[40] + acadoWorkspace.evGx[151]*acadoWorkspace.QDy[41] + acadoWorkspace.evGx[155]*acadoWorkspace.QDy[42] + acadoWorkspace.evGx[159]*acadoWorkspace.QDy[43] + acadoWorkspace.evGx[163]*acadoWorkspace.QDy[44] + acadoWorkspace.evGx[167]*acadoWorkspace.QDy[45] + acadoWorkspace.evGx[171]*acadoWorkspace.QDy[46] + acadoWorkspace.evGx[175]*acadoWorkspace.QDy[47] + acadoWorkspace.evGx[179]*acadoWorkspace.QDy[48] + acadoWorkspace.evGx[183]*acadoWorkspace.QDy[49] + acadoWorkspace.evGx[187]*acadoWorkspace.QDy[50] + acadoWorkspace.evGx[191]*acadoWorkspace.QDy[51] + acadoWorkspace.evGx[195]*acadoWorkspace.QDy[52] + acadoWorkspace.evGx[199]*acadoWorkspace.QDy[53] + acadoWorkspace.evGx[203]*acadoWorkspace.QDy[54] + acadoWorkspace.evGx[207]*acadoWorkspace.QDy[55] + acadoWorkspace.evGx[211]*acadoWorkspace.QDy[56] + acadoWorkspace.evGx[215]*acadoWorkspace.QDy[57] + acadoWorkspace.evGx[219]*acadoWorkspace.QDy[58] + acadoWorkspace.evGx[223]*acadoWorkspace.QDy[59] + acadoWorkspace.evGx[227]*acadoWorkspace.QDy[60] + acadoWorkspace.evGx[231]*acadoWorkspace.QDy[61] + acadoWorkspace.evGx[235]*acadoWorkspace.QDy[62] + acadoWorkspace.evGx[239]*acadoWorkspace.QDy[63] + acadoWorkspace.evGx[243]*acadoWorkspace.QDy[64] + acadoWorkspace.evGx[247]*acadoWorkspace.QDy[65] + acadoWorkspace.evGx[251]*acadoWorkspace.QDy[66] + acadoWorkspace.evGx[255]*acadoWorkspace.QDy[67] + acadoWorkspace.evGx[259]*acadoWorkspace.QDy[68] + acadoWorkspace.evGx[263]*acadoWorkspace.QDy[69] + acadoWorkspace.evGx[267]*acadoWorkspace.QDy[70] + acadoWorkspace.evGx[271]*acadoWorkspace.QDy[71] + acadoWorkspace.evGx[275]*acadoWorkspace.QDy[72] + acadoWorkspace.evGx[279]*acadoWorkspace.QDy[73] + acadoWorkspace.evGx[283]*acadoWorkspace.QDy[74] + acadoWorkspace.evGx[287]*acadoWorkspace.QDy[75] + acadoWorkspace.evGx[291]*acadoWorkspace.QDy[76] + acadoWorkspace.evGx[295]*acadoWorkspace.QDy[77] + acadoWorkspace.evGx[299]*acadoWorkspace.QDy[78] + acadoWorkspace.evGx[303]*acadoWorkspace.QDy[79] + acadoWorkspace.evGx[307]*acadoWorkspace.QDy[80] + acadoWorkspace.evGx[311]*acadoWorkspace.QDy[81] + acadoWorkspace.evGx[315]*acadoWorkspace.QDy[82] + acadoWorkspace.evGx[319]*acadoWorkspace.QDy[83] + acadoWorkspace.evGx[323]*acadoWorkspace.QDy[84] + acadoWorkspace.evGx[327]*acadoWorkspace.QDy[85] + acadoWorkspace.evGx[331]*acadoWorkspace.QDy[86] + acadoWorkspace.evGx[335]*acadoWorkspace.QDy[87] + acadoWorkspace.evGx[339]*acadoWorkspace.QDy[88] + acadoWorkspace.evGx[343]*acadoWorkspace.QDy[89] + acadoWorkspace.evGx[347]*acadoWorkspace.QDy[90] + acadoWorkspace.evGx[351]*acadoWorkspace.QDy[91] + acadoWorkspace.evGx[355]*acadoWorkspace.QDy[92] + acadoWorkspace.evGx[359]*acadoWorkspace.QDy[93] + acadoWorkspace.evGx[363]*acadoWorkspace.QDy[94] + acadoWorkspace.evGx[367]*acadoWorkspace.QDy[95] + acadoWorkspace.evGx[371]*acadoWorkspace.QDy[96] + acadoWorkspace.evGx[375]*acadoWorkspace.QDy[97] + acadoWorkspace.evGx[379]*acadoWorkspace.QDy[98] + acadoWorkspace.evGx[383]*acadoWorkspace.QDy[99] + acadoWorkspace.evGx[387]*acadoWorkspace.QDy[100] + acadoWorkspace.evGx[391]*acadoWorkspace.QDy[101] + acadoWorkspace.evGx[395]*acadoWorkspace.QDy[102] + acadoWorkspace.evGx[399]*acadoWorkspace.QDy[103] + acadoWorkspace.evGx[403]*acadoWorkspace.QDy[104] + acadoWorkspace.evGx[407]*acadoWorkspace.QDy[105] + acadoWorkspace.evGx[411]*acadoWorkspace.QDy[106] + acadoWorkspace.evGx[415]*acadoWorkspace.QDy[107] + acadoWorkspace.evGx[419]*acadoWorkspace.QDy[108] + acadoWorkspace.evGx[423]*acadoWorkspace.QDy[109] + acadoWorkspace.evGx[427]*acadoWorkspace.QDy[110] + acadoWorkspace.evGx[431]*acadoWorkspace.QDy[111] + acadoWorkspace.evGx[435]*acadoWorkspace.QDy[112] + acadoWorkspace.evGx[439]*acadoWorkspace.QDy[113] + acadoWorkspace.evGx[443]*acadoWorkspace.QDy[114] + acadoWorkspace.evGx[447]*acadoWorkspace.QDy[115] + acadoWorkspace.evGx[451]*acadoWorkspace.QDy[116] + acadoWorkspace.evGx[455]*acadoWorkspace.QDy[117] + acadoWorkspace.evGx[459]*acadoWorkspace.QDy[118] + acadoWorkspace.evGx[463]*acadoWorkspace.QDy[119] + acadoWorkspace.evGx[467]*acadoWorkspace.QDy[120] + acadoWorkspace.evGx[471]*acadoWorkspace.QDy[121] + acadoWorkspace.evGx[475]*acadoWorkspace.QDy[122] + acadoWorkspace.evGx[479]*acadoWorkspace.QDy[123] + acadoWorkspace.evGx[483]*acadoWorkspace.QDy[124] + acadoWorkspace.evGx[487]*acadoWorkspace.QDy[125] + acadoWorkspace.evGx[491]*acadoWorkspace.QDy[126] + acadoWorkspace.evGx[495]*acadoWorkspace.QDy[127] + acadoWorkspace.evGx[499]*acadoWorkspace.QDy[128] + acadoWorkspace.evGx[503]*acadoWorkspace.QDy[129] + acadoWorkspace.evGx[507]*acadoWorkspace.QDy[130] + acadoWorkspace.evGx[511]*acadoWorkspace.QDy[131]; - - -for (lRun1 = 0; lRun1 < 32; ++lRun1) -{ -for (lRun2 = lRun1; lRun2 < 32; ++lRun2) -{ -lRun3 = (((lRun2 + 1) * (lRun2)) / (2)) + (lRun1); -acado_multEQDy( &(acadoWorkspace.E[ lRun3 * 8 ]), &(acadoWorkspace.QDy[ lRun2 * 4 + 4 ]), &(acadoWorkspace.g[ lRun1 * 2 + 4 ]) ); -} -} - -acadoWorkspace.lb[0] = acadoWorkspace.Dx0[0]; -acadoWorkspace.lb[1] = acadoWorkspace.Dx0[1]; -acadoWorkspace.lb[2] = acadoWorkspace.Dx0[2]; -acadoWorkspace.lb[3] = acadoWorkspace.Dx0[3]; -acadoWorkspace.ub[0] = acadoWorkspace.Dx0[0]; -acadoWorkspace.ub[1] = acadoWorkspace.Dx0[1]; -acadoWorkspace.ub[2] = acadoWorkspace.Dx0[2]; -acadoWorkspace.ub[3] = acadoWorkspace.Dx0[3]; -tmp = acadoVariables.x[5] + acadoWorkspace.d[1]; -acadoWorkspace.lbA[0] = - tmp; -acadoWorkspace.ubA[0] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[9] + acadoWorkspace.d[5]; -acadoWorkspace.lbA[1] = - tmp; -acadoWorkspace.ubA[1] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[13] + acadoWorkspace.d[9]; -acadoWorkspace.lbA[2] = - tmp; -acadoWorkspace.ubA[2] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[17] + acadoWorkspace.d[13]; -acadoWorkspace.lbA[3] = - tmp; -acadoWorkspace.ubA[3] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[21] + acadoWorkspace.d[17]; -acadoWorkspace.lbA[4] = - tmp; -acadoWorkspace.ubA[4] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[25] + acadoWorkspace.d[21]; -acadoWorkspace.lbA[5] = - tmp; -acadoWorkspace.ubA[5] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[29] + acadoWorkspace.d[25]; -acadoWorkspace.lbA[6] = - tmp; -acadoWorkspace.ubA[6] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[33] + acadoWorkspace.d[29]; -acadoWorkspace.lbA[7] = - tmp; -acadoWorkspace.ubA[7] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[37] + acadoWorkspace.d[33]; -acadoWorkspace.lbA[8] = - tmp; -acadoWorkspace.ubA[8] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[41] + acadoWorkspace.d[37]; -acadoWorkspace.lbA[9] = - tmp; -acadoWorkspace.ubA[9] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[45] + acadoWorkspace.d[41]; -acadoWorkspace.lbA[10] = - tmp; -acadoWorkspace.ubA[10] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[49] + acadoWorkspace.d[45]; -acadoWorkspace.lbA[11] = - tmp; -acadoWorkspace.ubA[11] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[53] + acadoWorkspace.d[49]; -acadoWorkspace.lbA[12] = - tmp; -acadoWorkspace.ubA[12] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[57] + acadoWorkspace.d[53]; -acadoWorkspace.lbA[13] = - tmp; -acadoWorkspace.ubA[13] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[61] + acadoWorkspace.d[57]; -acadoWorkspace.lbA[14] = - tmp; -acadoWorkspace.ubA[14] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[65] + acadoWorkspace.d[61]; -acadoWorkspace.lbA[15] = - tmp; -acadoWorkspace.ubA[15] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[69] + acadoWorkspace.d[65]; -acadoWorkspace.lbA[16] = - tmp; -acadoWorkspace.ubA[16] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[73] + acadoWorkspace.d[69]; -acadoWorkspace.lbA[17] = - tmp; -acadoWorkspace.ubA[17] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[77] + acadoWorkspace.d[73]; -acadoWorkspace.lbA[18] = - tmp; -acadoWorkspace.ubA[18] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[81] + acadoWorkspace.d[77]; -acadoWorkspace.lbA[19] = - tmp; -acadoWorkspace.ubA[19] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[85] + acadoWorkspace.d[81]; -acadoWorkspace.lbA[20] = - tmp; -acadoWorkspace.ubA[20] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[89] + acadoWorkspace.d[85]; -acadoWorkspace.lbA[21] = - tmp; -acadoWorkspace.ubA[21] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[93] + acadoWorkspace.d[89]; -acadoWorkspace.lbA[22] = - tmp; -acadoWorkspace.ubA[22] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[97] + acadoWorkspace.d[93]; -acadoWorkspace.lbA[23] = - tmp; -acadoWorkspace.ubA[23] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[101] + acadoWorkspace.d[97]; -acadoWorkspace.lbA[24] = - tmp; -acadoWorkspace.ubA[24] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[105] + acadoWorkspace.d[101]; -acadoWorkspace.lbA[25] = - tmp; -acadoWorkspace.ubA[25] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[109] + acadoWorkspace.d[105]; -acadoWorkspace.lbA[26] = - tmp; -acadoWorkspace.ubA[26] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[113] + acadoWorkspace.d[109]; -acadoWorkspace.lbA[27] = - tmp; -acadoWorkspace.ubA[27] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[117] + acadoWorkspace.d[113]; -acadoWorkspace.lbA[28] = - tmp; -acadoWorkspace.ubA[28] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[121] + acadoWorkspace.d[117]; -acadoWorkspace.lbA[29] = - tmp; -acadoWorkspace.ubA[29] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[125] + acadoWorkspace.d[121]; -acadoWorkspace.lbA[30] = - tmp; -acadoWorkspace.ubA[30] = (real_t)1.0000000000000000e+12 - tmp; -tmp = acadoVariables.x[129] + acadoWorkspace.d[125]; -acadoWorkspace.lbA[31] = - tmp; -acadoWorkspace.ubA[31] = (real_t)1.0000000000000000e+12 - tmp; - -} - -void acado_expand( ) -{ -int lRun1; -int lRun2; -int lRun3; -acadoVariables.x[0] += acadoWorkspace.x[0]; -acadoVariables.x[1] += acadoWorkspace.x[1]; -acadoVariables.x[2] += acadoWorkspace.x[2]; -acadoVariables.x[3] += acadoWorkspace.x[3]; - -acadoVariables.u[0] += acadoWorkspace.x[4]; -acadoVariables.u[1] += acadoWorkspace.x[5]; -acadoVariables.u[2] += acadoWorkspace.x[6]; -acadoVariables.u[3] += acadoWorkspace.x[7]; -acadoVariables.u[4] += acadoWorkspace.x[8]; -acadoVariables.u[5] += acadoWorkspace.x[9]; -acadoVariables.u[6] += acadoWorkspace.x[10]; -acadoVariables.u[7] += acadoWorkspace.x[11]; -acadoVariables.u[8] += acadoWorkspace.x[12]; -acadoVariables.u[9] += acadoWorkspace.x[13]; -acadoVariables.u[10] += acadoWorkspace.x[14]; -acadoVariables.u[11] += acadoWorkspace.x[15]; -acadoVariables.u[12] += acadoWorkspace.x[16]; -acadoVariables.u[13] += acadoWorkspace.x[17]; -acadoVariables.u[14] += acadoWorkspace.x[18]; -acadoVariables.u[15] += acadoWorkspace.x[19]; -acadoVariables.u[16] += acadoWorkspace.x[20]; -acadoVariables.u[17] += acadoWorkspace.x[21]; -acadoVariables.u[18] += acadoWorkspace.x[22]; -acadoVariables.u[19] += acadoWorkspace.x[23]; -acadoVariables.u[20] += acadoWorkspace.x[24]; -acadoVariables.u[21] += acadoWorkspace.x[25]; -acadoVariables.u[22] += acadoWorkspace.x[26]; -acadoVariables.u[23] += acadoWorkspace.x[27]; -acadoVariables.u[24] += acadoWorkspace.x[28]; -acadoVariables.u[25] += acadoWorkspace.x[29]; -acadoVariables.u[26] += acadoWorkspace.x[30]; -acadoVariables.u[27] += acadoWorkspace.x[31]; -acadoVariables.u[28] += acadoWorkspace.x[32]; -acadoVariables.u[29] += acadoWorkspace.x[33]; -acadoVariables.u[30] += acadoWorkspace.x[34]; -acadoVariables.u[31] += acadoWorkspace.x[35]; -acadoVariables.u[32] += acadoWorkspace.x[36]; -acadoVariables.u[33] += acadoWorkspace.x[37]; -acadoVariables.u[34] += acadoWorkspace.x[38]; -acadoVariables.u[35] += acadoWorkspace.x[39]; -acadoVariables.u[36] += acadoWorkspace.x[40]; -acadoVariables.u[37] += acadoWorkspace.x[41]; -acadoVariables.u[38] += acadoWorkspace.x[42]; -acadoVariables.u[39] += acadoWorkspace.x[43]; -acadoVariables.u[40] += acadoWorkspace.x[44]; -acadoVariables.u[41] += acadoWorkspace.x[45]; -acadoVariables.u[42] += acadoWorkspace.x[46]; -acadoVariables.u[43] += acadoWorkspace.x[47]; -acadoVariables.u[44] += acadoWorkspace.x[48]; -acadoVariables.u[45] += acadoWorkspace.x[49]; -acadoVariables.u[46] += acadoWorkspace.x[50]; -acadoVariables.u[47] += acadoWorkspace.x[51]; -acadoVariables.u[48] += acadoWorkspace.x[52]; -acadoVariables.u[49] += acadoWorkspace.x[53]; -acadoVariables.u[50] += acadoWorkspace.x[54]; -acadoVariables.u[51] += acadoWorkspace.x[55]; -acadoVariables.u[52] += acadoWorkspace.x[56]; -acadoVariables.u[53] += acadoWorkspace.x[57]; -acadoVariables.u[54] += acadoWorkspace.x[58]; -acadoVariables.u[55] += acadoWorkspace.x[59]; -acadoVariables.u[56] += acadoWorkspace.x[60]; -acadoVariables.u[57] += acadoWorkspace.x[61]; -acadoVariables.u[58] += acadoWorkspace.x[62]; -acadoVariables.u[59] += acadoWorkspace.x[63]; -acadoVariables.u[60] += acadoWorkspace.x[64]; -acadoVariables.u[61] += acadoWorkspace.x[65]; -acadoVariables.u[62] += acadoWorkspace.x[66]; -acadoVariables.u[63] += acadoWorkspace.x[67]; - -acadoVariables.x[4] += + acadoWorkspace.evGx[0]*acadoWorkspace.x[0] + acadoWorkspace.evGx[1]*acadoWorkspace.x[1] + acadoWorkspace.evGx[2]*acadoWorkspace.x[2] + acadoWorkspace.evGx[3]*acadoWorkspace.x[3] + acadoWorkspace.d[0]; -acadoVariables.x[5] += + acadoWorkspace.evGx[4]*acadoWorkspace.x[0] + acadoWorkspace.evGx[5]*acadoWorkspace.x[1] + acadoWorkspace.evGx[6]*acadoWorkspace.x[2] + acadoWorkspace.evGx[7]*acadoWorkspace.x[3] + acadoWorkspace.d[1]; -acadoVariables.x[6] += + acadoWorkspace.evGx[8]*acadoWorkspace.x[0] + acadoWorkspace.evGx[9]*acadoWorkspace.x[1] + acadoWorkspace.evGx[10]*acadoWorkspace.x[2] + acadoWorkspace.evGx[11]*acadoWorkspace.x[3] + acadoWorkspace.d[2]; -acadoVariables.x[7] += + acadoWorkspace.evGx[12]*acadoWorkspace.x[0] + acadoWorkspace.evGx[13]*acadoWorkspace.x[1] + acadoWorkspace.evGx[14]*acadoWorkspace.x[2] + acadoWorkspace.evGx[15]*acadoWorkspace.x[3] + acadoWorkspace.d[3]; -acadoVariables.x[8] += + acadoWorkspace.evGx[16]*acadoWorkspace.x[0] + acadoWorkspace.evGx[17]*acadoWorkspace.x[1] + acadoWorkspace.evGx[18]*acadoWorkspace.x[2] + acadoWorkspace.evGx[19]*acadoWorkspace.x[3] + acadoWorkspace.d[4]; -acadoVariables.x[9] += + acadoWorkspace.evGx[20]*acadoWorkspace.x[0] + acadoWorkspace.evGx[21]*acadoWorkspace.x[1] + acadoWorkspace.evGx[22]*acadoWorkspace.x[2] + acadoWorkspace.evGx[23]*acadoWorkspace.x[3] + acadoWorkspace.d[5]; -acadoVariables.x[10] += + acadoWorkspace.evGx[24]*acadoWorkspace.x[0] + acadoWorkspace.evGx[25]*acadoWorkspace.x[1] + acadoWorkspace.evGx[26]*acadoWorkspace.x[2] + acadoWorkspace.evGx[27]*acadoWorkspace.x[3] + acadoWorkspace.d[6]; -acadoVariables.x[11] += + acadoWorkspace.evGx[28]*acadoWorkspace.x[0] + acadoWorkspace.evGx[29]*acadoWorkspace.x[1] + acadoWorkspace.evGx[30]*acadoWorkspace.x[2] + acadoWorkspace.evGx[31]*acadoWorkspace.x[3] + acadoWorkspace.d[7]; -acadoVariables.x[12] += + acadoWorkspace.evGx[32]*acadoWorkspace.x[0] + acadoWorkspace.evGx[33]*acadoWorkspace.x[1] + acadoWorkspace.evGx[34]*acadoWorkspace.x[2] + acadoWorkspace.evGx[35]*acadoWorkspace.x[3] + acadoWorkspace.d[8]; -acadoVariables.x[13] += + acadoWorkspace.evGx[36]*acadoWorkspace.x[0] + acadoWorkspace.evGx[37]*acadoWorkspace.x[1] + acadoWorkspace.evGx[38]*acadoWorkspace.x[2] + acadoWorkspace.evGx[39]*acadoWorkspace.x[3] + acadoWorkspace.d[9]; -acadoVariables.x[14] += + acadoWorkspace.evGx[40]*acadoWorkspace.x[0] + acadoWorkspace.evGx[41]*acadoWorkspace.x[1] + acadoWorkspace.evGx[42]*acadoWorkspace.x[2] + acadoWorkspace.evGx[43]*acadoWorkspace.x[3] + acadoWorkspace.d[10]; -acadoVariables.x[15] += + acadoWorkspace.evGx[44]*acadoWorkspace.x[0] + acadoWorkspace.evGx[45]*acadoWorkspace.x[1] + acadoWorkspace.evGx[46]*acadoWorkspace.x[2] + acadoWorkspace.evGx[47]*acadoWorkspace.x[3] + acadoWorkspace.d[11]; -acadoVariables.x[16] += + acadoWorkspace.evGx[48]*acadoWorkspace.x[0] + acadoWorkspace.evGx[49]*acadoWorkspace.x[1] + acadoWorkspace.evGx[50]*acadoWorkspace.x[2] + acadoWorkspace.evGx[51]*acadoWorkspace.x[3] + acadoWorkspace.d[12]; -acadoVariables.x[17] += + acadoWorkspace.evGx[52]*acadoWorkspace.x[0] + acadoWorkspace.evGx[53]*acadoWorkspace.x[1] + acadoWorkspace.evGx[54]*acadoWorkspace.x[2] + acadoWorkspace.evGx[55]*acadoWorkspace.x[3] + acadoWorkspace.d[13]; -acadoVariables.x[18] += + acadoWorkspace.evGx[56]*acadoWorkspace.x[0] + acadoWorkspace.evGx[57]*acadoWorkspace.x[1] + acadoWorkspace.evGx[58]*acadoWorkspace.x[2] + acadoWorkspace.evGx[59]*acadoWorkspace.x[3] + acadoWorkspace.d[14]; -acadoVariables.x[19] += + acadoWorkspace.evGx[60]*acadoWorkspace.x[0] + acadoWorkspace.evGx[61]*acadoWorkspace.x[1] + acadoWorkspace.evGx[62]*acadoWorkspace.x[2] + acadoWorkspace.evGx[63]*acadoWorkspace.x[3] + acadoWorkspace.d[15]; -acadoVariables.x[20] += + acadoWorkspace.evGx[64]*acadoWorkspace.x[0] + acadoWorkspace.evGx[65]*acadoWorkspace.x[1] + acadoWorkspace.evGx[66]*acadoWorkspace.x[2] + acadoWorkspace.evGx[67]*acadoWorkspace.x[3] + acadoWorkspace.d[16]; -acadoVariables.x[21] += + acadoWorkspace.evGx[68]*acadoWorkspace.x[0] + acadoWorkspace.evGx[69]*acadoWorkspace.x[1] + acadoWorkspace.evGx[70]*acadoWorkspace.x[2] + acadoWorkspace.evGx[71]*acadoWorkspace.x[3] + acadoWorkspace.d[17]; -acadoVariables.x[22] += + acadoWorkspace.evGx[72]*acadoWorkspace.x[0] + acadoWorkspace.evGx[73]*acadoWorkspace.x[1] + acadoWorkspace.evGx[74]*acadoWorkspace.x[2] + acadoWorkspace.evGx[75]*acadoWorkspace.x[3] + acadoWorkspace.d[18]; -acadoVariables.x[23] += + acadoWorkspace.evGx[76]*acadoWorkspace.x[0] + acadoWorkspace.evGx[77]*acadoWorkspace.x[1] + acadoWorkspace.evGx[78]*acadoWorkspace.x[2] + acadoWorkspace.evGx[79]*acadoWorkspace.x[3] + acadoWorkspace.d[19]; -acadoVariables.x[24] += + acadoWorkspace.evGx[80]*acadoWorkspace.x[0] + acadoWorkspace.evGx[81]*acadoWorkspace.x[1] + acadoWorkspace.evGx[82]*acadoWorkspace.x[2] + acadoWorkspace.evGx[83]*acadoWorkspace.x[3] + acadoWorkspace.d[20]; -acadoVariables.x[25] += + acadoWorkspace.evGx[84]*acadoWorkspace.x[0] + acadoWorkspace.evGx[85]*acadoWorkspace.x[1] + acadoWorkspace.evGx[86]*acadoWorkspace.x[2] + acadoWorkspace.evGx[87]*acadoWorkspace.x[3] + acadoWorkspace.d[21]; -acadoVariables.x[26] += + acadoWorkspace.evGx[88]*acadoWorkspace.x[0] + acadoWorkspace.evGx[89]*acadoWorkspace.x[1] + acadoWorkspace.evGx[90]*acadoWorkspace.x[2] + acadoWorkspace.evGx[91]*acadoWorkspace.x[3] + acadoWorkspace.d[22]; -acadoVariables.x[27] += + acadoWorkspace.evGx[92]*acadoWorkspace.x[0] + acadoWorkspace.evGx[93]*acadoWorkspace.x[1] + acadoWorkspace.evGx[94]*acadoWorkspace.x[2] + acadoWorkspace.evGx[95]*acadoWorkspace.x[3] + acadoWorkspace.d[23]; -acadoVariables.x[28] += + acadoWorkspace.evGx[96]*acadoWorkspace.x[0] + acadoWorkspace.evGx[97]*acadoWorkspace.x[1] + acadoWorkspace.evGx[98]*acadoWorkspace.x[2] + acadoWorkspace.evGx[99]*acadoWorkspace.x[3] + acadoWorkspace.d[24]; -acadoVariables.x[29] += + acadoWorkspace.evGx[100]*acadoWorkspace.x[0] + acadoWorkspace.evGx[101]*acadoWorkspace.x[1] + acadoWorkspace.evGx[102]*acadoWorkspace.x[2] + acadoWorkspace.evGx[103]*acadoWorkspace.x[3] + acadoWorkspace.d[25]; -acadoVariables.x[30] += + acadoWorkspace.evGx[104]*acadoWorkspace.x[0] + acadoWorkspace.evGx[105]*acadoWorkspace.x[1] + acadoWorkspace.evGx[106]*acadoWorkspace.x[2] + acadoWorkspace.evGx[107]*acadoWorkspace.x[3] + acadoWorkspace.d[26]; -acadoVariables.x[31] += + acadoWorkspace.evGx[108]*acadoWorkspace.x[0] + acadoWorkspace.evGx[109]*acadoWorkspace.x[1] + acadoWorkspace.evGx[110]*acadoWorkspace.x[2] + acadoWorkspace.evGx[111]*acadoWorkspace.x[3] + acadoWorkspace.d[27]; -acadoVariables.x[32] += + acadoWorkspace.evGx[112]*acadoWorkspace.x[0] + acadoWorkspace.evGx[113]*acadoWorkspace.x[1] + acadoWorkspace.evGx[114]*acadoWorkspace.x[2] + acadoWorkspace.evGx[115]*acadoWorkspace.x[3] + acadoWorkspace.d[28]; -acadoVariables.x[33] += + acadoWorkspace.evGx[116]*acadoWorkspace.x[0] + acadoWorkspace.evGx[117]*acadoWorkspace.x[1] + acadoWorkspace.evGx[118]*acadoWorkspace.x[2] + acadoWorkspace.evGx[119]*acadoWorkspace.x[3] + acadoWorkspace.d[29]; -acadoVariables.x[34] += + acadoWorkspace.evGx[120]*acadoWorkspace.x[0] + acadoWorkspace.evGx[121]*acadoWorkspace.x[1] + acadoWorkspace.evGx[122]*acadoWorkspace.x[2] + acadoWorkspace.evGx[123]*acadoWorkspace.x[3] + acadoWorkspace.d[30]; -acadoVariables.x[35] += + acadoWorkspace.evGx[124]*acadoWorkspace.x[0] + acadoWorkspace.evGx[125]*acadoWorkspace.x[1] + acadoWorkspace.evGx[126]*acadoWorkspace.x[2] + acadoWorkspace.evGx[127]*acadoWorkspace.x[3] + acadoWorkspace.d[31]; -acadoVariables.x[36] += + acadoWorkspace.evGx[128]*acadoWorkspace.x[0] + acadoWorkspace.evGx[129]*acadoWorkspace.x[1] + acadoWorkspace.evGx[130]*acadoWorkspace.x[2] + acadoWorkspace.evGx[131]*acadoWorkspace.x[3] + acadoWorkspace.d[32]; -acadoVariables.x[37] += + acadoWorkspace.evGx[132]*acadoWorkspace.x[0] + acadoWorkspace.evGx[133]*acadoWorkspace.x[1] + acadoWorkspace.evGx[134]*acadoWorkspace.x[2] + acadoWorkspace.evGx[135]*acadoWorkspace.x[3] + acadoWorkspace.d[33]; -acadoVariables.x[38] += + acadoWorkspace.evGx[136]*acadoWorkspace.x[0] + acadoWorkspace.evGx[137]*acadoWorkspace.x[1] + acadoWorkspace.evGx[138]*acadoWorkspace.x[2] + acadoWorkspace.evGx[139]*acadoWorkspace.x[3] + acadoWorkspace.d[34]; -acadoVariables.x[39] += + acadoWorkspace.evGx[140]*acadoWorkspace.x[0] + acadoWorkspace.evGx[141]*acadoWorkspace.x[1] + acadoWorkspace.evGx[142]*acadoWorkspace.x[2] + acadoWorkspace.evGx[143]*acadoWorkspace.x[3] + acadoWorkspace.d[35]; -acadoVariables.x[40] += + acadoWorkspace.evGx[144]*acadoWorkspace.x[0] + acadoWorkspace.evGx[145]*acadoWorkspace.x[1] + acadoWorkspace.evGx[146]*acadoWorkspace.x[2] + acadoWorkspace.evGx[147]*acadoWorkspace.x[3] + acadoWorkspace.d[36]; -acadoVariables.x[41] += + acadoWorkspace.evGx[148]*acadoWorkspace.x[0] + acadoWorkspace.evGx[149]*acadoWorkspace.x[1] + acadoWorkspace.evGx[150]*acadoWorkspace.x[2] + acadoWorkspace.evGx[151]*acadoWorkspace.x[3] + acadoWorkspace.d[37]; -acadoVariables.x[42] += + acadoWorkspace.evGx[152]*acadoWorkspace.x[0] + acadoWorkspace.evGx[153]*acadoWorkspace.x[1] + acadoWorkspace.evGx[154]*acadoWorkspace.x[2] + acadoWorkspace.evGx[155]*acadoWorkspace.x[3] + acadoWorkspace.d[38]; -acadoVariables.x[43] += + acadoWorkspace.evGx[156]*acadoWorkspace.x[0] + acadoWorkspace.evGx[157]*acadoWorkspace.x[1] + acadoWorkspace.evGx[158]*acadoWorkspace.x[2] + acadoWorkspace.evGx[159]*acadoWorkspace.x[3] + acadoWorkspace.d[39]; -acadoVariables.x[44] += + acadoWorkspace.evGx[160]*acadoWorkspace.x[0] + acadoWorkspace.evGx[161]*acadoWorkspace.x[1] + acadoWorkspace.evGx[162]*acadoWorkspace.x[2] + acadoWorkspace.evGx[163]*acadoWorkspace.x[3] + acadoWorkspace.d[40]; -acadoVariables.x[45] += + acadoWorkspace.evGx[164]*acadoWorkspace.x[0] + acadoWorkspace.evGx[165]*acadoWorkspace.x[1] + acadoWorkspace.evGx[166]*acadoWorkspace.x[2] + acadoWorkspace.evGx[167]*acadoWorkspace.x[3] + acadoWorkspace.d[41]; -acadoVariables.x[46] += + acadoWorkspace.evGx[168]*acadoWorkspace.x[0] + acadoWorkspace.evGx[169]*acadoWorkspace.x[1] + acadoWorkspace.evGx[170]*acadoWorkspace.x[2] + acadoWorkspace.evGx[171]*acadoWorkspace.x[3] + acadoWorkspace.d[42]; -acadoVariables.x[47] += + acadoWorkspace.evGx[172]*acadoWorkspace.x[0] + acadoWorkspace.evGx[173]*acadoWorkspace.x[1] + acadoWorkspace.evGx[174]*acadoWorkspace.x[2] + acadoWorkspace.evGx[175]*acadoWorkspace.x[3] + acadoWorkspace.d[43]; -acadoVariables.x[48] += + acadoWorkspace.evGx[176]*acadoWorkspace.x[0] + acadoWorkspace.evGx[177]*acadoWorkspace.x[1] + acadoWorkspace.evGx[178]*acadoWorkspace.x[2] + acadoWorkspace.evGx[179]*acadoWorkspace.x[3] + acadoWorkspace.d[44]; -acadoVariables.x[49] += + acadoWorkspace.evGx[180]*acadoWorkspace.x[0] + acadoWorkspace.evGx[181]*acadoWorkspace.x[1] + acadoWorkspace.evGx[182]*acadoWorkspace.x[2] + acadoWorkspace.evGx[183]*acadoWorkspace.x[3] + acadoWorkspace.d[45]; -acadoVariables.x[50] += + acadoWorkspace.evGx[184]*acadoWorkspace.x[0] + acadoWorkspace.evGx[185]*acadoWorkspace.x[1] + acadoWorkspace.evGx[186]*acadoWorkspace.x[2] + acadoWorkspace.evGx[187]*acadoWorkspace.x[3] + acadoWorkspace.d[46]; -acadoVariables.x[51] += + acadoWorkspace.evGx[188]*acadoWorkspace.x[0] + acadoWorkspace.evGx[189]*acadoWorkspace.x[1] + acadoWorkspace.evGx[190]*acadoWorkspace.x[2] + acadoWorkspace.evGx[191]*acadoWorkspace.x[3] + acadoWorkspace.d[47]; -acadoVariables.x[52] += + acadoWorkspace.evGx[192]*acadoWorkspace.x[0] + acadoWorkspace.evGx[193]*acadoWorkspace.x[1] + acadoWorkspace.evGx[194]*acadoWorkspace.x[2] + acadoWorkspace.evGx[195]*acadoWorkspace.x[3] + acadoWorkspace.d[48]; -acadoVariables.x[53] += + acadoWorkspace.evGx[196]*acadoWorkspace.x[0] + acadoWorkspace.evGx[197]*acadoWorkspace.x[1] + acadoWorkspace.evGx[198]*acadoWorkspace.x[2] + acadoWorkspace.evGx[199]*acadoWorkspace.x[3] + acadoWorkspace.d[49]; -acadoVariables.x[54] += + acadoWorkspace.evGx[200]*acadoWorkspace.x[0] + acadoWorkspace.evGx[201]*acadoWorkspace.x[1] + acadoWorkspace.evGx[202]*acadoWorkspace.x[2] + acadoWorkspace.evGx[203]*acadoWorkspace.x[3] + acadoWorkspace.d[50]; -acadoVariables.x[55] += + acadoWorkspace.evGx[204]*acadoWorkspace.x[0] + acadoWorkspace.evGx[205]*acadoWorkspace.x[1] + acadoWorkspace.evGx[206]*acadoWorkspace.x[2] + acadoWorkspace.evGx[207]*acadoWorkspace.x[3] + acadoWorkspace.d[51]; -acadoVariables.x[56] += + acadoWorkspace.evGx[208]*acadoWorkspace.x[0] + acadoWorkspace.evGx[209]*acadoWorkspace.x[1] + acadoWorkspace.evGx[210]*acadoWorkspace.x[2] + acadoWorkspace.evGx[211]*acadoWorkspace.x[3] + acadoWorkspace.d[52]; -acadoVariables.x[57] += + acadoWorkspace.evGx[212]*acadoWorkspace.x[0] + acadoWorkspace.evGx[213]*acadoWorkspace.x[1] + acadoWorkspace.evGx[214]*acadoWorkspace.x[2] + acadoWorkspace.evGx[215]*acadoWorkspace.x[3] + acadoWorkspace.d[53]; -acadoVariables.x[58] += + acadoWorkspace.evGx[216]*acadoWorkspace.x[0] + acadoWorkspace.evGx[217]*acadoWorkspace.x[1] + acadoWorkspace.evGx[218]*acadoWorkspace.x[2] + acadoWorkspace.evGx[219]*acadoWorkspace.x[3] + acadoWorkspace.d[54]; -acadoVariables.x[59] += + acadoWorkspace.evGx[220]*acadoWorkspace.x[0] + acadoWorkspace.evGx[221]*acadoWorkspace.x[1] + acadoWorkspace.evGx[222]*acadoWorkspace.x[2] + acadoWorkspace.evGx[223]*acadoWorkspace.x[3] + acadoWorkspace.d[55]; -acadoVariables.x[60] += + acadoWorkspace.evGx[224]*acadoWorkspace.x[0] + acadoWorkspace.evGx[225]*acadoWorkspace.x[1] + acadoWorkspace.evGx[226]*acadoWorkspace.x[2] + acadoWorkspace.evGx[227]*acadoWorkspace.x[3] + acadoWorkspace.d[56]; -acadoVariables.x[61] += + acadoWorkspace.evGx[228]*acadoWorkspace.x[0] + acadoWorkspace.evGx[229]*acadoWorkspace.x[1] + acadoWorkspace.evGx[230]*acadoWorkspace.x[2] + acadoWorkspace.evGx[231]*acadoWorkspace.x[3] + acadoWorkspace.d[57]; -acadoVariables.x[62] += + acadoWorkspace.evGx[232]*acadoWorkspace.x[0] + acadoWorkspace.evGx[233]*acadoWorkspace.x[1] + acadoWorkspace.evGx[234]*acadoWorkspace.x[2] + acadoWorkspace.evGx[235]*acadoWorkspace.x[3] + acadoWorkspace.d[58]; -acadoVariables.x[63] += + acadoWorkspace.evGx[236]*acadoWorkspace.x[0] + acadoWorkspace.evGx[237]*acadoWorkspace.x[1] + acadoWorkspace.evGx[238]*acadoWorkspace.x[2] + acadoWorkspace.evGx[239]*acadoWorkspace.x[3] + acadoWorkspace.d[59]; -acadoVariables.x[64] += + acadoWorkspace.evGx[240]*acadoWorkspace.x[0] + acadoWorkspace.evGx[241]*acadoWorkspace.x[1] + acadoWorkspace.evGx[242]*acadoWorkspace.x[2] + acadoWorkspace.evGx[243]*acadoWorkspace.x[3] + acadoWorkspace.d[60]; -acadoVariables.x[65] += + acadoWorkspace.evGx[244]*acadoWorkspace.x[0] + acadoWorkspace.evGx[245]*acadoWorkspace.x[1] + acadoWorkspace.evGx[246]*acadoWorkspace.x[2] + acadoWorkspace.evGx[247]*acadoWorkspace.x[3] + acadoWorkspace.d[61]; -acadoVariables.x[66] += + acadoWorkspace.evGx[248]*acadoWorkspace.x[0] + acadoWorkspace.evGx[249]*acadoWorkspace.x[1] + acadoWorkspace.evGx[250]*acadoWorkspace.x[2] + acadoWorkspace.evGx[251]*acadoWorkspace.x[3] + acadoWorkspace.d[62]; -acadoVariables.x[67] += + acadoWorkspace.evGx[252]*acadoWorkspace.x[0] + acadoWorkspace.evGx[253]*acadoWorkspace.x[1] + acadoWorkspace.evGx[254]*acadoWorkspace.x[2] + acadoWorkspace.evGx[255]*acadoWorkspace.x[3] + acadoWorkspace.d[63]; -acadoVariables.x[68] += + acadoWorkspace.evGx[256]*acadoWorkspace.x[0] + acadoWorkspace.evGx[257]*acadoWorkspace.x[1] + acadoWorkspace.evGx[258]*acadoWorkspace.x[2] + acadoWorkspace.evGx[259]*acadoWorkspace.x[3] + acadoWorkspace.d[64]; -acadoVariables.x[69] += + acadoWorkspace.evGx[260]*acadoWorkspace.x[0] + acadoWorkspace.evGx[261]*acadoWorkspace.x[1] + acadoWorkspace.evGx[262]*acadoWorkspace.x[2] + acadoWorkspace.evGx[263]*acadoWorkspace.x[3] + acadoWorkspace.d[65]; -acadoVariables.x[70] += + acadoWorkspace.evGx[264]*acadoWorkspace.x[0] + acadoWorkspace.evGx[265]*acadoWorkspace.x[1] + acadoWorkspace.evGx[266]*acadoWorkspace.x[2] + acadoWorkspace.evGx[267]*acadoWorkspace.x[3] + acadoWorkspace.d[66]; -acadoVariables.x[71] += + acadoWorkspace.evGx[268]*acadoWorkspace.x[0] + acadoWorkspace.evGx[269]*acadoWorkspace.x[1] + acadoWorkspace.evGx[270]*acadoWorkspace.x[2] + acadoWorkspace.evGx[271]*acadoWorkspace.x[3] + acadoWorkspace.d[67]; -acadoVariables.x[72] += + acadoWorkspace.evGx[272]*acadoWorkspace.x[0] + acadoWorkspace.evGx[273]*acadoWorkspace.x[1] + acadoWorkspace.evGx[274]*acadoWorkspace.x[2] + acadoWorkspace.evGx[275]*acadoWorkspace.x[3] + acadoWorkspace.d[68]; -acadoVariables.x[73] += + acadoWorkspace.evGx[276]*acadoWorkspace.x[0] + acadoWorkspace.evGx[277]*acadoWorkspace.x[1] + acadoWorkspace.evGx[278]*acadoWorkspace.x[2] + acadoWorkspace.evGx[279]*acadoWorkspace.x[3] + acadoWorkspace.d[69]; -acadoVariables.x[74] += + acadoWorkspace.evGx[280]*acadoWorkspace.x[0] + acadoWorkspace.evGx[281]*acadoWorkspace.x[1] + acadoWorkspace.evGx[282]*acadoWorkspace.x[2] + acadoWorkspace.evGx[283]*acadoWorkspace.x[3] + acadoWorkspace.d[70]; -acadoVariables.x[75] += + acadoWorkspace.evGx[284]*acadoWorkspace.x[0] + acadoWorkspace.evGx[285]*acadoWorkspace.x[1] + acadoWorkspace.evGx[286]*acadoWorkspace.x[2] + acadoWorkspace.evGx[287]*acadoWorkspace.x[3] + acadoWorkspace.d[71]; -acadoVariables.x[76] += + acadoWorkspace.evGx[288]*acadoWorkspace.x[0] + acadoWorkspace.evGx[289]*acadoWorkspace.x[1] + acadoWorkspace.evGx[290]*acadoWorkspace.x[2] + acadoWorkspace.evGx[291]*acadoWorkspace.x[3] + acadoWorkspace.d[72]; -acadoVariables.x[77] += + acadoWorkspace.evGx[292]*acadoWorkspace.x[0] + acadoWorkspace.evGx[293]*acadoWorkspace.x[1] + acadoWorkspace.evGx[294]*acadoWorkspace.x[2] + acadoWorkspace.evGx[295]*acadoWorkspace.x[3] + acadoWorkspace.d[73]; -acadoVariables.x[78] += + acadoWorkspace.evGx[296]*acadoWorkspace.x[0] + acadoWorkspace.evGx[297]*acadoWorkspace.x[1] + acadoWorkspace.evGx[298]*acadoWorkspace.x[2] + acadoWorkspace.evGx[299]*acadoWorkspace.x[3] + acadoWorkspace.d[74]; -acadoVariables.x[79] += + acadoWorkspace.evGx[300]*acadoWorkspace.x[0] + acadoWorkspace.evGx[301]*acadoWorkspace.x[1] + acadoWorkspace.evGx[302]*acadoWorkspace.x[2] + acadoWorkspace.evGx[303]*acadoWorkspace.x[3] + acadoWorkspace.d[75]; -acadoVariables.x[80] += + acadoWorkspace.evGx[304]*acadoWorkspace.x[0] + acadoWorkspace.evGx[305]*acadoWorkspace.x[1] + acadoWorkspace.evGx[306]*acadoWorkspace.x[2] + acadoWorkspace.evGx[307]*acadoWorkspace.x[3] + acadoWorkspace.d[76]; -acadoVariables.x[81] += + acadoWorkspace.evGx[308]*acadoWorkspace.x[0] + acadoWorkspace.evGx[309]*acadoWorkspace.x[1] + acadoWorkspace.evGx[310]*acadoWorkspace.x[2] + acadoWorkspace.evGx[311]*acadoWorkspace.x[3] + acadoWorkspace.d[77]; -acadoVariables.x[82] += + acadoWorkspace.evGx[312]*acadoWorkspace.x[0] + acadoWorkspace.evGx[313]*acadoWorkspace.x[1] + acadoWorkspace.evGx[314]*acadoWorkspace.x[2] + acadoWorkspace.evGx[315]*acadoWorkspace.x[3] + acadoWorkspace.d[78]; -acadoVariables.x[83] += + acadoWorkspace.evGx[316]*acadoWorkspace.x[0] + acadoWorkspace.evGx[317]*acadoWorkspace.x[1] + acadoWorkspace.evGx[318]*acadoWorkspace.x[2] + acadoWorkspace.evGx[319]*acadoWorkspace.x[3] + acadoWorkspace.d[79]; -acadoVariables.x[84] += + acadoWorkspace.evGx[320]*acadoWorkspace.x[0] + acadoWorkspace.evGx[321]*acadoWorkspace.x[1] + acadoWorkspace.evGx[322]*acadoWorkspace.x[2] + acadoWorkspace.evGx[323]*acadoWorkspace.x[3] + acadoWorkspace.d[80]; -acadoVariables.x[85] += + acadoWorkspace.evGx[324]*acadoWorkspace.x[0] + acadoWorkspace.evGx[325]*acadoWorkspace.x[1] + acadoWorkspace.evGx[326]*acadoWorkspace.x[2] + acadoWorkspace.evGx[327]*acadoWorkspace.x[3] + acadoWorkspace.d[81]; -acadoVariables.x[86] += + acadoWorkspace.evGx[328]*acadoWorkspace.x[0] + acadoWorkspace.evGx[329]*acadoWorkspace.x[1] + acadoWorkspace.evGx[330]*acadoWorkspace.x[2] + acadoWorkspace.evGx[331]*acadoWorkspace.x[3] + acadoWorkspace.d[82]; -acadoVariables.x[87] += + acadoWorkspace.evGx[332]*acadoWorkspace.x[0] + acadoWorkspace.evGx[333]*acadoWorkspace.x[1] + acadoWorkspace.evGx[334]*acadoWorkspace.x[2] + acadoWorkspace.evGx[335]*acadoWorkspace.x[3] + acadoWorkspace.d[83]; -acadoVariables.x[88] += + acadoWorkspace.evGx[336]*acadoWorkspace.x[0] + acadoWorkspace.evGx[337]*acadoWorkspace.x[1] + acadoWorkspace.evGx[338]*acadoWorkspace.x[2] + acadoWorkspace.evGx[339]*acadoWorkspace.x[3] + acadoWorkspace.d[84]; -acadoVariables.x[89] += + acadoWorkspace.evGx[340]*acadoWorkspace.x[0] + acadoWorkspace.evGx[341]*acadoWorkspace.x[1] + acadoWorkspace.evGx[342]*acadoWorkspace.x[2] + acadoWorkspace.evGx[343]*acadoWorkspace.x[3] + acadoWorkspace.d[85]; -acadoVariables.x[90] += + acadoWorkspace.evGx[344]*acadoWorkspace.x[0] + acadoWorkspace.evGx[345]*acadoWorkspace.x[1] + acadoWorkspace.evGx[346]*acadoWorkspace.x[2] + acadoWorkspace.evGx[347]*acadoWorkspace.x[3] + acadoWorkspace.d[86]; -acadoVariables.x[91] += + acadoWorkspace.evGx[348]*acadoWorkspace.x[0] + acadoWorkspace.evGx[349]*acadoWorkspace.x[1] + acadoWorkspace.evGx[350]*acadoWorkspace.x[2] + acadoWorkspace.evGx[351]*acadoWorkspace.x[3] + acadoWorkspace.d[87]; -acadoVariables.x[92] += + acadoWorkspace.evGx[352]*acadoWorkspace.x[0] + acadoWorkspace.evGx[353]*acadoWorkspace.x[1] + acadoWorkspace.evGx[354]*acadoWorkspace.x[2] + acadoWorkspace.evGx[355]*acadoWorkspace.x[3] + acadoWorkspace.d[88]; -acadoVariables.x[93] += + acadoWorkspace.evGx[356]*acadoWorkspace.x[0] + acadoWorkspace.evGx[357]*acadoWorkspace.x[1] + acadoWorkspace.evGx[358]*acadoWorkspace.x[2] + acadoWorkspace.evGx[359]*acadoWorkspace.x[3] + acadoWorkspace.d[89]; -acadoVariables.x[94] += + acadoWorkspace.evGx[360]*acadoWorkspace.x[0] + acadoWorkspace.evGx[361]*acadoWorkspace.x[1] + acadoWorkspace.evGx[362]*acadoWorkspace.x[2] + acadoWorkspace.evGx[363]*acadoWorkspace.x[3] + acadoWorkspace.d[90]; -acadoVariables.x[95] += + acadoWorkspace.evGx[364]*acadoWorkspace.x[0] + acadoWorkspace.evGx[365]*acadoWorkspace.x[1] + acadoWorkspace.evGx[366]*acadoWorkspace.x[2] + acadoWorkspace.evGx[367]*acadoWorkspace.x[3] + acadoWorkspace.d[91]; -acadoVariables.x[96] += + acadoWorkspace.evGx[368]*acadoWorkspace.x[0] + acadoWorkspace.evGx[369]*acadoWorkspace.x[1] + acadoWorkspace.evGx[370]*acadoWorkspace.x[2] + acadoWorkspace.evGx[371]*acadoWorkspace.x[3] + acadoWorkspace.d[92]; -acadoVariables.x[97] += + acadoWorkspace.evGx[372]*acadoWorkspace.x[0] + acadoWorkspace.evGx[373]*acadoWorkspace.x[1] + acadoWorkspace.evGx[374]*acadoWorkspace.x[2] + acadoWorkspace.evGx[375]*acadoWorkspace.x[3] + acadoWorkspace.d[93]; -acadoVariables.x[98] += + acadoWorkspace.evGx[376]*acadoWorkspace.x[0] + acadoWorkspace.evGx[377]*acadoWorkspace.x[1] + acadoWorkspace.evGx[378]*acadoWorkspace.x[2] + acadoWorkspace.evGx[379]*acadoWorkspace.x[3] + acadoWorkspace.d[94]; -acadoVariables.x[99] += + acadoWorkspace.evGx[380]*acadoWorkspace.x[0] + acadoWorkspace.evGx[381]*acadoWorkspace.x[1] + acadoWorkspace.evGx[382]*acadoWorkspace.x[2] + acadoWorkspace.evGx[383]*acadoWorkspace.x[3] + acadoWorkspace.d[95]; -acadoVariables.x[100] += + acadoWorkspace.evGx[384]*acadoWorkspace.x[0] + acadoWorkspace.evGx[385]*acadoWorkspace.x[1] + acadoWorkspace.evGx[386]*acadoWorkspace.x[2] + acadoWorkspace.evGx[387]*acadoWorkspace.x[3] + acadoWorkspace.d[96]; -acadoVariables.x[101] += + acadoWorkspace.evGx[388]*acadoWorkspace.x[0] + acadoWorkspace.evGx[389]*acadoWorkspace.x[1] + acadoWorkspace.evGx[390]*acadoWorkspace.x[2] + acadoWorkspace.evGx[391]*acadoWorkspace.x[3] + acadoWorkspace.d[97]; -acadoVariables.x[102] += + acadoWorkspace.evGx[392]*acadoWorkspace.x[0] + acadoWorkspace.evGx[393]*acadoWorkspace.x[1] + acadoWorkspace.evGx[394]*acadoWorkspace.x[2] + acadoWorkspace.evGx[395]*acadoWorkspace.x[3] + acadoWorkspace.d[98]; -acadoVariables.x[103] += + acadoWorkspace.evGx[396]*acadoWorkspace.x[0] + acadoWorkspace.evGx[397]*acadoWorkspace.x[1] + acadoWorkspace.evGx[398]*acadoWorkspace.x[2] + acadoWorkspace.evGx[399]*acadoWorkspace.x[3] + acadoWorkspace.d[99]; -acadoVariables.x[104] += + acadoWorkspace.evGx[400]*acadoWorkspace.x[0] + acadoWorkspace.evGx[401]*acadoWorkspace.x[1] + acadoWorkspace.evGx[402]*acadoWorkspace.x[2] + acadoWorkspace.evGx[403]*acadoWorkspace.x[3] + acadoWorkspace.d[100]; -acadoVariables.x[105] += + acadoWorkspace.evGx[404]*acadoWorkspace.x[0] + acadoWorkspace.evGx[405]*acadoWorkspace.x[1] + acadoWorkspace.evGx[406]*acadoWorkspace.x[2] + acadoWorkspace.evGx[407]*acadoWorkspace.x[3] + acadoWorkspace.d[101]; -acadoVariables.x[106] += + acadoWorkspace.evGx[408]*acadoWorkspace.x[0] + acadoWorkspace.evGx[409]*acadoWorkspace.x[1] + acadoWorkspace.evGx[410]*acadoWorkspace.x[2] + acadoWorkspace.evGx[411]*acadoWorkspace.x[3] + acadoWorkspace.d[102]; -acadoVariables.x[107] += + acadoWorkspace.evGx[412]*acadoWorkspace.x[0] + acadoWorkspace.evGx[413]*acadoWorkspace.x[1] + acadoWorkspace.evGx[414]*acadoWorkspace.x[2] + acadoWorkspace.evGx[415]*acadoWorkspace.x[3] + acadoWorkspace.d[103]; -acadoVariables.x[108] += + acadoWorkspace.evGx[416]*acadoWorkspace.x[0] + acadoWorkspace.evGx[417]*acadoWorkspace.x[1] + acadoWorkspace.evGx[418]*acadoWorkspace.x[2] + acadoWorkspace.evGx[419]*acadoWorkspace.x[3] + acadoWorkspace.d[104]; -acadoVariables.x[109] += + acadoWorkspace.evGx[420]*acadoWorkspace.x[0] + acadoWorkspace.evGx[421]*acadoWorkspace.x[1] + acadoWorkspace.evGx[422]*acadoWorkspace.x[2] + acadoWorkspace.evGx[423]*acadoWorkspace.x[3] + acadoWorkspace.d[105]; -acadoVariables.x[110] += + acadoWorkspace.evGx[424]*acadoWorkspace.x[0] + acadoWorkspace.evGx[425]*acadoWorkspace.x[1] + acadoWorkspace.evGx[426]*acadoWorkspace.x[2] + acadoWorkspace.evGx[427]*acadoWorkspace.x[3] + acadoWorkspace.d[106]; -acadoVariables.x[111] += + acadoWorkspace.evGx[428]*acadoWorkspace.x[0] + acadoWorkspace.evGx[429]*acadoWorkspace.x[1] + acadoWorkspace.evGx[430]*acadoWorkspace.x[2] + acadoWorkspace.evGx[431]*acadoWorkspace.x[3] + acadoWorkspace.d[107]; -acadoVariables.x[112] += + acadoWorkspace.evGx[432]*acadoWorkspace.x[0] + acadoWorkspace.evGx[433]*acadoWorkspace.x[1] + acadoWorkspace.evGx[434]*acadoWorkspace.x[2] + acadoWorkspace.evGx[435]*acadoWorkspace.x[3] + acadoWorkspace.d[108]; -acadoVariables.x[113] += + acadoWorkspace.evGx[436]*acadoWorkspace.x[0] + acadoWorkspace.evGx[437]*acadoWorkspace.x[1] + acadoWorkspace.evGx[438]*acadoWorkspace.x[2] + acadoWorkspace.evGx[439]*acadoWorkspace.x[3] + acadoWorkspace.d[109]; -acadoVariables.x[114] += + acadoWorkspace.evGx[440]*acadoWorkspace.x[0] + acadoWorkspace.evGx[441]*acadoWorkspace.x[1] + acadoWorkspace.evGx[442]*acadoWorkspace.x[2] + acadoWorkspace.evGx[443]*acadoWorkspace.x[3] + acadoWorkspace.d[110]; -acadoVariables.x[115] += + acadoWorkspace.evGx[444]*acadoWorkspace.x[0] + acadoWorkspace.evGx[445]*acadoWorkspace.x[1] + acadoWorkspace.evGx[446]*acadoWorkspace.x[2] + acadoWorkspace.evGx[447]*acadoWorkspace.x[3] + acadoWorkspace.d[111]; -acadoVariables.x[116] += + acadoWorkspace.evGx[448]*acadoWorkspace.x[0] + acadoWorkspace.evGx[449]*acadoWorkspace.x[1] + acadoWorkspace.evGx[450]*acadoWorkspace.x[2] + acadoWorkspace.evGx[451]*acadoWorkspace.x[3] + acadoWorkspace.d[112]; -acadoVariables.x[117] += + acadoWorkspace.evGx[452]*acadoWorkspace.x[0] + acadoWorkspace.evGx[453]*acadoWorkspace.x[1] + acadoWorkspace.evGx[454]*acadoWorkspace.x[2] + acadoWorkspace.evGx[455]*acadoWorkspace.x[3] + acadoWorkspace.d[113]; -acadoVariables.x[118] += + acadoWorkspace.evGx[456]*acadoWorkspace.x[0] + acadoWorkspace.evGx[457]*acadoWorkspace.x[1] + acadoWorkspace.evGx[458]*acadoWorkspace.x[2] + acadoWorkspace.evGx[459]*acadoWorkspace.x[3] + acadoWorkspace.d[114]; -acadoVariables.x[119] += + acadoWorkspace.evGx[460]*acadoWorkspace.x[0] + acadoWorkspace.evGx[461]*acadoWorkspace.x[1] + acadoWorkspace.evGx[462]*acadoWorkspace.x[2] + acadoWorkspace.evGx[463]*acadoWorkspace.x[3] + acadoWorkspace.d[115]; -acadoVariables.x[120] += + acadoWorkspace.evGx[464]*acadoWorkspace.x[0] + acadoWorkspace.evGx[465]*acadoWorkspace.x[1] + acadoWorkspace.evGx[466]*acadoWorkspace.x[2] + acadoWorkspace.evGx[467]*acadoWorkspace.x[3] + acadoWorkspace.d[116]; -acadoVariables.x[121] += + acadoWorkspace.evGx[468]*acadoWorkspace.x[0] + acadoWorkspace.evGx[469]*acadoWorkspace.x[1] + acadoWorkspace.evGx[470]*acadoWorkspace.x[2] + acadoWorkspace.evGx[471]*acadoWorkspace.x[3] + acadoWorkspace.d[117]; -acadoVariables.x[122] += + acadoWorkspace.evGx[472]*acadoWorkspace.x[0] + acadoWorkspace.evGx[473]*acadoWorkspace.x[1] + acadoWorkspace.evGx[474]*acadoWorkspace.x[2] + acadoWorkspace.evGx[475]*acadoWorkspace.x[3] + acadoWorkspace.d[118]; -acadoVariables.x[123] += + acadoWorkspace.evGx[476]*acadoWorkspace.x[0] + acadoWorkspace.evGx[477]*acadoWorkspace.x[1] + acadoWorkspace.evGx[478]*acadoWorkspace.x[2] + acadoWorkspace.evGx[479]*acadoWorkspace.x[3] + acadoWorkspace.d[119]; -acadoVariables.x[124] += + acadoWorkspace.evGx[480]*acadoWorkspace.x[0] + acadoWorkspace.evGx[481]*acadoWorkspace.x[1] + acadoWorkspace.evGx[482]*acadoWorkspace.x[2] + acadoWorkspace.evGx[483]*acadoWorkspace.x[3] + acadoWorkspace.d[120]; -acadoVariables.x[125] += + acadoWorkspace.evGx[484]*acadoWorkspace.x[0] + acadoWorkspace.evGx[485]*acadoWorkspace.x[1] + acadoWorkspace.evGx[486]*acadoWorkspace.x[2] + acadoWorkspace.evGx[487]*acadoWorkspace.x[3] + acadoWorkspace.d[121]; -acadoVariables.x[126] += + acadoWorkspace.evGx[488]*acadoWorkspace.x[0] + acadoWorkspace.evGx[489]*acadoWorkspace.x[1] + acadoWorkspace.evGx[490]*acadoWorkspace.x[2] + acadoWorkspace.evGx[491]*acadoWorkspace.x[3] + acadoWorkspace.d[122]; -acadoVariables.x[127] += + acadoWorkspace.evGx[492]*acadoWorkspace.x[0] + acadoWorkspace.evGx[493]*acadoWorkspace.x[1] + acadoWorkspace.evGx[494]*acadoWorkspace.x[2] + acadoWorkspace.evGx[495]*acadoWorkspace.x[3] + acadoWorkspace.d[123]; -acadoVariables.x[128] += + acadoWorkspace.evGx[496]*acadoWorkspace.x[0] + acadoWorkspace.evGx[497]*acadoWorkspace.x[1] + acadoWorkspace.evGx[498]*acadoWorkspace.x[2] + acadoWorkspace.evGx[499]*acadoWorkspace.x[3] + acadoWorkspace.d[124]; -acadoVariables.x[129] += + acadoWorkspace.evGx[500]*acadoWorkspace.x[0] + acadoWorkspace.evGx[501]*acadoWorkspace.x[1] + acadoWorkspace.evGx[502]*acadoWorkspace.x[2] + acadoWorkspace.evGx[503]*acadoWorkspace.x[3] + acadoWorkspace.d[125]; -acadoVariables.x[130] += + acadoWorkspace.evGx[504]*acadoWorkspace.x[0] + acadoWorkspace.evGx[505]*acadoWorkspace.x[1] + acadoWorkspace.evGx[506]*acadoWorkspace.x[2] + acadoWorkspace.evGx[507]*acadoWorkspace.x[3] + acadoWorkspace.d[126]; -acadoVariables.x[131] += + acadoWorkspace.evGx[508]*acadoWorkspace.x[0] + acadoWorkspace.evGx[509]*acadoWorkspace.x[1] + acadoWorkspace.evGx[510]*acadoWorkspace.x[2] + acadoWorkspace.evGx[511]*acadoWorkspace.x[3] + acadoWorkspace.d[127]; - -for (lRun1 = 0; lRun1 < 32; ++lRun1) -{ -for (lRun2 = 0; lRun2 < lRun1 + 1; ++lRun2) -{ -lRun3 = (((lRun1 + 1) * (lRun1)) / (2)) + (lRun2); -acado_multEDu( &(acadoWorkspace.E[ lRun3 * 8 ]), &(acadoWorkspace.x[ lRun2 * 2 + 4 ]), &(acadoVariables.x[ lRun1 * 4 + 4 ]) ); -} -} -} - -int acado_preparationStep( ) -{ -int ret; - -ret = acado_modelSimulation(); -acado_evaluateObjective( ); -acado_condensePrep( ); -return ret; -} - -int acado_feedbackStep( ) -{ -int tmp; - -acado_condenseFdb( ); - -tmp = acado_solve( ); - -acado_expand( ); -return tmp; -} - -int acado_initializeSolver( ) -{ -int ret; - -/* This is a function which must be called once before any other function call! */ - - -ret = 0; - -memset(&acadoWorkspace, 0, sizeof( acadoWorkspace )); -return ret; -} - -void acado_initializeNodesByForwardSimulation( ) -{ -int index; -for (index = 0; index < 32; ++index) -{ -acadoWorkspace.state[0] = acadoVariables.x[index * 4]; -acadoWorkspace.state[1] = acadoVariables.x[index * 4 + 1]; -acadoWorkspace.state[2] = acadoVariables.x[index * 4 + 2]; -acadoWorkspace.state[3] = acadoVariables.x[index * 4 + 3]; -acadoWorkspace.state[28] = acadoVariables.u[index * 2]; -acadoWorkspace.state[29] = acadoVariables.u[index * 2 + 1]; -acadoWorkspace.state[30] = acadoVariables.od[index * 2]; -acadoWorkspace.state[31] = acadoVariables.od[index * 2 + 1]; - -acado_integrate(acadoWorkspace.state, index == 0, index); - -acadoVariables.x[index * 4 + 4] = acadoWorkspace.state[0]; -acadoVariables.x[index * 4 + 5] = acadoWorkspace.state[1]; -acadoVariables.x[index * 4 + 6] = acadoWorkspace.state[2]; -acadoVariables.x[index * 4 + 7] = acadoWorkspace.state[3]; -} -} - -void acado_shiftStates( int strategy, real_t* const xEnd, real_t* const uEnd ) -{ -int index; -for (index = 0; index < 32; ++index) -{ -acadoVariables.x[index * 4] = acadoVariables.x[index * 4 + 4]; -acadoVariables.x[index * 4 + 1] = acadoVariables.x[index * 4 + 5]; -acadoVariables.x[index * 4 + 2] = acadoVariables.x[index * 4 + 6]; -acadoVariables.x[index * 4 + 3] = acadoVariables.x[index * 4 + 7]; -} - -if (strategy == 1 && xEnd != 0) -{ -acadoVariables.x[128] = xEnd[0]; -acadoVariables.x[129] = xEnd[1]; -acadoVariables.x[130] = xEnd[2]; -acadoVariables.x[131] = xEnd[3]; -} -else if (strategy == 2) -{ -acadoWorkspace.state[0] = acadoVariables.x[128]; -acadoWorkspace.state[1] = acadoVariables.x[129]; -acadoWorkspace.state[2] = acadoVariables.x[130]; -acadoWorkspace.state[3] = acadoVariables.x[131]; -if (uEnd != 0) -{ -acadoWorkspace.state[28] = uEnd[0]; -acadoWorkspace.state[29] = uEnd[1]; -} -else -{ -acadoWorkspace.state[28] = acadoVariables.u[62]; -acadoWorkspace.state[29] = acadoVariables.u[63]; -} -acadoWorkspace.state[30] = acadoVariables.od[64]; -acadoWorkspace.state[31] = acadoVariables.od[65]; - -acado_integrate(acadoWorkspace.state, 1, 31); - -acadoVariables.x[128] = acadoWorkspace.state[0]; -acadoVariables.x[129] = acadoWorkspace.state[1]; -acadoVariables.x[130] = acadoWorkspace.state[2]; -acadoVariables.x[131] = acadoWorkspace.state[3]; -} -} - -void acado_shiftControls( real_t* const uEnd ) -{ -int index; -for (index = 0; index < 31; ++index) -{ -acadoVariables.u[index * 2] = acadoVariables.u[index * 2 + 2]; -acadoVariables.u[index * 2 + 1] = acadoVariables.u[index * 2 + 3]; -} - -if (uEnd != 0) -{ -acadoVariables.u[62] = uEnd[0]; -acadoVariables.u[63] = uEnd[1]; -} -} - -real_t acado_getKKT( ) -{ -real_t kkt; - -int index; -real_t prd; - -kkt = + acadoWorkspace.g[0]*acadoWorkspace.x[0] + acadoWorkspace.g[1]*acadoWorkspace.x[1] + acadoWorkspace.g[2]*acadoWorkspace.x[2] + acadoWorkspace.g[3]*acadoWorkspace.x[3] + acadoWorkspace.g[4]*acadoWorkspace.x[4] + acadoWorkspace.g[5]*acadoWorkspace.x[5] + acadoWorkspace.g[6]*acadoWorkspace.x[6] + acadoWorkspace.g[7]*acadoWorkspace.x[7] + acadoWorkspace.g[8]*acadoWorkspace.x[8] + acadoWorkspace.g[9]*acadoWorkspace.x[9] + acadoWorkspace.g[10]*acadoWorkspace.x[10] + acadoWorkspace.g[11]*acadoWorkspace.x[11] + acadoWorkspace.g[12]*acadoWorkspace.x[12] + acadoWorkspace.g[13]*acadoWorkspace.x[13] + acadoWorkspace.g[14]*acadoWorkspace.x[14] + acadoWorkspace.g[15]*acadoWorkspace.x[15] + acadoWorkspace.g[16]*acadoWorkspace.x[16] + acadoWorkspace.g[17]*acadoWorkspace.x[17] + acadoWorkspace.g[18]*acadoWorkspace.x[18] + acadoWorkspace.g[19]*acadoWorkspace.x[19] + acadoWorkspace.g[20]*acadoWorkspace.x[20] + acadoWorkspace.g[21]*acadoWorkspace.x[21] + acadoWorkspace.g[22]*acadoWorkspace.x[22] + acadoWorkspace.g[23]*acadoWorkspace.x[23] + acadoWorkspace.g[24]*acadoWorkspace.x[24] + acadoWorkspace.g[25]*acadoWorkspace.x[25] + acadoWorkspace.g[26]*acadoWorkspace.x[26] + acadoWorkspace.g[27]*acadoWorkspace.x[27] + acadoWorkspace.g[28]*acadoWorkspace.x[28] + acadoWorkspace.g[29]*acadoWorkspace.x[29] + acadoWorkspace.g[30]*acadoWorkspace.x[30] + acadoWorkspace.g[31]*acadoWorkspace.x[31] + acadoWorkspace.g[32]*acadoWorkspace.x[32] + acadoWorkspace.g[33]*acadoWorkspace.x[33] + acadoWorkspace.g[34]*acadoWorkspace.x[34] + acadoWorkspace.g[35]*acadoWorkspace.x[35] + acadoWorkspace.g[36]*acadoWorkspace.x[36] + acadoWorkspace.g[37]*acadoWorkspace.x[37] + acadoWorkspace.g[38]*acadoWorkspace.x[38] + acadoWorkspace.g[39]*acadoWorkspace.x[39] + acadoWorkspace.g[40]*acadoWorkspace.x[40] + acadoWorkspace.g[41]*acadoWorkspace.x[41] + acadoWorkspace.g[42]*acadoWorkspace.x[42] + acadoWorkspace.g[43]*acadoWorkspace.x[43] + acadoWorkspace.g[44]*acadoWorkspace.x[44] + acadoWorkspace.g[45]*acadoWorkspace.x[45] + acadoWorkspace.g[46]*acadoWorkspace.x[46] + acadoWorkspace.g[47]*acadoWorkspace.x[47] + acadoWorkspace.g[48]*acadoWorkspace.x[48] + acadoWorkspace.g[49]*acadoWorkspace.x[49] + acadoWorkspace.g[50]*acadoWorkspace.x[50] + acadoWorkspace.g[51]*acadoWorkspace.x[51] + acadoWorkspace.g[52]*acadoWorkspace.x[52] + acadoWorkspace.g[53]*acadoWorkspace.x[53] + acadoWorkspace.g[54]*acadoWorkspace.x[54] + acadoWorkspace.g[55]*acadoWorkspace.x[55] + acadoWorkspace.g[56]*acadoWorkspace.x[56] + acadoWorkspace.g[57]*acadoWorkspace.x[57] + acadoWorkspace.g[58]*acadoWorkspace.x[58] + acadoWorkspace.g[59]*acadoWorkspace.x[59] + acadoWorkspace.g[60]*acadoWorkspace.x[60] + acadoWorkspace.g[61]*acadoWorkspace.x[61] + acadoWorkspace.g[62]*acadoWorkspace.x[62] + acadoWorkspace.g[63]*acadoWorkspace.x[63] + acadoWorkspace.g[64]*acadoWorkspace.x[64] + acadoWorkspace.g[65]*acadoWorkspace.x[65] + acadoWorkspace.g[66]*acadoWorkspace.x[66] + acadoWorkspace.g[67]*acadoWorkspace.x[67]; -kkt = fabs( kkt ); -for (index = 0; index < 68; ++index) -{ -prd = acadoWorkspace.y[index]; -if (prd > 1e-12) -kkt += fabs(acadoWorkspace.lb[index] * prd); -else if (prd < -1e-12) -kkt += fabs(acadoWorkspace.ub[index] * prd); -} -for (index = 0; index < 96; ++index) -{ -prd = acadoWorkspace.y[index + 68]; -if (prd > 1e-12) -kkt += fabs(acadoWorkspace.lbA[index] * prd); -else if (prd < -1e-12) -kkt += fabs(acadoWorkspace.ubA[index] * prd); -} -return kkt; -} - -real_t acado_getObjective( ) -{ -real_t objVal; - -int lRun1; -/** Row vector of size: 5 */ -real_t tmpDy[ 5 ]; - -/** Row vector of size: 3 */ -real_t tmpDyN[ 3 ]; - -for (lRun1 = 0; lRun1 < 32; ++lRun1) -{ -acadoWorkspace.objValueIn[0] = acadoVariables.x[lRun1 * 4]; -acadoWorkspace.objValueIn[1] = acadoVariables.x[lRun1 * 4 + 1]; -acadoWorkspace.objValueIn[2] = acadoVariables.x[lRun1 * 4 + 2]; -acadoWorkspace.objValueIn[3] = acadoVariables.x[lRun1 * 4 + 3]; -acadoWorkspace.objValueIn[4] = acadoVariables.u[lRun1 * 2]; -acadoWorkspace.objValueIn[5] = acadoVariables.u[lRun1 * 2 + 1]; -acadoWorkspace.objValueIn[6] = acadoVariables.od[lRun1 * 2]; -acadoWorkspace.objValueIn[7] = acadoVariables.od[lRun1 * 2 + 1]; - -acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut ); -acadoWorkspace.Dy[lRun1 * 5] = acadoWorkspace.objValueOut[0] - acadoVariables.y[lRun1 * 5]; -acadoWorkspace.Dy[lRun1 * 5 + 1] = acadoWorkspace.objValueOut[1] - acadoVariables.y[lRun1 * 5 + 1]; -acadoWorkspace.Dy[lRun1 * 5 + 2] = acadoWorkspace.objValueOut[2] - acadoVariables.y[lRun1 * 5 + 2]; -acadoWorkspace.Dy[lRun1 * 5 + 3] = acadoWorkspace.objValueOut[3] - acadoVariables.y[lRun1 * 5 + 3]; -acadoWorkspace.Dy[lRun1 * 5 + 4] = acadoWorkspace.objValueOut[4] - acadoVariables.y[lRun1 * 5 + 4]; -} -acadoWorkspace.objValueIn[0] = acadoVariables.x[128]; -acadoWorkspace.objValueIn[1] = acadoVariables.x[129]; -acadoWorkspace.objValueIn[2] = acadoVariables.x[130]; -acadoWorkspace.objValueIn[3] = acadoVariables.x[131]; -acadoWorkspace.objValueIn[4] = acadoVariables.od[64]; -acadoWorkspace.objValueIn[5] = acadoVariables.od[65]; -acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut ); -acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0] - acadoVariables.yN[0]; -acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1] - acadoVariables.yN[1]; -acadoWorkspace.DyN[2] = acadoWorkspace.objValueOut[2] - acadoVariables.yN[2]; -objVal = 0.0000000000000000e+00; -for (lRun1 = 0; lRun1 < 32; ++lRun1) -{ -tmpDy[0] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 5] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 10] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 15] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 20]; -tmpDy[1] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25 + 1] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 6] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 11] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 16] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 21]; -tmpDy[2] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25 + 2] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 7] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 12] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 17] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 22]; -tmpDy[3] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25 + 3] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 8] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 13] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 18] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 23]; -tmpDy[4] = + acadoWorkspace.Dy[lRun1 * 5]*acadoVariables.W[lRun1 * 25 + 4] + acadoWorkspace.Dy[lRun1 * 5 + 1]*acadoVariables.W[lRun1 * 25 + 9] + acadoWorkspace.Dy[lRun1 * 5 + 2]*acadoVariables.W[lRun1 * 25 + 14] + acadoWorkspace.Dy[lRun1 * 5 + 3]*acadoVariables.W[lRun1 * 25 + 19] + acadoWorkspace.Dy[lRun1 * 5 + 4]*acadoVariables.W[lRun1 * 25 + 24]; -objVal += + acadoWorkspace.Dy[lRun1 * 5]*tmpDy[0] + acadoWorkspace.Dy[lRun1 * 5 + 1]*tmpDy[1] + acadoWorkspace.Dy[lRun1 * 5 + 2]*tmpDy[2] + acadoWorkspace.Dy[lRun1 * 5 + 3]*tmpDy[3] + acadoWorkspace.Dy[lRun1 * 5 + 4]*tmpDy[4]; -} - -tmpDyN[0] = + acadoWorkspace.DyN[0]*acadoVariables.WN[0] + acadoWorkspace.DyN[1]*acadoVariables.WN[3] + acadoWorkspace.DyN[2]*acadoVariables.WN[6]; -tmpDyN[1] = + acadoWorkspace.DyN[0]*acadoVariables.WN[1] + acadoWorkspace.DyN[1]*acadoVariables.WN[4] + acadoWorkspace.DyN[2]*acadoVariables.WN[7]; -tmpDyN[2] = + acadoWorkspace.DyN[0]*acadoVariables.WN[2] + acadoWorkspace.DyN[1]*acadoVariables.WN[5] + acadoWorkspace.DyN[2]*acadoVariables.WN[8]; -objVal += + acadoWorkspace.DyN[0]*tmpDyN[0] + acadoWorkspace.DyN[1]*tmpDyN[1] + acadoWorkspace.DyN[2]*tmpDyN[2]; - -objVal *= 0.5; -return objVal; -} - diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/libmpc_py.py b/selfdrive/controls/lib/longitudinal_mpc_lib/libmpc_py.py deleted file mode 100644 index 3b15b08fe..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/libmpc_py.py +++ /dev/null @@ -1,34 +0,0 @@ -import os - -from cffi import FFI -from common.ffi_wrapper import suffix - -mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__))) -libmpc_fn = os.path.join(mpc_dir, "libmpc"+suffix()) - -ffi = FFI() -ffi.cdef(""" -const int MPC_N = 32; - -typedef struct { -double x_ego, v_ego, a_ego; -} state_t; - - -typedef struct { -double x_ego[MPC_N+1]; -double v_ego[MPC_N+1]; -double a_ego[MPC_N+1]; -double t[MPC_N+1]; -double j_ego[MPC_N]; -double cost; -} log_t; - - -void init(double xCost, double vCost, double aCost, double jerkCost, double constraintCost); -int run_mpc(state_t * x0, log_t * solution, - double target_x[MPC_N+1], double target_v[MPC_N+1], double target_a[MPC_N+1], - double min_a, double max_a); -""") - -libmpc = ffi.dlopen(libmpc_fn) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/longitudinal_mpc.c b/selfdrive/controls/lib/longitudinal_mpc_lib/longitudinal_mpc.c deleted file mode 100644 index c392609da..000000000 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/longitudinal_mpc.c +++ /dev/null @@ -1,108 +0,0 @@ -#include "acado_common.h" -#include "acado_auxiliary_functions.h" -#include "common/modeldata.h" - -#include -#include - -#define NX ACADO_NX /* Number of differential state variables. */ -#define NXA ACADO_NXA /* Number of algebraic variables. */ -#define NU ACADO_NU /* Number of control inputs. */ -#define NOD ACADO_NOD /* Number of online data values. */ - -#define NY ACADO_NY /* Number of measurements/references on nodes 0..N - 1. */ -#define NYN ACADO_NYN /* Number of measurements/references on node N. */ - -#define N ACADO_N /* Number of intervals in the horizon. */ - -ACADOvariables acadoVariables; -ACADOworkspace acadoWorkspace; - -typedef struct { - double x_ego, v_ego, a_ego; -} state_t; - - -typedef struct { - double x_ego[N+1]; - double v_ego[N+1]; - double a_ego[N+1]; - double t[N+1]; - double j_ego[N]; - double cost; -} log_t; - -void init(double xCost, double vCost, double aCost, double jerkCost, double constraintCost){ - acado_initializeSolver(); - int i; - const int STEP_MULTIPLIER = 3; - - /* Initialize the states and controls. */ - for (i = 0; i < NX * (N + 1); ++i) acadoVariables.x[ i ] = 0.0; - for (i = 0; i < NU * N; ++i) acadoVariables.u[ i ] = 0.0; - - /* Initialize the measurements/reference. */ - for (i = 0; i < NY * N; ++i) acadoVariables.y[ i ] = 0.0; - for (i = 0; i < NYN; ++i) acadoVariables.yN[ i ] = 0.0; - - /* MPC: initialize the current state feedback. */ - for (i = 0; i < NX; ++i) acadoVariables.x0[ i ] = 0.0; - - // Set weights - for (i = 0; i < N; i++) { - double f = 20 * (T_IDXS[i+1] - T_IDXS[i]); - // Setup diagonal entries - acadoVariables.W[NY*NY*i + (NY+1)*0] = xCost * f; - acadoVariables.W[NY*NY*i + (NY+1)*1] = vCost * f; - acadoVariables.W[NY*NY*i + (NY+1)*2] = aCost * f; - acadoVariables.W[NY*NY*i + (NY+1)*3] = jerkCost * f; - acadoVariables.W[NY*NY*i + (NY+1)*4] = constraintCost * f; - } - acadoVariables.WN[(NYN+1)*0] = xCost * STEP_MULTIPLIER; - acadoVariables.WN[(NYN+1)*1] = vCost * STEP_MULTIPLIER; - acadoVariables.WN[(NYN+1)*2] = aCost * STEP_MULTIPLIER; - -} - - -int run_mpc(state_t * x0, log_t * solution, - double target_x[N+1], double target_v[N+1], double target_a[N+1], - double min_a, double max_a){ - int i; - for (i = 0; i < N + 1; ++i){ - acadoVariables.od[i*NOD] = min_a; - acadoVariables.od[i*NOD+1] = max_a; - } - for (i = 0; i < N; i+= 1){ - acadoVariables.y[NY*i + 0] = target_x[i]; - acadoVariables.y[NY*i + 1] = target_v[i]; - acadoVariables.y[NY*i + 2] = target_a[i]; - acadoVariables.y[NY*i + 3] = 0.0; - acadoVariables.y[NY*i + 4] = 0.0; - } - acadoVariables.yN[0] = target_x[N]; - acadoVariables.yN[1] = target_v[N]; - acadoVariables.yN[2] = target_a[N]; - - acadoVariables.x0[0] = x0->x_ego; - acadoVariables.x0[1] = x0->v_ego; - acadoVariables.x0[2] = x0->a_ego; - - acado_preparationStep(); - acado_feedbackStep(); - - for (i = 0; i <= N; i++) { - solution->x_ego[i] = acadoVariables.x[i*NX]; - solution->v_ego[i] = acadoVariables.x[i*NX+1]; - solution->a_ego[i] = acadoVariables.x[i*NX+2]; - - if (i < N) { - solution->j_ego[i] = acadoVariables.u[i*NU]; - } - } - solution->cost = acado_getObjective(); - - // Dont shift states here. Current solution is closer to next timestep than if - // we shift by 0.1 seconds. - return acado_getNWSR(); -}