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109 lines
3.4 KiB
109 lines
3.4 KiB
#include "acado_common.h"
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#include "acado_auxiliary_functions.h"
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#include "common/modeldata.h"
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#include <stdio.h>
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#define NX ACADO_NX /* Number of differential state variables. */
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#define NXA ACADO_NXA /* Number of algebraic variables. */
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#define NU ACADO_NU /* Number of control inputs. */
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#define NOD ACADO_NOD /* Number of online data values. */
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#define NY ACADO_NY /* Number of measurements/references on nodes 0..N - 1. */
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#define NYN ACADO_NYN /* Number of measurements/references on node N. */
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#define N ACADO_N /* Number of intervals in the horizon. */
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ACADOvariables acadoVariables;
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ACADOworkspace acadoWorkspace;
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typedef struct {
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double x, y, psi, tire_angle, tire_angle_rate;
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} state_t;
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typedef struct {
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double x[N+1];
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double y[N+1];
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double psi[N+1];
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double curvature[N+1];
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double curvature_rate[N];
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double cost;
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} log_t;
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void set_weights(double pathCost, double headingCost, double steerRateCost){
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int i;
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const int STEP_MULTIPLIER = 3.0;
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for (i = 0; i < N; i++) {
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double f = 20 * (T_IDXS[i+1] - T_IDXS[i]);
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// Setup diagonal entries
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acadoVariables.W[NY*NY*i + (NY+1)*0] = pathCost * f;
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acadoVariables.W[NY*NY*i + (NY+1)*1] = headingCost * f;
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acadoVariables.W[NY*NY*i + (NY+1)*2] = steerRateCost * f;
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}
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acadoVariables.WN[(NYN+1)*0] = pathCost * STEP_MULTIPLIER;
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acadoVariables.WN[(NYN+1)*1] = headingCost * STEP_MULTIPLIER;
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}
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void init(){
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acado_initializeSolver();
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int i;
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/* Initialize the states and controls. */
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for (i = 0; i < NX * (N + 1); ++i) acadoVariables.x[ i ] = 0.0;
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for (i = 0; i < NU * N; ++i) acadoVariables.u[ i ] = 0.0;
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/* Initialize the measurements/reference. */
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for (i = 0; i < NY * N; ++i) acadoVariables.y[ i ] = 0.0;
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for (i = 0; i < NYN; ++i) acadoVariables.yN[ i ] = 0.0;
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/* MPC: initialize the current state feedback. */
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for (i = 0; i < NX; ++i) acadoVariables.x0[ i ] = 0.0;
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}
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int run_mpc(state_t * x0, log_t * solution, double v_ego,
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double rotation_radius, double target_y[N+1], double target_psi[N+1]){
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int i;
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for (i = 0; i <= NOD * N; i+= NOD){
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acadoVariables.od[i] = v_ego;
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acadoVariables.od[i+1] = rotation_radius;
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}
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for (i = 0; i < N; i+= 1){
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acadoVariables.y[NY*i + 0] = target_y[i];
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acadoVariables.y[NY*i + 1] = (v_ego + 5.0) * target_psi[i];
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acadoVariables.y[NY*i + 2] = 0.0;
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}
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acadoVariables.yN[0] = target_y[N];
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acadoVariables.yN[1] = (2.0 * v_ego + 5.0) * target_psi[N];
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acadoVariables.x0[0] = x0->x;
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acadoVariables.x0[1] = x0->y;
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acadoVariables.x0[2] = x0->psi;
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acadoVariables.x0[3] = x0->tire_angle;
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acado_preparationStep();
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acado_feedbackStep();
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/* printf("lat its: %d\n", acado_getNWSR()); // n iterations
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printf("Objective: %.6f\n", acado_getObjective()); // solution cost */
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for (i = 0; i <= N; i++){
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solution->x[i] = acadoVariables.x[i*NX];
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solution->y[i] = acadoVariables.x[i*NX+1];
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solution->psi[i] = acadoVariables.x[i*NX+2];
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solution->curvature[i] = acadoVariables.x[i*NX+3];
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if (i < N){
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solution->curvature_rate[i] = acadoVariables.u[i];
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}
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}
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solution->cost = acado_getObjective();
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// Dont shift states here. Current solution is closer to next timestep than if
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// we use the old solution as a starting point
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//acado_shiftStates(2, 0, 0);
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//acado_shiftControls( 0 );
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return acado_getNWSR();
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}
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