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30 lines
730 B
30 lines
730 B
import os
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import sys
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import subprocess
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from cffi import FFI
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mpc_dir = os.path.dirname(os.path.abspath(__file__))
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libmpc_fn = os.path.join(mpc_dir, "libcommampc.so")
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subprocess.check_call(["make", "-j4"], stdout=sys.stderr, cwd=mpc_dir)
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ffi = FFI()
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ffi.cdef("""
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typedef struct {
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double x, y, psi, delta, t;
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} state_t;
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typedef struct {
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double x[20];
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double y[20];
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double psi[20];
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double delta[20];
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} log_t;
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void init(double steer_rate_cost);
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int run_mpc(state_t * x0, log_t * solution,
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double l_poly[4], double r_poly[4], double p_poly[4],
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double l_prob, double r_prob, double p_prob, double curvature_factor, double v_ref, double lane_width);
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""")
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libmpc = ffi.dlopen(libmpc_fn)
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