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