openpilot_comma

Commit Graph

Author	SHA1	Message	Date
Jonathan Frey	059dbf57e7	longitudinal MPC: use reset() function instead of recreating the solver in (#24091 ) * scons: add acados_template as dependency for lat and long mpc * long MPC: use acados reset instead of recreating the solver * long MPC: print timings and reset commented * update acados x86_64 * update acados include folder * update acados Python interface * update acados reference commit to latest acados/master * update x86 libs * update comma two * update acados again with commit 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584 * update comma two * update comma three * update x86 Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: `a9bac5acf8`	3 years ago
Jonathan Frey	3bd71500bd	Upstreamed and update acados (#23927 ) * change acados version to finalized PR https://github.com/acados/acados/pull/791 * acados: update include and x86_64 build * acados: update pyextra * adapt mpc files to updated acados * acados buid: clear acados_template and include dir before updating * update acados again * acados MPC: only generate solver, building is done via scons * update acados to latest acados/master * c3 libs * c2 libs * acados scons files: add acados build script as a dependency * acados scons files: add libacados.so and ocp_nlp_interface.h, build script not in files_common * update acados * adapts long & lat MPC file * update acados reference commit to acados/master Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: `d653dd843a`	3 years ago
Jonathan Frey	baab5d7a7b	Cython acados and minor (#23835 ) * acados_ocp_solver_pyx.pyx: implement get_stats for timings and ints * long_mpc: use acados timers * acados_ocp_solver_pyx.pyx: fix dynamics_get * acados_ocp_solver_pyx.pyx: get statistics * use acados_ocp_solver_pyx.pyx from commaai/cython2 branch * acados_ocp_solver_pyx.pyx: implement store_iterate * acados_ocp_solver_pyx.pyx: implement get_residuals * acados_ocp_solver_pyx.pyx: fix set() for empty fields * acados_ocp_solver_pyx.pyx: load_iterate * cython acados: add print_statistics * test_following_distance: fix typo * test_longitudinal: unique names for test maneuvers * longitudinal MPC: comments for evaluation * longitudinal MPC: add comments to eval acados residuals * long_mpc: use qp_solver_cond_N = 1 * long MPC: comments, simplify set_cur_state * update acados version in build script * longitudinal mpc: weigh a_change in 1 place only * update ref * Update ref Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com> old-commit-hash: `d09dffb7cd`	3 years ago
Jonathan Frey	6f4c93238f	work on acados lateral MPC (#23558 ) * lat_mpc: make v_ego, rotation_radius parameters instead of states * lat_mpc: remove rotation_radius argument, since it is part of the parameters * lat_mpc: use qp_solver_cond_N = 1 slightly faster and in line with case study in Fig. 2/ 3 in Frison2016 - https://cdn.syscop.de/publications/Frison2016.pdf An Efficient Implementation of Partial Condensing for Nonlinear Model Predictive Control * adapt test_lateral_mpc to formulation with parameters * lat_mpc: set parameters in reset() and copy values * acados_ocp_solver_pyx: make options_set useable * update ref Co-authored-by: Willem Melching <willem.melching@gmail.com> old-commit-hash: `0681474840`	3 years ago
Joost Wooning	9042f18afd	cython wrapper for acados (#22784 ) * cython wrapper for acados * fix building * sconscript cleanup * no cython numpy * cleanup * upgrade build script * try without slices * new acados commit * c3 update acados libs * c2 libs * make faster * undo profiling * fix build * somewhat faster * tryout cost_set_slice * Revert "tryout cost_set_slice" This reverts commit `d358d93a13`. * cleanup * undo t_renderer change Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: `89d0a52d16`	4 years ago
HaraldSchafer	2d4b64ed04	Acados long fast (#22233 ) * acados long * new ref * SPPEEEEEDDD * less iterations * this shouldn't be so high * reset only essentials * minimal reset for long mpc * more cpu usage plannerd * Use lead mpc even when going to crash * reset to current state * Use open loop speed for lead mpc * 1 iteration is too little for cruise mpc * add whitespace * update refs old-commit-hash: `66c275b711`	4 years ago
Harald Schafer	335089db07	fix more acados leaks old-commit-hash: `32db9184d4`	4 years ago
Harald Schafer	06c018f5bf	acados compiled to pyextra old-commit-hash: `de478b75fb`	4 years ago
Harald Schafer	ab2f65e485	fix more acados mem leaks old-commit-hash: `d774087408`	4 years ago
Adeeb Shihadeh	db3ad9b658	update acados (#22202 ) * update acados * cleanup old-commit-hash: `63453c951e`	4 years ago
HaraldSchafer	b40942ff12	Libraries for acados (#22079 ) * libs * build specific commit old-commit-hash: `22c8564413`	4 years ago
Adeeb Shihadeh	0b401cd9e0	support acados on device (#21409 ) * build tera * larch64 * x86 * aarch64 libs * aarch tera Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: `f85226412d`	4 years ago
Adeeb Shihadeh	03405b81fd	acados support (#21319 ) * acados support * add pyextra to python path * x86 libs old-commit-hash: `6e4c2aa4d2`	4 years ago

13 Commits (5d03d4eaa45793c6be044ac497225a0a4861928c)