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3 Commits (b0caa22fb6f469d08912f1e972929b6f95e09673)
| Author | SHA1 | Message | Date |
|---|---|---|---|
Jonathan Frey
|
d09dffb7cd
|
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> |
4 years ago |
|
Jonathan Frey
|
0681474840
|
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> |
4 years ago |
Joost Wooning
|
89d0a52d16
|
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
|
4 years ago |