You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
29 lines
1.1 KiB
29 lines
1.1 KiB
import os
|
|
from common.basedir import BASEDIR
|
|
|
|
from cffi import FFI
|
|
|
|
locationd_dir = os.path.dirname(os.path.abspath(__file__))
|
|
liblocationd_fn = os.path.join(locationd_dir, "liblocationd.so")
|
|
|
|
|
|
ffi = FFI()
|
|
ffi.cdef("""
|
|
void *localizer_init(void);
|
|
void localizer_handle_log(void * localizer, const unsigned char * data, size_t len);
|
|
double localizer_get_yaw(void * localizer);
|
|
double localizer_get_bias(void * localizer);
|
|
double localizer_get_t(void * localizer);
|
|
void *params_learner_init(size_t len, char * params, double angle_offset, double stiffness_factor, double steer_ratio, double learning_rate);
|
|
bool params_learner_update(void * params_learner, double psi, double u, double sa);
|
|
double params_learner_get_ao(void * params_learner);
|
|
double params_learner_get_slow_ao(void * params_learner);
|
|
double params_learner_get_x(void * params_learner);
|
|
double params_learner_get_sR(void * params_learner);
|
|
double * localizer_get_P(void * localizer);
|
|
void localizer_set_P(void * localizer, double * P);
|
|
double * localizer_get_state(void * localizer);
|
|
void localizer_set_state(void * localizer, double * state);
|
|
""")
|
|
|
|
liblocationd = ffi.dlopen(liblocationd_fn)
|
|
|