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118 lines
4.3 KiB
118 lines
4.3 KiB
#include <algorithm>
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#include <cmath>
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#include <iostream>
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#include <capnp/message.h>
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#include <capnp/serialize-packed.h>
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#include "cereal/gen/cpp/log.capnp.h"
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#include "cereal/gen/cpp/car.capnp.h"
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#include "params_learner.h"
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// #define DEBUG
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template <typename T>
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T clip(const T& n, const T& lower, const T& upper) {
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return std::max(lower, std::min(n, upper));
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}
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ParamsLearner::ParamsLearner(cereal::CarParams::Reader car_params,
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double angle_offset,
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double stiffness_factor,
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double steer_ratio,
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double learning_rate) :
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ao(angle_offset * DEGREES_TO_RADIANS),
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slow_ao(angle_offset * DEGREES_TO_RADIANS),
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x(stiffness_factor),
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sR(steer_ratio) {
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cF0 = car_params.getTireStiffnessFront();
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cR0 = car_params.getTireStiffnessRear();
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l = car_params.getWheelbase();
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m = car_params.getMass();
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aF = car_params.getCenterToFront();
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aR = l - aF;
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min_sr = MIN_SR * car_params.getSteerRatio();
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max_sr = MAX_SR * car_params.getSteerRatio();
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min_sr_th = MIN_SR_TH * car_params.getSteerRatio();
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max_sr_th = MAX_SR_TH * car_params.getSteerRatio();
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alpha1 = 0.01 * learning_rate;
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alpha2 = 0.0005 * learning_rate;
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alpha3 = 0.1 * learning_rate;
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alpha4 = 1.0 * learning_rate;
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}
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bool ParamsLearner::update(double psi, double u, double sa) {
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if (u > 10.0 && fabs(sa) < (DEGREES_TO_RADIANS * 90.)) {
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double ao_diff = 2.0*cF0*cR0*l*u*x*(1.0*cF0*cR0*l*u*x*(ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2));
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double new_ao = ao - alpha1 * ao_diff;
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double slow_ao_diff = 2.0*cF0*cR0*l*u*x*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2));
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double new_slow_ao = slow_ao - alpha2 * slow_ao_diff;
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double new_x = x - alpha3 * (-2.0*cF0*cR0*l*m*pow(u, 3)*(slow_ao - sa)*(aF*cF0 - aR*cR0)*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 3)));
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double new_sR = sR - alpha4 * (-2.0*cF0*cR0*l*u*x*(slow_ao - sa)*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 3)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2)));
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ao = new_ao;
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slow_ao = new_slow_ao;
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x = new_x;
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sR = new_sR;
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}
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#ifdef DEBUG
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std::cout << "Instant AO: " << (RADIANS_TO_DEGREES * ao) << "\tAverage AO: " << (RADIANS_TO_DEGREES * slow_ao);
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std::cout << "\tStiffness: " << x << "\t sR: " << sR << std::endl;
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#endif
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ao = clip(ao, -MAX_ANGLE_OFFSET, MAX_ANGLE_OFFSET);
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slow_ao = clip(slow_ao, -MAX_ANGLE_OFFSET, MAX_ANGLE_OFFSET);
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x = clip(x, MIN_STIFFNESS, MAX_STIFFNESS);
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sR = clip(sR, min_sr, max_sr);
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bool valid = fabs(slow_ao) < MAX_ANGLE_OFFSET_TH;
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valid = valid && sR > min_sr_th;
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valid = valid && sR < max_sr_th;
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return valid;
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}
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extern "C" {
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void *params_learner_init(size_t len, char * params, double angle_offset, double stiffness_factor, double steer_ratio, double learning_rate) {
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auto amsg = kj::heapArray<capnp::word>((len / sizeof(capnp::word)) + 1);
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memcpy(amsg.begin(), params, len);
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capnp::FlatArrayMessageReader cmsg(amsg);
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cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
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ParamsLearner * p = new ParamsLearner(car_params, angle_offset, stiffness_factor, steer_ratio, learning_rate);
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return (void*)p;
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}
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bool params_learner_update(void * params_learner, double psi, double u, double sa) {
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ParamsLearner * p = (ParamsLearner*) params_learner;
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return p->update(psi, u, sa);
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}
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double params_learner_get_ao(void * params_learner){
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ParamsLearner * p = (ParamsLearner*) params_learner;
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return p->ao;
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}
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double params_learner_get_x(void * params_learner){
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ParamsLearner * p = (ParamsLearner*) params_learner;
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return p->x;
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}
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double params_learner_get_slow_ao(void * params_learner){
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ParamsLearner * p = (ParamsLearner*) params_learner;
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return p->slow_ao;
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}
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double params_learner_get_sR(void * params_learner){
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ParamsLearner * p = (ParamsLearner*) params_learner;
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return p->sR;
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}
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}
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