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35 lines
846 B
35 lines
846 B
#pragma once
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#define DEGREES_TO_RADIANS 0.017453292519943295
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#define RADIANS_TO_DEGREES (1.0 / DEGREES_TO_RADIANS)
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#define MAX_ANGLE_OFFSET (10.0 * DEGREES_TO_RADIANS)
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#define MAX_ANGLE_OFFSET_TH (9.0 * DEGREES_TO_RADIANS)
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#define MIN_STIFFNESS 0.5
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#define MAX_STIFFNESS 2.0
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#define MIN_SR 0.5
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#define MAX_SR 2.0
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#define MIN_SR_TH 0.55
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#define MAX_SR_TH 1.9
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class ParamsLearner {
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double cF0, cR0;
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double aR, aF;
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double l, m;
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double min_sr, max_sr, min_sr_th, max_sr_th;
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double alpha1, alpha2, alpha3, alpha4;
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public:
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double ao;
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double slow_ao;
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double x, sR;
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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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bool update(double psi, double u, double sa);
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};
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