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107 lines
2.5 KiB
107 lines
2.5 KiB
#include <math.h>
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#include <acado_code_generation.hpp>
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#include "selfdrive/common/modeldata.h"
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#define deg2rad(d) (d/180.0*M_PI)
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using namespace std;
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int main( )
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{
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USING_NAMESPACE_ACADO
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DifferentialEquation f;
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DifferentialState xx; // x position
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DifferentialState yy; // y position
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DifferentialState psi; // vehicle heading
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DifferentialState curvature;
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OnlineData v_ego;
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OnlineData rotation_radius;
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Control curvature_rate;
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// Equations of motion
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f << dot(xx) == v_ego * cos(psi);
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f << dot(yy) == v_ego * sin(psi);
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// disable rotation radius for now
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//f << dot(xx) == v_ego * cos(psi) - rotation_radius * sin(psi) * (v_ego * curvature);
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//f << dot(yy) == v_ego * sin(psi) + rotation_radius * cos(psi) * (v_ego * curvature);
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f << dot(psi) == v_ego * curvature;
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f << dot(curvature) == curvature_rate;
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// Running cost
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Function h;
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// Distance errors
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h << yy;
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// Heading error
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h << (v_ego + 5.0 ) * psi;
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// Angular rate error
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h << (v_ego + 5.0) * 4 * curvature_rate;
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BMatrix Q(3,3); Q.setAll(true);
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// Q(0,0) = 1.0;
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// Q(1,1) = 1.0;
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// Q(2,2) = 1.0;
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// Q(3,3) = 1.0;
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// Q(4,4) = 2.0;
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// Terminal cost
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Function hN;
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// Distance errors
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hN << yy;
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// Heading errors
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hN << (2.0 * v_ego + 5.0 ) * psi;
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BMatrix QN(2,2); QN.setAll(true);
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// QN(0,0) = 1.0;
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// QN(1,1) = 1.0;
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// QN(2,2) = 1.0;
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// QN(3,3) = 1.0;
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double T_IDXS_ARR[LAT_MPC_N + 1];
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memcpy(T_IDXS_ARR, T_IDXS, (LAT_MPC_N + 1) * sizeof(double));
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Grid times(LAT_MPC_N + 1, T_IDXS_ARR);
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OCP ocp(times);
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ocp.subjectTo(f);
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ocp.minimizeLSQ(Q, h);
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ocp.minimizeLSQEndTerm(QN, hN);
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// car can't go backward to avoid "circles"
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ocp.subjectTo( deg2rad(-90) <= psi <= deg2rad(90));
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// more than absolute max steer angle
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ocp.subjectTo( deg2rad(-50) <= curvature <= deg2rad(50));
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ocp.setNOD(2);
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OCPexport mpc(ocp);
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mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
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mpc.set( DISCRETIZATION_TYPE, MULTIPLE_SHOOTING );
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mpc.set( INTEGRATOR_TYPE, INT_RK4 );
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mpc.set( NUM_INTEGRATOR_STEPS, 1000);
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mpc.set( MAX_NUM_QP_ITERATIONS, 50);
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mpc.set( CG_USE_VARIABLE_WEIGHTING_MATRIX, YES);
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mpc.set( SPARSE_QP_SOLUTION, CONDENSING );
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mpc.set( QP_SOLVER, QP_QPOASES );
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mpc.set( HOTSTART_QP, YES );
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mpc.set( GENERATE_TEST_FILE, NO);
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mpc.set( GENERATE_MAKE_FILE, NO );
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mpc.set( GENERATE_MATLAB_INTERFACE, NO );
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mpc.set( GENERATE_SIMULINK_INTERFACE, NO );
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if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
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exit( EXIT_FAILURE );
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mpc.printDimensionsQP( );
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return EXIT_SUCCESS;
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}
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