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.
97 lines
2.3 KiB
97 lines
2.3 KiB
#include <acado_code_generation.hpp>
|
|
|
|
const int controlHorizon = 50;
|
|
|
|
using namespace std;
|
|
|
|
#define G 9.81
|
|
#define TR 1.8
|
|
|
|
#define RW(v_ego, v_l) (v_ego * TR - (v_l - v_ego) * TR + v_ego*v_ego/(2*G) - v_l*v_l / (2*G))
|
|
#define NORM_RW_ERROR(v_ego, v_l, p) ((RW(v_ego, v_l) + 4.0 - p)/(sqrt(v_ego + 0.5) + 0.1))
|
|
|
|
int main( )
|
|
{
|
|
USING_NAMESPACE_ACADO
|
|
|
|
|
|
DifferentialEquation f;
|
|
|
|
DifferentialState x_ego, v_ego, a_ego;
|
|
OnlineData x_l, v_l;
|
|
|
|
Control j_ego;
|
|
|
|
auto desired = 4.0 + RW(v_ego, v_l);
|
|
auto d_l = x_l - x_ego;
|
|
|
|
// Equations of motion
|
|
f << dot(x_ego) == v_ego;
|
|
f << dot(v_ego) == a_ego;
|
|
f << dot(a_ego) == j_ego;
|
|
|
|
// Running cost
|
|
Function h;
|
|
h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - 1;
|
|
h << (d_l - desired) / (0.05 * v_ego + 0.5);
|
|
h << a_ego * (0.1 * v_ego + 1.0);
|
|
h << j_ego * (0.1 * v_ego + 1.0);
|
|
|
|
// Weights are defined in mpc.
|
|
BMatrix Q(4,4); Q.setAll(true);
|
|
|
|
// Terminal cost
|
|
Function hN;
|
|
hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - 1;
|
|
hN << (d_l - desired) / (0.05 * v_ego + 0.5);
|
|
hN << a_ego * (0.1 * v_ego + 1.0);
|
|
|
|
// Weights are defined in mpc.
|
|
BMatrix QN(3,3); QN.setAll(true);
|
|
|
|
// Non uniform time grid
|
|
// First 5 timesteps are 0.2, after that it's 0.6
|
|
DMatrix numSteps(20, 1);
|
|
for (int i = 0; i < 5; i++){
|
|
numSteps(i) = 1;
|
|
}
|
|
for (int i = 5; i < 20; i++){
|
|
numSteps(i) = 3;
|
|
}
|
|
|
|
// Setup Optimal Control Problem
|
|
const double tStart = 0.0;
|
|
const double tEnd = 10.0;
|
|
|
|
OCP ocp( tStart, tEnd, numSteps);
|
|
ocp.subjectTo(f);
|
|
|
|
ocp.minimizeLSQ(Q, h);
|
|
ocp.minimizeLSQEndTerm(QN, hN);
|
|
|
|
ocp.subjectTo( 0.0 <= v_ego);
|
|
ocp.setNOD(2);
|
|
|
|
OCPexport mpc(ocp);
|
|
mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
|
|
mpc.set( DISCRETIZATION_TYPE, MULTIPLE_SHOOTING );
|
|
mpc.set( INTEGRATOR_TYPE, INT_RK4 );
|
|
mpc.set( NUM_INTEGRATOR_STEPS, controlHorizon);
|
|
mpc.set( MAX_NUM_QP_ITERATIONS, 500);
|
|
mpc.set( CG_USE_VARIABLE_WEIGHTING_MATRIX, YES);
|
|
|
|
mpc.set( SPARSE_QP_SOLUTION, CONDENSING );
|
|
mpc.set( QP_SOLVER, QP_QPOASES );
|
|
mpc.set( HOTSTART_QP, YES );
|
|
mpc.set( GENERATE_TEST_FILE, NO);
|
|
mpc.set( GENERATE_MAKE_FILE, NO );
|
|
mpc.set( GENERATE_MATLAB_INTERFACE, NO );
|
|
mpc.set( GENERATE_SIMULINK_INTERFACE, NO );
|
|
|
|
if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
|
|
exit( EXIT_FAILURE );
|
|
|
|
mpc.printDimensionsQP( );
|
|
|
|
return EXIT_SUCCESS;
|
|
}
|
|
|