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longitudinal MPC: use reset() function instead of recreating the solver in (#24091)

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* scons: add acados_template as dependency for lat and long mpc

* long MPC: use acados reset instead of recreating the solver

* long MPC: print timings and reset commented

* update acados x86_64

* update acados include folder

* update acados Python interface

* update acados reference commit to latest acados/master

* update x86 libs

* update comma two

* update acados again with commit 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584

* update comma two

* update comma three

* update x86

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Jonathan Frey
2022-04-02 00:39:41 +02:00
committed by GitHub
parent b51deb97d1
commit a9bac5acf8
59 changed files with 1532 additions and 233 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+3
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@@ -51,11 +51,14 @@ generated_files = [
] + build_files
acados_dir = '#third_party/acados'
acados_templates_dir = '#pyextra/acados_template/c_templates_tera'
source_list = ['long_mpc.py',
f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
f'{acados_dir}/aarch64/lib/libacados.so',
f'{acados_dir}/x86_64/lib/libacados.so',
f'{acados_dir}/larch64/lib/libacados.so',
f'{acados_templates_dir}/acados_solver.in.c',
]
lenv = env.Clone()