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Cython acados and minor (#23835)

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* acados_ocp_solver_pyx.pyx: implement get_stats for timings and ints

* long_mpc: use acados timers

* acados_ocp_solver_pyx.pyx: fix dynamics_get

* acados_ocp_solver_pyx.pyx: get statistics

* use acados_ocp_solver_pyx.pyx from commaai/cython2 branch

* acados_ocp_solver_pyx.pyx: implement store_iterate

* acados_ocp_solver_pyx.pyx: implement get_residuals

* acados_ocp_solver_pyx.pyx: fix set() for empty fields

* acados_ocp_solver_pyx.pyx: load_iterate

* cython acados: add print_statistics

* test_following_distance: fix typo

* test_longitudinal: unique names for test maneuvers

* longitudinal MPC: comments for evaluation

* longitudinal MPC: add comments to eval acados residuals

* long_mpc: use qp_solver_cond_N = 1

* long MPC: comments, simplify set_cur_state

* update acados version in build script

* longitudinal mpc: weigh a_change in 1 place only

* update ref

* Update ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
This commit is contained in:
Jonathan Frey
2022-02-25 23:16:44 +01:00
committed by GitHub
parent ca8d4e417e
commit d09dffb7cd
7 changed files with 167 additions and 37 deletions
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third_party/acados/build.sh
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+1 -1
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@@ -18,7 +18,7 @@ if [ ! -d acados_repo/ ]; then
fi
cd acados_repo
git fetch
git checkout 79e9e3e76f2751198858adf382c97837833ad31f
git checkout 92b85c61f7358a1b08b7cd30aeb9d32ad15942e8
git submodule update --recursive --init
# build