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acados long merged (#22224)

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* rebased

* cleaner, seems to drive better?

* more stable

* wrong import

* new way of thinking

* reports look nice

* start move back

* works at leas

* good timestamps

* step by step

* somewhat work

* tests pass

* ALL CARS STOPPED

* should work

* fake a cruise obstacle

* cleaner costs

* pretty good except cruise braking

* works pretty well now!

* cleanup

* add source

* add source

* that is needed for unit tests

* nan recovery

* little cleaner

* stop wasting arrays

* unreasonable without unfair init

* this isnt needed without the exponential

* that works too

* unused

* uses less

* new ref

* long enough

* e2e long api

* DONT PUT IN A VIEW INTO ACADOS

* new ref for outside weights

* remove debug prints
old-commit-hash: fe983a7b8ce7ad63c73663284d8b8e093a280308
This commit is contained in:
HaraldSchafer
2021-09-27 19:48:28 -07:00
committed by GitHub
parent 654695809f
commit 2b470f4e38
13 changed files with 300 additions and 447 deletions
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SConstruct
-1
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@@ -414,7 +414,6 @@ SConscript(['selfdrive/modeld/SConscript'])
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
SConscript(['selfdrive/controls/lib/lead_mpc_lib/SConscript'])
SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
SConscript(['selfdrive/boardd/SConscript'])