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Port lateral planning to ACADOS (#22080)

Browse Source 
* lateral acados

* looks good!

* add another solve, needed for init somehow

* use copy

* init correctly

* cleanup sconstruct

* Update files_common

* update cpu usage

* reset when invalid

* fix cpu usage

* cost_set doesnt leak

* new ref

* non leaky reset

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7081ab4fb7473a5be424db4b63e6bdaacf62157f
This commit is contained in:
HaraldSchafer
2021-09-13 19:06:54 -07:00
committed by GitHub
parent 335089db07
commit c422cce205
11 changed files with 301 additions and 125 deletions
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release/files_common
+11 -22
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@@ -237,33 +237,16 @@ selfdrive/controls/lib/radar_helpers.py
selfdrive/controls/lib/vehicle_model.py
selfdrive/controls/lib/fcw.py
selfdrive/controls/lib/long_mpc.py
selfdrive/controls/lib/lead_mpc.py
selfdrive/controls/lib/lead_mpc.py
selfdrive/controls/lib/cluster/*
selfdrive/controls/lib/lateral_mpc/lib_mpc_export/*
selfdrive/controls/lib/lateral_mpc/.gitignore
selfdrive/controls/lib/lateral_mpc/SConscript
selfdrive/controls/lib/lateral_mpc/__init__.py
selfdrive/controls/lib/lateral_mpc/generator.cpp
selfdrive/controls/lib/lateral_mpc/libmpc_py.py
selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/*
selfdrive/controls/lib/lateral_mpc_lib/.gitignore
selfdrive/controls/lib/lead_mpc_lib/.gitignore
selfdrive/controls/lib/lead_mpc_lib/SConscript
selfdrive/controls/lib/lead_mpc_lib/__init__.py
selfdrive/controls/lib/lead_mpc_lib/generator.cpp
selfdrive/controls/lib/lead_mpc_lib/libmpc_py.py
selfdrive/controls/lib/lead_mpc_lib/longitudinal_mpc.c
selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/*
selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py
selfdrive/controls/lib/longitudinal_mpc_lib/generator.cpp
selfdrive/controls/lib/longitudinal_mpc_lib/libmpc_py.py
selfdrive/controls/lib/longitudinal_mpc_lib/longitudinal_mpc.c
selfdrive/controls/lib/lateral_mpc_lib/*
selfdrive/controls/lib/lead_mpc_lib/*
selfdrive/controls/lib/longitudinal_mpc_lib/*
selfdrive/hardware/__init__.py
selfdrive/hardware/base.h
@@ -481,6 +464,11 @@ phonelibs/snpe/aarch64**
phonelibs/snpe/larch64**
phonelibs/snpe/dsp**
phonelibs/acados/x86_64/**
phonelibs/acados/aarch64/**
phonelibs/acados/larch64/**
phonelibs/acados/include/**
phonelibs/android_frameworks_native/**
phonelibs/android_hardware_libhardware/**
phonelibs/android_system_core/**
@@ -489,6 +477,7 @@ scripts/update_now.sh
scripts/stop_updater.sh
pyextra/.gitignore
pyextra/acados_template/**
rednose/**