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work on acados lateral MPC (#23558)

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* lat_mpc: make v_ego, rotation_radius parameters instead of states

* lat_mpc: remove rotation_radius argument, since it is part of the parameters

* lat_mpc: use qp_solver_cond_N = 1

slightly faster and in line with case study in Fig. 2/ 3 in Frison2016 - https://cdn.syscop.de/publications/Frison2016.pdf
An Efficient Implementation of Partial Condensing for Nonlinear Model Predictive Control

* adapt test_lateral_mpc to formulation with parameters

* lat_mpc: set parameters in reset() and copy values

* acados_ocp_solver_pyx: make options_set useable

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
This commit is contained in:
Jonathan Frey
2022-01-18 18:49:48 +01:00
committed by GitHub
parent 5b385c34a4
commit 0681474840
5 changed files with 32 additions and 24 deletions
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pyextra/acados_template/acados_ocp_solver_pyx.pyx
+3 -2
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@@ -417,8 +417,9 @@ cdef class AcadosOcpSolverFast:
string_value = value_.encode('utf-8')
acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &string_value[0])
raise Exception('AcadosOcpSolver.options_set() does not support field {}.'\
'\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
else:
raise Exception('AcadosOcpSolver.options_set() does not support field {}.'\
'\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
def __del__(self):