[mpcc-49] C++ MPCC interface bugs fixed, interface was changed to absolute values of throttle and brakes#97
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KarasevPavel wants to merge 24 commits intodevelopfrom
Open
[mpcc-49] C++ MPCC interface bugs fixed, interface was changed to absolute values of throttle and brakes#97KarasevPavel wants to merge 24 commits intodevelopfrom
KarasevPavel wants to merge 24 commits intodevelopfrom
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…MPCC into dev/pkarasev/MPCC-49
… torques ob brakes and engine are used now as input values
KarasevPavel
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mak22223
reviewed
Oct 9, 2024
mak22223
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Hard to check maths of the model and all these parameters. Eventually we should add tests.
…d to 4 params from 11
mak22223
previously approved these changes
Oct 6, 2025
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| "lowerInputBounds":{ | ||
| "dThrottleL": -1.0, | ||
| "dThrottleL": -240.0, | ||
| "dSteeringAngleL": -1.0, | ||
| "dBrakesL": -1.0, | ||
| "dBrakesL": -1862.0, | ||
| "dVsL": -5.0 |
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That means that we potentially can have negative motor and brake torques?
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It is maximum negative rate of change
C++/CMakeLists.txt
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| set(CMAKE_CXX_STANDARD 14) | ||
| set(CMAKE_CXX_STANDARD 17) | ||
| set(CMAKE_CXX_FLAGS "-O0 -g") |
C++/src/MPC/mpc.cpp
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| nSqp = n_sqp; | ||
| sqpMixing = sqp_mixing; | ||
| nNoSolvesSqp = 0; | ||
| nReset = n_reset; |
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These can be included in initialization list
C++/src/MPC/mpc.cpp
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| State x = x0; | ||
| auto t1 = std::chrono::high_resolution_clock::now(); | ||
| int solver_status = -1; | ||
| x(sIdx) = track_.porjectOnSpline(x); |
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| if (validInitialGuess) | ||
| updateInitialGuess(x); | ||
| else | ||
| generateNewInitialGuess(x); |
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| if (nNoSolvesSqpMax < nSqp) | ||
| initialGuess = tempGuess; |
C++/src/Models/models.cpp
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