export_mintime_solution

export_mintime_solution(file_path, pars, s, t, x, u, tf, ax, ay, atot, w0, lam_x0, lam_g0, pwr=None)

Created by: Fabian Christ

Modified by: Thomas Herrmann (thomas.herrmann@tum.de)

Documentation: This function is used to export the solution of the time-optimal trajectory planning into several csv files.

Inputs: file_path: path for the output files t: solution for the time along the reference line (at corresponding station s) s: station along the reference line (at corresponding time t) x: solution for the state variables (at corresponding time t / station s) u: solution for the control variables (at corresponding time t / station s) tf: solution for the tire forces (at corresponding time t / station s) ax: solution for the longitudinal acceleration (at corresponding time t / station s) ay: solution for the lateral acceleration (at corresponding time t / station s) atot: solution for the total acceleration (at corresponding time t / station s) w0: solution for all decision variables (for warm starting the nonlinear program) lam_x0: solution for the lagrange multipliers (for warm starting the nonlinear program) lam_g0: solution for the lagrange multipliers (for warm starting the nonlinear program)