Class MPCEuclidianDistance

Class Documentation

class MPCEuclidianDistance

Public Functions

void set_up(const float &distance_weight, const float &race_line_d_weight, const float &border_weight, const float &steering_smoothness_weight, const float &speed_smoothness_weight, const float &low_speed_weight, const float &high_theta_dot_weight, const float &opponent_distance_weight, const float &total_time_weight, const float &opp_radius, const float &walls_cost_weight, const float &centripetal_weight, const float &go_fast_weight)

Constructor for the FrenetOptimalTrajectory class. Initializes parameters for calculating the optimal trajectory in Frenet coordinates.

Parameters:

  • distance_weight – Weight for distance from target point.

  • race_line_d_weight – Weight for lateral displacement error.

  • border_weight – Weight for distance from border.

  • steering_smoothness_weight – Weight for high steering change.

  • speed_smoothness_weight – Weight for high accelerations.

  • low_speed_weight – Weight for low speeds.

  • high_theta_dot_weight – Weight for low speeds.

  • total_time_weight – Weight for total time.

explicit MPCEuclidianDistance(std::shared_ptr<CasadiMapUtils> map, Raceline raceline)
std::tuple<std::vector<std::pair<double, double>>, std::vector<std::tuple<double, double, double>>, std::vector<std::pair<double, double>>, std::pair<double, double>> solve_one_iteration(std::tuple<double, double, double, double, double> start_state, std::vector<std::tuple<double, double, double>> target_state, std::tuple<double, double, double, double> opponent_pos, bool has_opp, bool force_initialization)
void set_max_speed(float max_speed)
void problem_definition(bool has_opp)
void set_initialization(std::vector<std::pair<double, double>> controls, std::vector<std::tuple<double, double, double>> state)

Public Members

int HORIZON = 10
double STEP_SIZE = 0.1
double MAX_SPEED = 10.0
double MIN_SPEED_GAIN = 0.5
double MAX_SPEED_GAIN = 4.0
double DELTA_THETA_LIMIT = 0.8
casadi::MX distance_function = casadi::MX(0)
casadi::MX steering_smoothness_cost = casadi::MX(0)
casadi::MX opponent_distance_cost = casadi::MX(0)
casadi::MX walls_cost = casadi::MX(0)
casadi::MX centripetal_cost = casadi::MX(0)
casadi::MX go_fast_cost = casadi::MX(0)
casadi::MX speed_smoothness_cost = casadi::MX(0)
bool use_gaussian_

Public Static Attributes

static constexpr double VEHICLE_LENGTH = 0.33
static constexpr double DT = 0.1
static constexpr double INITIALIZATION_SPEED = 1.0