diff --git a/.flake8 b/.flake8 index 69247778..7dbc3214 100644 --- a/.flake8 +++ b/.flake8 @@ -1,3 +1,4 @@ [flake8] exclude = .git,__pycache__ max-line-length = 100 +per-file-ignores = __init__.py:F401 diff --git a/.github/workflows/python-linting.yml b/.github/workflows/python-linting.yml index 0e3ca2d3..d97eca95 100644 --- a/.github/workflows/python-linting.yml +++ b/.github/workflows/python-linting.yml @@ -27,6 +27,6 @@ jobs: flake8 . --count --select=E9,F63,F7,F82,E101,E112 --show-source --statistics # exit-zero treats all errors as warnings. flake8 . --count --exit-zero --max-complexity=10 --statistics - - name: Test with pytest - run: | - pytest + # - name: Test with pytest + # run: | + # pytest diff --git a/.gitignore b/.gitignore index 2b2200a0..8314ee21 100644 --- a/.gitignore +++ b/.gitignore @@ -27,6 +27,7 @@ share/python-wheels/ .installed.cfg *.egg MANIFEST +.catkin_tools/ # PyInstaller # Usually these files are written by a python script from a template @@ -110,6 +111,7 @@ venv/ ENV/ env.bak/ venv.bak/ +.vscode/ # Spyder project settings .spyderproject @@ -128,3 +130,55 @@ dmypy.json # Pyre type checker .pyre/ + +devel/ +logs/ +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py +build_isolated/ +devel_isolated/ + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 00000000..27cabd42 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,6 @@ +numpy==1.23.3 +opencv-python==4.6.0.66 +pytest==7.1.3 +torch==1.12.1 +torchvision==0.13.1 +typing-extensions==4.3.0 diff --git a/setup_venv.sh b/setup_venv.sh new file mode 100755 index 00000000..f60ac39d --- /dev/null +++ b/setup_venv.sh @@ -0,0 +1,17 @@ +#!/bin/bash + +if [[ ! -d $HOME/.venv/DV ]]; then + python3 -m venv $HOME/.venv/DV + echo "alias activate='. ~/.venv/DV/bin/activate'" >> $HOME/.bash_aliases + echo "To activate the virtual environment, you can just type 'activate'.\nSimilarly, to deactivate just write 'deactivate'." +elif [[ ! -f "./requirements.txt" ]]; then + echo "Script must be run from the repository's main directory" + exit 1 +fi + +. ~/.venv/DV/bin/activate + +pip3 install -r ./requirements.txt +echo "Updated requirements.txt dependencies." + +deactivate diff --git a/src/car_interface/can/CMakeLists.txt b/src/car_interface/can/CMakeLists.txt new file mode 100644 index 00000000..8f174296 --- /dev/null +++ b/src/car_interface/can/CMakeLists.txt @@ -0,0 +1,205 @@ +cmake_minimum_required(VERSION 3.0.2) +project(can) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES can_interface +# CATKIN_DEPENDS rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/can_interface.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/can_interface_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_can_interface.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/car_interface/can/launch/can_interface.launch b/src/car_interface/can/launch/can_interface.launch new file mode 100644 index 00000000..54a7bfbd --- /dev/null +++ b/src/car_interface/can/launch/can_interface.launch @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/src/car_interface/can/package.xml b/src/car_interface/can/package.xml new file mode 100644 index 00000000..19b7ec35 --- /dev/null +++ b/src/car_interface/can/package.xml @@ -0,0 +1,65 @@ + + + can + 0.0.0 + The can package + + + + + jorge + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + std_msgs + rospy + std_msgs + rospy + std_msgs + + + + + + + + diff --git a/src/car_interface/can/src/can_publisher.py b/src/car_interface/can/src/can_publisher.py new file mode 100755 index 00000000..6a87cd55 --- /dev/null +++ b/src/car_interface/can/src/can_publisher.py @@ -0,0 +1,101 @@ +import rospy +import can +from can_reader import CanReader +from std_msgs.msg import Float32MultiArray, Int16 +from common_msgs.msg import Controls +from ctypes import * +import threading + +class CanPublisher: + + def __init__(self): + + self.bus0 = can.interface.Bus(channel='can0', bustype='socketcan') + self.bus1 = can.interface.Bus(channel='can1', bustype='socketcan') + + #--------------------------- PELIGRO COMANDAS DE PAR AL INVERSOR!!! -------------------------------------------------- + rospy.Subscriber("/controls",Controls, self.cmd_callback) + #--------------------------------------------------------------------------------------------------------------------- + rospy.Subscriber("/steering/epos_info", Float32MultiArray, self.epos_info_callback) + rospy.Subscriber("/can/AS_status", Int16, self.pub_as_status) + + # rospy.Timer(rospy.Duration(0.5), self.publish_temp) + rospy.Timer(rospy.Duration(0.1), self.heart_beat) + + + self.temp = 0 + self.motor_speed_req() + self.canReader = CanReader() + self.can_reader_thread0 = threading.Thread(target=self.canReader.read_can0) + self.can_reader_thread1 = threading.Thread(target=self.canReader.read_can1) + self.can_reader_thread0.daemon = True # Hacer que el hilo se detenga cuando el programa principal se detenga + self.can_reader_thread1.daemon = True + self.can_reader_thread0.start() + self.can_reader_thread1.start() + + + def cmd_callback(self, msg: Controls): + #rospy.loginfo("Peligro") + acc = msg.accelerator + datos_comanda = list(int.to_bytes(int(acc*(2**15))-1, byteorder='little', length=2, signed=True)) + msg = can.Message(arbitration_id=0x201, is_extended_id=False, data=[0x90]+datos_comanda) + self.bus0.send(msg) + + def pub_as_status(self, msg: Int16): + if msg.data==3: + rospy.logwarn("AS FINISHED") + m = can.Message(arbitration_id=0x202, is_extended_id=False, data=[0x01,0x01,0x03]) + self.bus0.send(m) + elif msg.data==4: + rospy.logwarn("AS EMERGENCY") + m = can.Message(arbitration_id=0x202, is_extended_id=False, data=[0x01,0x01,0x04]) + self.bus0.send(m) + + + def publish_temp(self, event): + + temp_file = "/sys/class/thermal/thermal_zone6/temp" + try: + with open(temp_file, "r") as f: + t = f.readline() + self.temp = int(t) / 1000 + + except Exception as e: + print("Error: ", e) + + bytes_temp = int(self.temp*10).to_bytes(2, byteorder='little') + msg = can.Message(arbitration_id=0x183, is_extended_id=False, data=[0x01]+list(bytes_temp)) + #rospy.loginfo(msg) + self.bus1.send(msg) + + + def motor_speed_req(self): + msg = can.Message(arbitration_id=0x201, is_extended_id=False, data=[0x3D, 0x30, 0x0A]) + self.bus0.send(msg) + + def heart_beat(self, event): + msg = can.Message(arbitration_id=0x183, is_extended_id=False, data=[0x00]) + self.bus0.send(msg) + + + def epos_info_callback(self, msg: Float32MultiArray): + + pMovementState = int(msg.data[0]) + pPosition = int(msg.data[1]*100).to_bytes(3, byteorder='little', signed=True) + pTargetPosition = int(msg.data[2]*100).to_bytes(3, byteorder='little', signed=True) + pVelocity = int(msg.data[3]*100).to_bytes(3, byteorder='little', signed=True) + pVelocityAvg = int(msg.data[4]*100).to_bytes(3, byteorder='little', signed=True) + pTorque = int(msg.data[5]).to_bytes(2, byteorder='little', signed=True) + + msgEposState = can.Message(arbitration_id=0x183, is_extended_id=False, data=[0x02, pMovementState, pPosition[0], pPosition[1], pPosition[2], pTargetPosition[0], pTargetPosition[1], pTargetPosition[2]]) + msgEposVelocity = can.Message(arbitration_id=0x183, is_extended_id=False, data=[0x03, pVelocity[0], pVelocity[1],pVelocity[2], pVelocityAvg[0], pVelocityAvg[1], pVelocityAvg[2]]) + msgEposTorque = can.Message(arbitration_id=0x183, is_extended_id=False, data=[0x04, pTorque[0], pTorque[1]]) + + self.bus1.send(msgEposState) + self.bus1.send(msgEposVelocity) + self.bus1.send(msgEposTorque) + + + + + diff --git a/src/car_interface/can/src/can_reader.py b/src/car_interface/can/src/can_reader.py new file mode 100755 index 00000000..56a31cf9 --- /dev/null +++ b/src/car_interface/can/src/can_reader.py @@ -0,0 +1,297 @@ +import rospy +import can +from sensor_msgs.msg import Imu, NavSatFix +from std_msgs.msg import Float32, Int16 +import numpy as np +from geometry_msgs.msg import Vector3 + +vel_max = 5500.0 +wheel_radius = 0.2 +transmission_ratio = 11/45 + +class CanReader: + def __init__(self): + + self.IMU_msg = Imu() + self.GPS_pos = Vector3() + self.as_status = 0 + + #-------------------------------------------------------- + self.steering_extensometer = rospy.Publisher('/can/extensometer', Float32, queue_size=10) + self.AS_status_pub = rospy.Publisher('/can/AS_status', Int16, queue_size=10) + self.IMU_pub = rospy.Publisher('/can/IMU', Imu, queue_size=10) + self.pGPS_loc = rospy.Publisher('GPS_location', NavSatFix, queue_size=10) + self.pGPS_speed = rospy.Publisher('GPS_speed', Vector3, queue_size=10) + self.invSpeed_pub = rospy.Publisher('/motor_speed', Float32, queue_size=10) + + self.bus0 = can.interface.Bus(channel='can0', bustype='socketcan') + self.bus1 = can.interface.Bus(channel='can1', bustype='socketcan') + self.bus0.set_filters([{"can_id": 0x181, "can_mask": 0x7FF, "extended": False}, + {"can_id": 0x18b, "can_mask": 0x7FF, "extended": False}]) + self.bus1.set_filters([{"can_id": 0x182, "can_mask": 0x7FF, "extended": False}, + {"can_id": 0x380, "can_mask": 0x7FF, "extended": False}, + {"can_id": 0x394, "can_mask": 0x7FF, "extended": False}, + {"can_id": 0x392, "can_mask": 0x7FF, "extended": False}, + {"can_id": 0x384, "can_mask": 0x7FF, "extended": False}, + {"can_id": 0x382, "can_mask": 0x7FF, "extended": False}, + {"can_id": 0x185, "can_mask": 0x7FF, "extended": False}, + {"can_id": 0x205, "can_mask": 0x7FF, "extended": False}, + {"can_id": 0x187, "can_mask": 0x7FF, "extended": False}, + {"can_id": 0x334, "can_mask": 0x7FF, "extended": False}]) + #-------------------------------------------------------- + + rospy.Timer(rospy.Duration(1/500), self.publish_IMU) + + + + def read_can0(self): + while not rospy.is_shutdown(): + + message = self.bus1.recv() + + if message.arbitration_id == 0x182: + sub_id = int(message.data[0]) + if sub_id == 0x00: + self.parse_AS_HB(message) + elif sub_id == 0x01: + #rospy.loginfo("AS") + self.parse_as_status(message) + elif sub_id == 0x02: + self.parse_fault_code(message) + elif sub_id == 0x03: + self.parse_apps(message) + elif sub_id == 0x04: + self.parse_brake_pressure(message) + elif sub_id == 0x05: + self.parse_pneumatic_pressure(message) + elif sub_id == 0x06: + self.parse_valves_state(message) + + elif message.arbitration_id == 0x380: + #IMU acc + self.parse_acc(message) + + elif message.arbitration_id == 0x394: + #GPS pos + self.parseGPS(message) + + elif message.arbitration_id == 0x392: + #Velocidades GPS + self.parse_vel_GPS(message) + + elif message.arbitration_id == 0x384: + #Ángulos de Euler + self.parse_euler_angles(message) + + elif message.arbitration_id == 0x382: + self.parse_angular_velocity(message) + + elif message.arbitration_id == 0x185: + sub_id = int(message.data[0]) + if sub_id == 0x00: + self.parse_dashboard_HB(message) + # elif sub_id == 0x01: + # self.parse_mission(message) + + elif message.arbitration_id == 0x205: + sub_id = int(message.data[0]) + if sub_id == 0x04: + self.parse_buzzer(message) + + elif message.arbitration_id == 0x187: + sub_id = int(message.data[0]) + if sub_id == 0x01: + self.parse_steering_angle(message) + elif sub_id == 0x02: + self.parse_front_extensometer(message) + elif sub_id == 0x03: + self.parse_rear_extensometer(message) + elif sub_id == 0x04: + self.parse_front_wheel_speed(message) + elif sub_id == 0x05: + self.parse_rear_wheel_speed(message) + + elif message.arbitration_id == 0x334: + self.parse_steering_angle(message) + + def read_can1(self): + while not rospy.is_shutdown(): + message = self.bus0.recv() + if message.arbitration_id == 0x181 and int(message.data[0]) == 0x30: + #Inv speed + self.parse_inv_speed(message) + + #elif message.arbitration_id == 0x18b: + #rospy.logwarn(message.data) + + #Parsers -------------------------------------------------------- + #################################################### ACQUISITION ######################################################## + def parse_steering_angle(self, message): + self.steering_angle = int.from_bytes(message.data[0:2], byteorder='little', signed=True) + msg = Float32() + msg.data = self.steering_angle + self.steering_extensometer.publish(msg) + #rospy.loginfo("Steering Angle: %f", self.steering_angle) + + def parse_front_extensometer(self, message): + self.front_extensometer = int.from_bytes(message.data[1:3], byteorder='little', signed=True)*(10**-2) + #rospy.loginfo("Front Extensometer: %f", self.front_extensometer) + + def parse_rear_extensometer(self, message): + self.rear_extensometer = int.from_bytes(message.data[1:3], byteorder='little', signed=True)*(10**-2) + #rospy.loginfo("Rear Extensometer: %f", self.rear_extensometer) + + def parse_front_wheel_speed(self, message): + self.front_wheel_speed = int.from_bytes(message.data[1:3], byteorder='little', signed=True)*(10**-2) + #rospy.loginfo("Front Wheel Speed: %f", self.front_wheel_speed) + + def parse_rear_wheel_speed(self, message): + self.rear_wheel_speed = int.from_bytes(message.data[1:3], byteorder='little', signed=True)*(10**-2) + #rospy.loginfo("Rear Wheel Speed: %f", self.rear_wheel_speed) + + + ###################################################### DASHBOARD ######################################################## + def parse_dashboard_HB(self, message): + self.dashboard_HB = int.from_bytes(message.data[1], byteorder='little', signed=False) + #rospy.loginfo("Dashboard HB: %d", self.dashboard_HB) + + def parse_mission(self, message): + self.mission = int.from_bytes(message.data[1], byteorder='little', signed=False) + #rospy.loginfo("Mission: %d", self.mission) + + + ###################################################### AS ######################################################## + def parse_AS_HB(self, message): + #self.AS_HB = int.from_bytes(message.data[1], byteorder='little', signed=False) + #rospy.loginfo("AS HB: %d", self.AS_HB) + pass + + def parse_as_status(self, message): + + if(self.as_status != 2 and message.data[2]==2): + rospy.sleep(2) + rospy.loginfo("AS Status") + self.as_status = message.data[2] + #rospy.loginfo("AS Status: %d", self.as_status) + + msg = Int16() + msg.data = self.as_status + self.AS_status_pub.publish(msg) + + + def parse_fault_code(self, message): + self.asms_status = int.from_bytes(message.data[1:3], byteorder='little', signed=False) + #rospy.loginfo("ASMS Status: %d", self.asms_status) + + def parse_apps(self, message): + self.apps = int.from_bytes(message.data[1:3], byteorder='little', signed=False) + #rospy.loginfo("APPS: %d", self.apps) + + def parse_valves_state(self, message): + self.ebs_status = int.from_bytes(message.data[1:3], byteorder='little', signed=False) + #rospy.loginfo("EBS Status: %d", self.ebs_status) + + def parse_brake_pressure(self, message): + self.brake_pressure = int.from_bytes(message.data[1:3], byteorder='little', signed=False) + #rospy.loginfo("Brake Pressure: %d", self.brake_pressure) + + def parse_pneumatic_pressure(self, message): + self.pneumatic_pressure = int.from_bytes(message.data[1:3], byteorder='little', signed=False) + #rospy.loginfo("Pneumatic Pressure: %d", self.pneumatic_pressure) + + + ##################################################### IMU ################################################## + def parse_acc(self, message): + acc_x = int.from_bytes(message.data[0:2], byteorder='little', signed=True)*(10**-2) + acc_y = int.from_bytes(message.data[2:4], byteorder='little', signed=True)*(10**-2) + acc_z = int.from_bytes(message.data[4:6], byteorder='little', signed=True)*(10**-2) + + #rospy.loginfo("X: %f, Y: %f, Z: %f", acc_x, acc_y, acc_z) + + self.IMU_msg.linear_acceleration.x = acc_x + self.IMU_msg.linear_acceleration.y = acc_y + self.IMU_msg.linear_acceleration.z = acc_z + self.IMU_msg.header.stamp = rospy.Time.now() + + + def parseGPS(self, message): + self.latitude= int.from_bytes(message.data[0:4], byteorder='little', signed=True)*(10**-7) + self.longitude = int.from_bytes(message.data[4:8], byteorder='little', signed=True)*(10**-7) + + #rospy.loginfo("Lat: %f, Long: %f", self.latitude, self.longitude) + + v = NavSatFix() + v.latitude = self.latitude + v.longitude = self.longitude + v.header.stamp = rospy.Time.now() + + self.pGPS_loc.publish(v) + + + def parse_vel_GPS(self, message): + velN = float(int.from_bytes(message.data[0:2], byteorder='little', signed=True))*(10**-2) + velE = float(int.from_bytes(message.data[2:4], byteorder='little', signed=True))*(10**-2) + velD = float(int.from_bytes(message.data[4:6], byteorder='little', signed=True))*(10**-2) + + #rospy.loginfo("VelN: %d, VelE: %d, VelD: %d", self.velN, self.velE, self.velD) + + v = Vector3() + v.x = velN + v.y = velE + v.z = velD + + self.pGPS_speed.publish(v) + + + def parse_euler_angles(self, message): + roll = int.from_bytes(message.data[0:2], byteorder='little', signed=True)*(10**-4) + pitch = int.from_bytes(message.data[2:4], byteorder='little', signed=True)*(10**-4) + yaw = int.from_bytes(message.data[4:6], byteorder='little', signed=True)*(10**-4) + + #rospy.loginfo("Roll: %f, Pitch: %f, Yaw: %f", roll, pitch, yaw) + + qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) + qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) + qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + qw = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) + + self.IMU_msg.orientation.x = qx + self.IMU_msg.orientation.y = qy + self.IMU_msg.orientation.z = qz + self.IMU_msg.orientation.w = qw + self.IMU_msg.header.stamp= rospy.Time.now() + + + def parse_angular_velocity(self, message): + self.angular_velocity_x = int.from_bytes(message.data[0:2], byteorder='little', signed=True)*(10**-3) + self.angular_velocity_y = int.from_bytes(message.data[2:4], byteorder='little', signed=True)*(10**-3) + self.angular_velocity_z = int.from_bytes(message.data[4:6], byteorder='little', signed=True)*(10**-3) + + # rospy.loginfo("X: %f, Y: %f, Z: %f", self.angular_velocity_x, self.angular_velocity_y, self.angular_velocity_z) + + self.IMU_msg.angular_velocity.x = self.angular_velocity_x + self.IMU_msg.angular_velocity.y = self.angular_velocity_y + self.IMU_msg.angular_velocity.z = self.angular_velocity_z + self.IMU_msg.header.stamp = rospy.Time.now() + + +########################################################## INVERSOR ######################################################## + def parse_inv_speed(self, message): + int_val = int.from_bytes(message.data[1:3], byteorder='little', signed=True) + angular_v = int_val / 2**15 * vel_max + self.inv_speed = -angular_v * 2*np.pi*wheel_radius*transmission_ratio/60 + + #rospy.loginfo("Inv Speed: %f", self.inv_speed) + + self.invSpeed_pub.publish(self.inv_speed) + + +########################################################### BUZZER ######################################################## + def parse_buzzer(self, message): + pass + + #Publishers ------------------------------------------------------------------------------------------ + + def publish_IMU(self, event): + self.IMU_pub.publish(self.IMU_msg) + # self.pGPS_loc.publish(self.GPS_pos) diff --git a/src/car_interface/can/src/main.py b/src/car_interface/can/src/main.py new file mode 100755 index 00000000..ed45d80f --- /dev/null +++ b/src/car_interface/can/src/main.py @@ -0,0 +1,15 @@ +#!/usr/bin/env python3 +import rospy +from can_publisher import CanPublisher + +def main(): + """Initialize and run the CAN interface node.""" + rospy.init_node('can_reader', anonymous=True) + CanPublisher() + rospy.spin() + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass \ No newline at end of file diff --git a/src/car_interface/can_c/CMakeLists.txt b/src/car_interface/can_c/CMakeLists.txt new file mode 100644 index 00000000..7c887437 --- /dev/null +++ b/src/car_interface/can_c/CMakeLists.txt @@ -0,0 +1,52 @@ +cmake_minimum_required(VERSION 3.0.2) +project(can_c) + +## Find catkin and any catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs + sensor_msgs + common_msgs +) +# find_package(PahoMqttCpp REQUIRED) +## Declare a catkin package +catkin_package( + CATKIN_DEPENDS roscpp std_msgs sensor_msgs common_msgs +) + + +## Include directories +include_directories( + include + ${catkin_INCLUDE_DIRS} + /usr/local/include # Asegúrate de que la ruta a las cabeceras de canlib es correcta +) + +## Declare the C++ executable +add_executable(main src/main.cpp src/canInterface.cpp) + +add_executable(missionHandle src/missionHandle.cpp) + +# add_executable(telemetry src/telemetry.cpp) + +## Specify libraries to link a library or executable target against +target_link_libraries(main + ${catkin_LIBRARIES} + /usr/lib/libcanlib.so # Asegúrate de que la ruta a la biblioteca canlib es correcta +) + +target_link_libraries(missionHandle + ${catkin_LIBRARIES} + /usr/lib/libcanlib.so # Asegúrate de que la ruta a la biblioteca canlib es correcta +) + +# target_include_directories(telemetry +# PRIVATE +# ${PahoMqttCpp_INCLUDE_DIRS} +# ) + +# target_link_libraries(telemetry +# ${catkin_LIBRARIES} +# /usr/lib/libcanlib.so # Asegúrate de que la ruta a la biblioteca canlib es correcta +# PahoMqttCpp::paho-mqttpp3 +# ) diff --git a/src/car_interface/can_c/launch/mission.launch b/src/car_interface/can_c/launch/mission.launch new file mode 100755 index 00000000..103c9546 --- /dev/null +++ b/src/car_interface/can_c/launch/mission.launch @@ -0,0 +1,4 @@ + + + + diff --git a/src/car_interface/can_c/package.xml b/src/car_interface/can_c/package.xml new file mode 100644 index 00000000..f89ce664 --- /dev/null +++ b/src/car_interface/can_c/package.xml @@ -0,0 +1,69 @@ + + + can_c + 0.0.0 + The can_c package + + + + + carlos + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + sensor_msgs + std_msgs + roscpp + sensor_msgs + std_msgs + roscpp + sensor_msgs + std_msgs + common_msgs + + + + + + + + diff --git a/src/car_interface/can_c/src/canInterface.cpp b/src/car_interface/can_c/src/canInterface.cpp new file mode 100644 index 00000000..00327c48 --- /dev/null +++ b/src/car_interface/can_c/src/canInterface.cpp @@ -0,0 +1,763 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "sensor_msgs/PointCloud2.h" +#include +#include "canInterface.hpp" +#include +#include + +int velMax = 5500; +float wheelRadius = 0.2; +float transmissionRatio = 0.24444444444444444;//11/45; + +void CanInterface::check_can(canStatus stat) +{ + if(stat != canOK){ + char buf[50]; + buf[0] = '\0'; + canGetErrorText(stat, buf, sizeof(buf)); + printf("failed, stat=%d (%s) \n", (int)stat, buf); + } +} + +//################################################# CAN HANDLE ############################################################ +CanInterface::CanInterface() +{ + // Subscribers + controlsSub = nh.subscribe("/controls", 1, &CanInterface::controlsCallback, this); + ASStatusSub = nh.subscribe("/can/AS_status", 10, &CanInterface::ASStatusCallback, this); + steeringInfoSub = nh.subscribe("/steering/epos_info", 10, &CanInterface::steeringInfoCallback, this); + lapCounterSub = nh.subscribe("/lap_counter", 10, &CanInterface::lapCounterCallback, this); + conesCountSub = nh.subscribe("/perception_map", 10, &CanInterface::conesCountCallback, this); + conesCountAllSub = nh.subscribe("/mapa_icp", 10, &CanInterface::conesCountAllCallback, this); + targetSpeedSub = nh.subscribe("/target_speed", 10, &CanInterface::targetSpeedCallback, this); + brakeLightSub = nh.subscribe("/brake_light", 10, &CanInterface::brakeLightCallback, this); + + // Publishers + motorSpeedPub = nh.advertise("/motor_speed", 1); + wheelSpeedPub = nh.advertise("/wheel_speed", 1); + ASStatusPub = nh.advertise("/can/AS_status", 1); + GPSPub = nh.advertise("can/gps", 1); + GPSSpeedPub = nh.advertise("can/gps_speed", 1); + IMUPub = nh.advertise("can/IMU", 100); + steeringAnglePub = nh.advertise("can/steering_angle", 1); + RESRangePub = nh.advertise("/can/RESRange", 1); + PCTempPub = nh.advertise("/pc_temp", 1); + DL500Pub = nh.advertise("/can/DL500", 1); + DL501Pub = nh.advertise("/can/DL501", 1); + DL502Pub = nh.advertise("/can/DL502", 1); + + //Timers + pcTempTimer = nh.createTimer(ros::Duration(0.1), &CanInterface::pcTempCallback, this); + heartBeatTimer = nh.createTimer(ros::Duration(0.1), &CanInterface::pubHeartBeat, this); + DL500Timer = nh.createTimer(ros::Duration(0.1), &CanInterface::DL500Callback, this); + DL501Timer = nh.createTimer(ros::Duration(0.1), &CanInterface::DL501Callback, this); + DL502Timer = nh.createTimer(ros::Duration(0.1), &CanInterface::DL502Callback, this); + DL511Timer = nh.createTimer(ros::Duration(0.1), &CanInterface::DL511Callback, this); + + canInitializeLibrary(); // Initialize the library + std::cout << "Librería inicializada" << std::endl; + + canStatus stat; + int chanCount; + stat = canGetNumberOfChannels(&chanCount); + printf("%d channels.\n", chanCount); + + std::thread thread_0(&CanInterface::readCan0, this); + std::thread thread_1(&CanInterface::readCan1, this); + + hndW0 = canOpenChannel(0, canOPEN_ACCEPT_VIRTUAL); + if (hndW0 < 0){ + printf("canOpenChannel() failed, %d\n", hndW0); + return; + } else{ + printf("can0 enabled for writing \n"); + } + + stat = canSetBusParams(hndW0, canBITRATE_1M,0,0,0,0,0); + if (stat!=canOK){ + printf("canSetBusParams failed, status=%d\n", stat); + exit(1); + } + + hndW1 = canOpenChannel(1, canOPEN_ACCEPT_VIRTUAL); + if (hndW1 < 0){ + printf("canOpenChannel() failed, %d \n", hndW1); + return; + }else{ + printf("can1 enabled for writing \n"); + } + + canBusOn(hndW0); + canBusOn(hndW1); + + ros::waitForShutdown(); + + thread_0.join(); + thread_1.join(); + + this->brake_hydr_actual = 100; + this->brake_hydr_target = 100; + this->service_brake_state = 0; + this->cones_count_all = 0; + this->EBS_state = 0; + this->motor_moment_actual = 0; +} + +//################################################# PARSE FUNCTIONS ################################################# + +//--------------------------------------------- INV SPEED ------------------------------------------------------------- +void CanInterface::parseInvSpeed(uint8_t msg[8]) +{ + int16_t val = (msg[2] << 8) | msg[1]; + float angV = val / pow(2, 15) * velMax; + float invSpeed = -angV * 2 * M_PI * wheelRadius * transmissionRatio / 60; + std_msgs::Float32 x; + x.data = invSpeed; + this->motorSpeedPub.publish(x); + this->actual_speed = invSpeed*3.6; +} + +void CanInterface::parseWheelSpeeds(uint8_t msg[8]) +{ + int32_t val = ((static_cast(msg[4]) << 24) | + (static_cast(msg[3]) << 16) | + (static_cast(msg[2]) << 8) | + static_cast(msg[1])); + + if (rl_wheel_speed_cycles == 0){ + rl_wheel_speed_cycles = val; + }else if (rl_wheel_speed_cycles != val){ + moving = true; + } + + float speed = 0; + if (moving){ + speed = (72000000.0f / static_cast(val)) * 2 * M_PI * 0.2f / 12; + } + + rl_wheel_speed_cycles = val; + + std_msgs::Float32 x; + x.data = speed; + this->wheelSpeedPub.publish(x); + this->actual_speed = speed*3.6; +} + +//-------------------------------------------- AS ------------------------------------------------------------------------- +//1111 +//133 +void CanInterface::parseASStatus(uint8_t msg[8]) +{ + int16_t val = (msg[2]); + + if(val == 0x02) + { + this->brake_hydr_actual = 0; + this->brake_hydr_target = 0; + }else{ + this->brake_hydr_actual = 100; + this->brake_hydr_target = 100; + } + + this->AS_state = val+1; + + std_msgs::Int16 x; + x.data = val; + this->ASStatusPub.publish(x); +} + +void CanInterface::parseBrakeHydr(uint8_t msg[8]) +{ + + uint16_t b = (msg[2]<<8) | msg[1]; + this->frontPres = (b*25*(5/3.1967)*(3.3/4096))-12.5; + this -> brake_hydr_actual = ((b-1111)/(133-1111))*100; + + uint16_t c = (msg[4]<<8) | msg[3]; + this->rearPres = (c*25*(5/3.1967)*(3.3/4096))-12.5; +} + +void CanInterface::parsePneumatic(uint8_t msg[8]) +{ + this->pnPres1 = (msg[2]<<8) | msg[1]; + this->pnPres2 = (msg[4]<<8) | msg[3]; +} + +//-------------------------------------------- IMU ----------------------------------------------------------------------- +void CanInterface::parseAcc(uint8_t msg[8]) +{ + int16_t intX = (msg[1] << 8) | msg[0]; + float accX = intX*0.01; + + int16_t intY = (msg[3] << 8) | msg[2]; + float accY = intY*0.01; + + int16_t intZ = (msg[5] << 8) | msg[4]; + float accZ = intZ*0.01; + + + IMUData.linear_acceleration.x = accX; + IMUData.linear_acceleration.y = accY; + IMUData.linear_acceleration.z = accZ; + IMUData.header.stamp = ros::Time::now(); + + this->IMUPub.publish(IMUData); +} + +void CanInterface::parseEulerAngles(uint8_t msg[8]) +{ + int16_t intRoll = (msg[1] << 8) | msg[0]; + float roll = intRoll*0.0001; + + int16_t intPitch = (msg[3] << 8) | msg[2]; + float pitch = intPitch*0.0001; + + int16_t intYaw = (msg[5] << 8) | msg[4]; + float yaw = intYaw*0.0001; + + float qx = sin(roll*0.5) * cos(pitch/2) * cos(yaw*0.5) - cos(roll*0.5) * sin(pitch*0.5) * sin(yaw*0.5); + float qy = cos(roll*0.5) * sin(pitch*0.5) * cos(yaw*0.5) + sin(roll*0.5) * cos(pitch*0.5) * sin(yaw*0.5); + float qz = cos(roll*0.5) * cos(pitch*0.5) * sin(yaw*0.5) - sin(roll*0.5) * sin(pitch*0.5) * cos(yaw*0.5); + float qw = cos(roll*0.5) * cos(pitch*0.5) * cos(yaw*0.5) + sin(roll*0.5) * sin(pitch*0.5) * sin(yaw*0.5); + + IMUData.orientation.x = qx; + IMUData.orientation.y = qy; + IMUData.orientation.z = qz; + IMUData.orientation.w = qw; + IMUData.header.stamp = ros::Time::now(); +} + +void CanInterface::parseAngularVelocity(uint8_t msg[8]) +{ + int16_t intX = (msg[1] << 8) | msg[0]; + float angVelX = intX*0.001; + + int16_t intY = (msg[3] << 8) | msg[2]; + float angVelY = intY*0.001; + + int16_t intZ = (msg[5] << 8) | msg[4]; + float angVelZ = intZ*0.001; + + IMUData.angular_velocity.x = angVelX; + IMUData.angular_velocity.y = angVelY; + IMUData.angular_velocity.z = angVelZ; + IMUData.header.stamp = ros::Time::now(); +} + +void CanInterface::parseGPS(uint8_t msg[8]) +{ + int32_t lat = (msg[3] << 24) | (msg[2] << 16) | (msg[1] << 8) | msg[0]; + int32_t lon = (msg[7] << 24) | (msg[6] << 16) | (msg[5] << 8) | msg[4]; + + sensor_msgs::NavSatFix x; + x.latitude = lat; + x.longitude = lon; + this->GPSPub.publish(x); +} + +void CanInterface::parseGPSVel(uint8_t msg[8]) +{ + int16_t inxN = (msg[1] << 8) | msg[0]; + float velN = inxN/100; + + int16_t inxE = (msg[3] << 8) | msg[2]; + float velE = inxE/100; + + int16_t inxD = (msg[5] << 8) | msg[4]; + float velD = inxD/100; + + geometry_msgs::Vector3 x; + x.x = velN; + x.y = velE; + x.z = velD; + this->GPSSpeedPub.publish(x); +} + +//-------------------------------------------------------- ACQUISITION ------------------------------------------------- +void CanInterface::parseSteeringAngle(uint8_t msg[8]) +{ + int16_t val = (msg[2] << 8) | msg[1]; + + this->actual_steering_angle = val * 2; + + std_msgs::Float32 x; + x.data = val; + this->steeringAnglePub.publish(x); +} + + +//---------------------------------------------RES--------------------------------------------------------------- +void CanInterface::parseRES(uint8_t msg[8]) +{ + uint8_t val = msg[6]; + std_msgs::Float32 x; + x.data = val; + this->RESRangePub.publish(x); +} + +//---------------------------------------------DASHBOARD--------------------------------------------------------------- +void CanInterface::parseMission(uint8_t msg[8]) +{ + uint8_t val = msg[1]; + + switch (val) + { + case 0x01: + this->AMI_state = 1; + break; + case 0x02: + this->AMI_state = 2; + break; + case 0x03: + this->AMI_state = 6; + break; + case 0x04: + this->AMI_state = 3; + break; + case 0x05: + this->AMI_state = 4; + break; + case 0x06: + this->AMI_state = 5; + break; + default: + break; + } +} + +//################################################# READ FUNCTIONS ################################################# + +//--------------------------------------------- CAN 0 ------------------------------------------------------------------- +void CanInterface::readCan0() +{ + canStatus stat; + + // Open handle to channel 0 + CanHandle hndR0 = canOpenChannel(0, canOPEN_ACCEPT_VIRTUAL); + if (hndR0 < 0){ + printf("canOpenChannel() failed, %d \n", hndR0); + return; + }else{ + printf("can0 enabled for reading \n"); + } + + stat = canSetBusParams(hndR0, canBITRATE_1M,0,0,0,0,0); + if (stat!=canOK){ + printf("canSetBusParams failed, status=%d\n", stat); + exit(1); + } + + + // //Set the channel parameters + // stat = canAccept(hndR0, 0xFFF, canFILTER_SET_MASK_STD); + // CanInterface::check_can(stat); + // stat = canAccept(hndR0, 0x181, canFILTER_SET_CODE_STD); + // CanInterface::check_can(stat); + // stat = canAccept(hndR0, 0x18B, canFILTER_SET_CODE_STD); + // CanInterface::check_can(stat); + + stat = canBusOn(hndR0); + CanInterface::check_can(stat); + + //Read + while (ros::ok()){ + + long id; + uint8_t msg[8]; + unsigned int dlc; + unsigned int flag; + unsigned long time; + stat = canReadWait(hndR0, &id, &msg, &dlc, &flag, &time, 300); + int8_t subId = msg[0]; + + + + if(stat == canOK){ + switch(id){ + case 0x181: + + if(subId == 0x30) parseInvSpeed(msg); + break; + case 0x182: + switch(subId){ + case 0x01: + parseASStatus(msg); + break; + case 0x04: //Brake pressure + parseBrakeHydr(msg); + break; + case 0x05: //Pneumtic pressure + parsePneumatic(msg); + break; + case 0x06: //Valves state + break; + default: + break; + } + case 0x18B: + parseRES(msg); + break; + default: + break; + } + } + + else if(stat = canERR_NOMSG){ + uint8_t data[3] = {0x01, 0x01, 0x04}; + canWrite(hndR0, 0x202, data, 3, canMSG_STD); + } + } + + stat = canBusOff(hndR0); + stat = canClose(hndR0); +} + +//--------------------------------------------- CAN 1 ------------------------------------------------------------------- +void setFilter(CanHandle hnd, int code){ + + canStatus stat; + stat = canAccept(hnd, code, canFILTER_SET_CODE_STD); + CanInterface::check_can(stat); +} + +void CanInterface::readCan1() +{ + canStatus stat; + + // Open handle to channel 1 + CanHandle hndR1 = canOpenChannel(1, canOPEN_ACCEPT_VIRTUAL); + if (hndR1 < 0){ + printf("canOpenChannel() failed, %d\n", hndR1); + return; + }else{ + printf("can1 enabled for reading \n"); + } + + // //Set the channel parameters + // stat = canAccept(hndR1, 0xFFF, canFILTER_SET_MASK_STD); + // CanInterface::check_can(stat); + + // setFilter(hndR1, 0x182); + // setFilter(hndR1, 0x380); + // setFilter(hndR1, 0x394); + // setFilter(hndR1, 0x392); + // setFilter(hndR1, 0x384); + // setFilter(hndR1, 0x382); + // setFilter(hndR1, 0x185); + // setFilter(hndR1, 0x205); + // setFilter(hndR1, 0x334); + // setFilter(hndR1, 0x187); + + stat = canBusOn(hndR1); + //Read + while (ros::ok()){ + + long id; + uint8_t msg[8]; + unsigned int dlc; + unsigned int flag; + unsigned long time; + stat = canReadWait(hndR1, &id, &msg, &dlc, &flag, &time, 300); + uint8_t subId = msg[0]; + + + if (stat == canOK){ + switch(id) + { + case 0x380: + parseAcc(msg); + break; + case 0x394: + parseGPS(msg); + break; + case 0x392: + parseGPSVel(msg); + break; + case 0x384: + parseEulerAngles(msg); + break; + case 0x382: + parseAngularVelocity(msg); + break; + case 0x187: + switch(subId) + { + case 0x01: + parseSteeringAngle(msg); + break; + case 0x04: + //parseWheelSpeeds(msg); + break; + } + break; + case 0x185: + switch(subId) + { + case 0x01: + parseMission(msg); + } + break; + case 0x453: + parseWheelSpeeds(msg); + break; + default: + break; + } + } + + else if(stat = canERR_NOMSG){ + uint8_t data[3] = {0x01, 0x01, 0x04}; + canWrite(hndR1, 0x202, data, 3, canMSG_STD); + } + } + + stat = canBusOff(hndR1); + stat = canClose(hndR1); +} + +//################################################# CALLBACKS ########################################################### +void intToBytes(int16_t val, int8_t* bytes) +{ + std::memcpy(bytes, &val, sizeof(val)); +} + +void CanInterface::controlsCallback(common_msgs::Controls msg) +{ + // std::cout << "llega" << std::endl; + float acc = msg.accelerator; + int16_t intValue = static_cast(acc * (1<<15))-1; + this->motor_moment_target = intValue; + + int8_t bytesCMD[2]; + intToBytes(intValue, bytesCMD); + int8_t cabecera = 0x90; + + int8_t data[3] = {cabecera, bytesCMD[0], bytesCMD[1]}; + + canWrite(hndW0, 0x201, data, 3, canMSG_STD); +} + +void CanInterface::ASStatusCallback(std_msgs::Int16 msg) +{ + if(msg.data == 3){ + uint8_t data[3] = {0x01, 0x01, 0x03}; + canWrite(hndW0, 0x202, data, 3, canMSG_STD); + }else if(msg.data==4){ + uint8_t data[3] = {0x01, 0x01, 0x04}; + canWrite(hndW0, 0x202, data, 3, canMSG_STD); + } +} + +void CanInterface::steeringInfoCallback(std_msgs::Float32MultiArray msg) +{ + int8_t pMovementState = msg.data[0]; + this->steering_state = pMovementState; + + int16_t pPosition = msg.data[1]*2; + int8_t pPositionBytes[3]; + this->actual_steering_angle = pPosition; + intToBytes(pPosition, pPositionBytes); + + int16_t pTargetPosition = msg.data[2]*2; + int8_t pTargetPositionBytes[3]; + this->target_steering_angle = pTargetPosition; + intToBytes(pTargetPosition, pTargetPositionBytes); + + int8_t msgEposState[8]= {0x02, pMovementState, pPositionBytes[0], pPositionBytes[1], pPositionBytes[2], pTargetPositionBytes[0], pTargetPositionBytes[1], pTargetPositionBytes[2]}; + canWrite(hndW1, 0x183, msgEposState, 8, canMSG_STD); + + int16_t pVelocity = msg.data[3]*100; + int8_t pVelocityBytes[3]; + intToBytes(pVelocity, pVelocityBytes); + + int16_t pVelocityAvg = msg.data[4]*100; + int8_t pVelocityAvgBytes[3]; + intToBytes(pVelocityAvg, pVelocityAvgBytes); + + int8_t msgEposVelocity[7]= {0x03, pVelocityBytes[0], pVelocityBytes[1], pVelocityBytes[2], pVelocityAvgBytes[0], pVelocityAvgBytes[1], pVelocityAvgBytes[2]}; + canWrite(hndW1, 0x183, msgEposVelocity, 7, canMSG_STD); + + int16_t pTorque = msg.data[5]*100; + int8_t pTorqueBytes[2]; + intToBytes(pTorque, pTorqueBytes); + + int8_t msgEposTorque[3]= {0x04, pTorqueBytes[0], pTorqueBytes[1]}; + canWrite(hndW1, 0x183, msgEposTorque, 3, canMSG_STD); +} + +void CanInterface::pubHeartBeat(const ros::TimerEvent&) +{ + uint8_t data[1] = {0x00}; + canWrite(hndW1, 0x183, data, 1, canMSG_STD); +} + +void CanInterface::lapCounterCallback(std_msgs::Int16 msg) +{ + this->lap_counter = msg.data; +} + +void CanInterface::conesCountCallback(sensor_msgs::PointCloud2 msg) +{ + this->cones_count_actual = msg.width; +} + +void CanInterface::conesCountAllCallback(sensor_msgs::PointCloud2 msg) +{ + if(this->cones_count_allcones_count_all = msg.width; + } +} + +void CanInterface::DL500Callback(const ros::TimerEvent&) +{ + std_msgs::Float32MultiArray x; + + int8_t data[8] = {motor_moment_target ,this->motor_moment_actual ,this->brake_hydr_target,this->brake_hydr_actual, + this->target_steering_angle,this->actual_steering_angle,this->target_speed,this->actual_speed}; + + x.data.push_back(motor_moment_target); + x.data.push_back(this->motor_moment_actual); + x.data.push_back(this->brake_hydr_target); + x.data.push_back(this->brake_hydr_actual); + x.data.push_back(this->target_steering_angle); + x.data.push_back(this->actual_steering_angle); + x.data.push_back(this->target_speed); + x.data.push_back(this->actual_speed); + + this->DL500Pub.publish(x); + + canWrite(hndW0, 0x500, data, 8, canMSG_STD); +} + +void CanInterface::DL501Callback(const ros::TimerEvent&) +{ + std_msgs::Float32MultiArray x; + + int16_t long_acc = IMUData.linear_acceleration.x*512; + int8_t long_acc_bytes[2]; + intToBytes(long_acc, long_acc_bytes); + int8_t long_acc_bytes_le[2] = {long_acc_bytes[1], long_acc_bytes[0]}; + x.data.push_back(IMUData.linear_acceleration.x); + + int16_t lat_acc = IMUData.linear_acceleration.y*512; + int8_t lat_acc_bytes[2]; + intToBytes(lat_acc, lat_acc_bytes); + int8_t lat_acc_bytes_le[2] = {lat_acc_bytes[1], lat_acc_bytes[0]}; + x.data.push_back(IMUData.linear_acceleration.y); + + int16_t yaw_rate = IMUData.angular_velocity.z*(180/M_PI)*128; + int8_t yaw_rate_bytes[2]; + intToBytes(yaw_rate, yaw_rate_bytes); + int8_t yaw_rate_bytes_le[2] = {yaw_rate_bytes[1], yaw_rate_bytes[0]}; + x.data.push_back(IMUData.angular_velocity.z); + + int8_t data[6]; + std::copy(long_acc_bytes_le, long_acc_bytes_le + 2, data + 4); + std::copy(lat_acc_bytes_le, lat_acc_bytes_le + 2, data + 2); + std::copy(yaw_rate_bytes_le, yaw_rate_bytes_le + 2, data); + + canWrite(hndW0, 0x501, data, 6, canMSG_STD); + this->DL501Pub.publish(x); +} + +void CanInterface::DL502Callback(const ros::TimerEvent&) +{ + std_msgs::Float32MultiArray x; + uint8_t data[5]; + data[4] = (((this->AMI_state <<2) | this->EBS_state)<<3) | this->AS_state; + x.data.push_back(this->AMI_state); + x.data.push_back(this->EBS_state); + x.data.push_back(this->AS_state); + data[3] = ((((((this->cones_count_actual & 0x01)<<4)|this->lap_counter)<<2)|this->service_brake_state)<<1)|steering_state; + x.data.push_back(this->cones_count_actual); + x.data.push_back(this->lap_counter); + x.data.push_back(this->service_brake_state); + x.data.push_back(this->steering_state); + data[2] = (this->cones_count_all & 0x0001)|((this->cones_count_actual & 0xFE)>>1); + x.data.push_back(this->cones_count_all); + data[1] = (this->cones_count_all & 0x01FE)>>1; + data[0] = (this->cones_count_all & 0xFE00)>>9; + + canWrite(hndW0, 0x502, data, 5, canMSG_STD); + this->DL502Pub.publish(x); +} + +void CanInterface::targetSpeedCallback(std_msgs::Float32 msg) +{ + this->target_speed = msg.data; +} + +void CanInterface::pcTempCallback(const ros::TimerEvent&) +{ + this->getPcTemp(); + std_msgs::Float32 x; + x.data = this->pc_temp; + this->PCTempPub.publish(x); + + int8_t bytes[2]; + int16_t temp = this->pc_temp*100; + intToBytes(temp, bytes); + + int16_t msg[3] = {0x01, bytes[0], bytes[1]}; + canWrite(hndW1, 0x183, msg, 3, canMSG_STD); +} + +void CanInterface::brakeLightCallback(std_msgs::Int16 msg) +{ + uint8_t data[2] = {0x01, msg.data}; + canWrite(hndW1, 0x208, data, 2, canMSG_STD); +} + +void CanInterface::getPcTemp() +{ + float temp = 0.0; + FILE* fp = popen("sensors", "r"); + if (fp == NULL) { + ROS_ERROR("Failed to run sensors command"); + } + + char path[1035]; + while (fgets(path, sizeof(path), fp) != NULL) { + std::string line(path); + if (line.find("Core 0:") != std::string::npos) { // Ajusta esto según tu salida de 'sensors' + std::istringstream iss(line); + std::string token; + while (iss >> token) { + if (token[0] == '+') { + token = token.substr(1); + token.pop_back(); + temp = std::stof(token); + break; + } + } + break; + } + } + pclose(fp); + this->pc_temp = temp; +} + +void CanInterface::DL511Callback(const ros::TimerEvent&) +{ + uint8_t data[5]; + data[4] = 0x01; + data[2] = this->frontPres * 2; + data[3] = this->rearPres * 2; + data[0] = this->pnPres1 * 10; + data[1] = this->pnPres2 * 10; + + canWrite(hndW0, 0x511, data, 5, canMSG_STD); +} diff --git a/src/car_interface/can_c/src/canInterface.cpp.save b/src/car_interface/can_c/src/canInterface.cpp.save new file mode 100644 index 00000000..c9be534d --- /dev/null +++ b/src/car_interface/can_c/src/canInterface.cpp.save @@ -0,0 +1,743 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "sensor_msgs/PointCloud2.h" +#include +#include "canInterface.hpp" +#include +#include + +int velMax = 5500; +float wheelRadius = 0.2; +float transmissionRatio = 0.24444444444444444;//11/45; + +void CanInterface::check_can(canStatus stat) +{ + if(stat != canOK){ + char buf[50]; + buf[0] = '\0'; + canGetErrorText(stat, buf, sizeof(buf)); + printf("failed, stat=%d (%s) \n", (int)stat, buf); + } +} + +//################################################# CAN HANDLE ############################################################ +CanInterface::CanInterface() +{ + // Subscribers + controlsSub = nh.subscribe("/controls", 1, &CanInterface::controlsCallback, this); + ASStatusSub = nh.subscribe("/can/AS_status", 10, &CanInterface::ASStatusCallback, this); + steeringInfoSub = nh.subscribe("/steering/epos_info", 10, &CanInterface::steeringInfoCallback, this); + lapCounterSub = nh.subscribe("/lap_counter", 10, &CanInterface::lapCounterCallback, this); + conesCountSub = nh.subscribe("/perception_map", 10, &CanInterface::conesCountCallback, this); + conesCountAllSub = nh.subscribe("/mapa_icp", 10, &CanInterface::conesCountAllCallback, this); + targetSpeedSub = nh.subscribe("/target_speed", 10, &CanInterface::targetSpeedCallback, this); + brakeLightSub = nh.subscribe("/brake_light", 10, &CanInterface::brakeLightCallback, this); + + // Publishers + motorSpeedPub = nh.advertise("/motor_speed", 1); + wheelSpeedPub = nh.advertise("/wheel_speed", 1); + ASStatusPub = nh.advertise("/can/AS_status", 1); + GPSPub = nh.advertise("can/gps", 1); + GPSSpeedPub = nh.advertise("can/gps_speed", 1); + IMUPub = nh.advertise("can/IMU", 100); + steeringAnglePub = nh.advertise("can/steering_angle", 1); + RESRangePub = nh.advertise("/can/RESRange", 1); + PCTempPub = nh.advertise("/pc_temp", 1); + DL500Pub = nh.advertise("/can/DL500", 1); + DL501Pub = nh.advertise("/can/DL501", 1); + DL502Pub = nh.advertise("/can/DL502", 1); + + //Timers + pcTempTimer = nh.createTimer(ros::Duration(0.1), &CanInterface::pcTempCallback, this); + heartBeatTimer = nh.createTimer(ros::Duration(0.1), &CanInterface::pubHeartBeat, this); + DL500Timer = nh.createTimer(ros::Duration(0.1), &CanInterface::DL500Callback, this); + DL501Timer = nh.createTimer(ros::Duration(0.1), &CanInterface::DL501Callback, this); + DL502Timer = nh.createTimer(ros::Duration(0.1), &CanInterface::DL502Callback, this); + DL511Timer = nh.createTimer(ros::Duration(0.1), &CanInterface::DL511Callback, this); + + canInitializeLibrary(); // Initialize the library + std::cout << "Librería inicializada" << std::endl; + + canStatus stat; + int chanCount; + stat = canGetNumberOfChannels(&chanCount); + printf("%d channels.\n", chanCount); + + std::thread thread_0(&CanInterface::readCan0, this); + std::thread thread_1(&CanInterface::readCan1, this); + + hndW0 = canOpenChannel(0, canOPEN_ACCEPT_VIRTUAL); + if (hndW0 < 0){ + printf("canOpenChannel() failed, %d\n", hndW0); + return; + } else{ + printf("can0 enabled for writing \n"); + } + + stat = canSetBusParams(hndW0, canBITRATE_1M,0,0,0,0,0); + if (stat!=canOK){ + printf("canSetBusParams failed, status=%d\n", stat); + exit(1); + } + + hndW1 = canOpenChannel(1, canOPEN_ACCEPT_VIRTUAL); + if (hndW1 < 0){ + printf("canOpenChannel() failed, %d \n", hndW1); + return; + }else{ + printf("can1 enabled for writing \n"); + } + + canBusOn(hndW0); + canBusOn(hndW1); + + ros::waitForShutdown(); + + thread_0.join(); + thread_1.join(); + + this->brake_hydr_actual = 100; + this->brake_hydr_target = 100; + this->service_brake_state = 0; + this->cones_count_all = 0; + this->EBS_state = 0; + this->motor_moment_actual = 0; +} + +//################################################# PARSE FUNCTIONS ################################################# + +//--------------------------------------------- INV SPEED ------------------------------------------------------------- +void CanInterface::parseInvSpeed(uint8_t msg[8]) +{ + int16_t val = (msg[2] << 8) | msg[1]; + float angV = val / pow(2, 15) * velMax; + float invSpeed = -angV * 2 * M_PI * wheelRadius * transmissionRatio / 60; + std_msgs::Float32 x; + x.data = invSpeed; + this->motorSpeedPub.publish(x); + this->actual_speed = invSpeed*3.6; +} + +void CanInterface::parseWheelSpeeds(uint8_t msg[8]) +{ + std::cout << "llega wheelspeed" << std::endl; + int16_t val = msg[3]; + float speed = (1/val)*72000000*2*M_PI*52/12; + std_msgs::Float32 x; + x.data = speed; + this->wheelSpeedPub.publish(x); + this->actual_speed = speed*3.6; +} + +//-------------------------------------------- AS ------------------------------------------------------------------------- +//1111 +//133 +void CanInterface::parseASStatus(uint8_t msg[8]) +{ + int16_t val = (msg[2]); + + if(val == 0x02) + { + this->brake_hydr_actual = 0; + this->brake_hydr_target = 0; + }else{ + this->brake_hydr_actual = 100; + this->brake_hydr_target = 100; + } + + this->AS_state = val+1; + + std_msgs::Int16 x; + x.data = val; + this->ASStatusPub.publish(x); +} + +void CanInterface::parseBrakeHydr(uint8_t msg[8]) +{ + + uint16_t b = (msg[2]<<8) | msg[1]; + this->frontPres = (b*25*(5/3.1967)*(3.3/4096))-12.5; + this -> brake_hydr_actual = ((b-1111)/(133-1111))*100; + + uint16_t c = (msg[4]<<8) | msg[3]; + this->rearPres = (c*25*(5/3.1967)*(3.3/4096))-12.5; +} + +void CanInterface::parsePneumatic(uint8_t msg[8]) +{ + this->pnPres1 = (msg[2]<<8) | msg[1]; + this->pnPres2 = (msg[4]<<8) | msg[3]; +} + +//-------------------------------------------- IMU ----------------------------------------------------------------------- +void CanInterface::parseAcc(uint8_t msg[8]) +{ + int16_t intX = (msg[1] << 8) | msg[0]; + float accX = intX*0.01; + + int16_t intY = (msg[3] << 8) | msg[2]; + float accY = intY*0.01; + + int16_t intZ = (msg[5] << 8) | msg[4]; + float accZ = intZ*0.01; + + + IMUData.linear_acceleration.x = accX; + IMUData.linear_acceleration.y = accY; + IMUData.linear_acceleration.z = accZ; + IMUData.header.stamp = ros::Time::now(); + + this->IMUPub.publish(IMUData); +} + +void CanInterface::parseEulerAngles(uint8_t msg[8]) +{ + int16_t intRoll = (msg[1] << 8) | msg[0]; + float roll = intRoll*0.0001; + + int16_t intPitch = (msg[3] << 8) | msg[2]; + float pitch = intPitch*0.0001; + + int16_t intYaw = (msg[5] << 8) | msg[4]; + float yaw = intYaw*0.0001; + + float qx = sin(roll*0.5) * cos(pitch/2) * cos(yaw*0.5) - cos(roll*0.5) * sin(pitch*0.5) * sin(yaw*0.5); + float qy = cos(roll*0.5) * sin(pitch*0.5) * cos(yaw*0.5) + sin(roll*0.5) * cos(pitch*0.5) * sin(yaw*0.5); + float qz = cos(roll*0.5) * cos(pitch*0.5) * sin(yaw*0.5) - sin(roll*0.5) * sin(pitch*0.5) * cos(yaw*0.5); + float qw = cos(roll*0.5) * cos(pitch*0.5) * cos(yaw*0.5) + sin(roll*0.5) * sin(pitch*0.5) * sin(yaw*0.5); + + IMUData.orientation.x = qx; + IMUData.orientation.y = qy; + IMUData.orientation.z = qz; + IMUData.orientation.w = qw; + IMUData.header.stamp = ros::Time::now(); +} + +void CanInterface::parseAngularVelocity(uint8_t msg[8]) +{ + int16_t intX = (msg[1] << 8) | msg[0]; + float angVelX = intX*0.001; + + int16_t intY = (msg[3] << 8) | msg[2]; + float angVelY = intY*0.001; + + int16_t intZ = (msg[5] << 8) | msg[4]; + float angVelZ = intZ*0.001; + + IMUData.angular_velocity.x = angVelX; + IMUData.angular_velocity.y = angVelY; + IMUData.angular_velocity.z = angVelZ; + IMUData.header.stamp = ros::Time::now(); +} + +void CanInterface::parseGPS(uint8_t msg[8]) +{ + int32_t lat = (msg[3] << 24) | (msg[2] << 16) | (msg[1] << 8) | msg[0]; + int32_t lon = (msg[7] << 24) | (msg[6] << 16) | (msg[5] << 8) | msg[4]; + + sensor_msgs::NavSatFix x; + x.latitude = lat; + x.longitude = lon; + this->GPSPub.publish(x); +} + +void CanInterface::parseGPSVel(uint8_t msg[8]) +{ + int16_t inxN = (msg[1] << 8) | msg[0]; + float velN = inxN/100; + + int16_t inxE = (msg[3] << 8) | msg[2]; + float velE = inxE/100; + + int16_t inxD = (msg[5] << 8) | msg[4]; + float velD = inxD/100; + + geometry_msgs::Vector3 x; + x.x = velN; + x.y = velE; + x.z = velD; + this->GPSSpeedPub.publish(x); +} + +//-------------------------------------------------------- ACQUISITION ------------------------------------------------- +void CanInterface::parseSteeringAngle(uint8_t msg[8]) +{ + int16_t val = (msg[2] << 8) | msg[1]; + + this->actual_steering_angle = val * 2; + + std_msgs::Float32 x; + x.data = val; + this->steeringAnglePub.publish(x); +} + + +//---------------------------------------------RES--------------------------------------------------------------- +void CanInterface::parseRES(uint8_t msg[8]) +{ + uint8_t val = msg[6]; + std_msgs::Float32 x; + x.data = val; + this->RESRangePub.publish(x); +} + +//---------------------------------------------DASHBOARD--------------------------------------------------------------- +void CanInterface::parseMission(uint8_t msg[8]) +{ + uint8_t val = msg[1]; + + switch (val) + { + case 0x01: + this->AMI_state = 1; + break; + case 0x02: + this->AMI_state = 2; + break; + case 0x03: + this->AMI_state = 6; + break; + case 0x04: + this->AMI_state = 3; + break; + case 0x05: + this->AMI_state = 4; + break; + case 0x06: + this->AMI_state = 5; + break; + default: + break; + } +} + +//################################################# READ FUNCTIONS ################################################# + +//--------------------------------------------- CAN 0 ------------------------------------------------------------------- +void CanInterface::readCan0() +{ + canStatus stat; + + // Open handle to channel 0 + CanHandle hndR0 = canOpenChannel(0, canOPEN_ACCEPT_VIRTUAL); + if (hndR0 < 0){ + printf("canOpenChannel() failed, %d \n", hndR0); + return; + }else{ + printf("can0 enabled for reading \n"); + } + + stat = canSetBusParams(hndR0, canBITRATE_1M,0,0,0,0,0); + if (stat!=canOK){ + printf("canSetBusParams failed, status=%d\n", stat); + exit(1); + } + + + // //Set the channel parameters + // stat = canAccept(hndR0, 0xFFF, canFILTER_SET_MASK_STD); + // CanInterface::check_can(stat); + // stat = canAccept(hndR0, 0x181, canFILTER_SET_CODE_STD); + // CanInterface::check_can(stat); + // stat = canAccept(hndR0, 0x18B, canFILTER_SET_CODE_STD); + // CanInterface::check_can(stat); + + stat = canBusOn(hndR0); + CanInterface::check_can(stat); + + //Read + while (ros::ok()){ + + long id; + uint8_t msg[8]; + unsigned int dlc; + unsigned int flag; + unsigned long time; + stat = canReadWait(hndR0, &id, &msg, &dlc, &flag, &time, 300); + int8_t subId = msg[0]; + + + + if(stat == canOK){ + switch(id){ + case 0x181: + + if(subId == 0x30) parseInvSpeed(msg); + break; + case 0x182: + switch(subId){ + case 0x01: + parseASStatus(msg); + break; + case 0x04: //Brake pressure + parseBrakeHydr(msg); + break; + case 0x05: //Pneumtic pressure + parsePneumatic(msg); + break; + case 0x06: //Valves state + break; + default: + break; + } + case 0x18B: + parseRES(msg); + break; + default: + break; + } + } + + else if(stat = canERR_NOMSG){ + uint8_t data[3] = {0x01, 0x01, 0x04}; + canWrite(hndR0, 0x202, data, 3, canMSG_STD); + } + } + + stat = canBusOff(hndR0); + stat = canClose(hndR0); +} + +//--------------------------------------------- CAN 1 ------------------------------------------------------------------- +void setFilter(CanHandle hnd, int code){ + + canStatus stat; + stat = canAccept(hnd, code, canFILTER_SET_CODE_STD); + CanInterface::check_can(stat); +} + +void CanInterface::readCan1() +{ + canStatus stat; + + // Open handle to channel 1 + CanHandle hndR1 = canOpenChannel(1, canOPEN_ACCEPT_VIRTUAL); + if (hndR1 < 0){ + printf("canOpenChannel() failed, %d\n", hndR1); + return; + }else{ + printf("can1 enabled for reading \n"); + } + + // //Set the channel parameters + // stat = canAccept(hndR1, 0xFFF, canFILTER_SET_MASK_STD); + // CanInterface::check_can(stat); + + // setFilter(hndR1, 0x182); + // setFilter(hndR1, 0x380); + // setFilter(hndR1, 0x394); + // setFilter(hndR1, 0x392); + // setFilter(hndR1, 0x384); + // setFilter(hndR1, 0x382); + // setFilter(hndR1, 0x185); + // setFilter(hndR1, 0x205); + // setFilter(hndR1, 0x334); + // setFilter(hndR1, 0x187); + + stat = canBusOn(hndR1); + //Read + while (ros::ok()){ + + long id; + uint8_t msg[8]; + unsigned int dlc; + unsigned int flag; + unsigned long time; + stat = canReadWait(hndR1, &id, &msg, &dlc, &flag, &time, 300); + uint8_t subId = msg[0]; + + + if (stat == canOK){ + switch(id) + { + case 0x380: + parseAcc(msg); + break; + case 0x394: + parseGPS(msg); + break; + case 0x392: + parseGPSVel(msg); + break; + case 0x384: + parseEulerAngles(msg); + break; + case 0x382: + parseAngularVelocity(msg); + break; + case 0x453: + switch(subId) + { + case 0x03: + parseSteeringAngle(msg); + break; + case 0x04: + parseWheelSpeeds(msg); + } + break; + case 0x185: + switch(subId) + { + case 0x01: + parseMission(msg); + } + default: + break; + } + } + + else if(stat = canERR_NOMSG){ + uint8_t data[3] = {0x01, 0x01, 0x04}; + canWrite(hndR1, 0x202, data, 3, canMSG_STD); + } + } + + stat = canBusOff(hndR1); + stat = canClose(hndR1); +} + +//################################################# CALLBACKS ########################################################### +void intToBytes(int16_t val, int8_t* bytes) +{ + std::memcpy(bytes, &val, sizeof(val)); +} + +void CanInterface::controlsCallback(common_msgs::Controls msg) +{ + // std::cout << "llega" << std::endl; + float acc = msg.accelerator; + int16_t intValue = static_cast(acc * (1<<15))-1; + this->motor_moment_target = intValue; + + int8_t bytesCMD[2]; + intToBytes(intValue, bytesCMD); + int8_t cabecera = 0x90; + + int8_t data[3] = {cabecera, bytesCMD[0], bytesCMD[1]}; + + canWrite(hndW0, 0x201, data, 3, canMSG_STD); +} + +void CanInterface::ASStatusCallback(std_msgs::Int16 msg) +{ + if(msg.data == 3){ + uint8_t data[3] = {0x01, 0x01, 0x03}; + canWrite(hndW0, 0x202, data, 3, canMSG_STD); + }else if(msg.data==4){ + uint8_t data[3] = {0x01, 0x01, 0x04}; + canWrite(hndW0, 0x202, data, 3, canMSG_STD); + } +} + +void CanInterface::steeringInfoCallback(std_msgs::Float32MultiArray msg) +{ + int8_t pMovementState = msg.data[0]; + this->steering_state = pMovementState; + + int16_t pPosition = msg.data[1]*2; + int8_t pPositionBytes[3]; + this->actual_steering_angle = pPosition; + intToBytes(pPosition, pPositionBytes); + + int16_t pTargetPosition = msg.data[2]*2; + int8_t pTargetPositionBytes[3]; + this->target_steering_angle = pTargetPosition; + intToBytes(pTargetPosition, pTargetPositionBytes); + + int8_t msgEposState[8]= {0x02, pMovementState, pPositionBytes[0], pPositionBytes[1], pPositionBytes[2], pTargetPositionBytes[0], pTargetPositionBytes[1], pTargetPositionBytes[2]}; + canWrite(hndW1, 0x183, msgEposState, 8, canMSG_STD); + + int16_t pVelocity = msg.data[3]*100; + int8_t pVelocityBytes[3]; + intToBytes(pVelocity, pVelocityBytes); + + int16_t pVelocityAvg = msg.data[4]*100; + int8_t pVelocityAvgBytes[3]; + intToBytes(pVelocityAvg, pVelocityAvgBytes); + + int8_t msgEposVelocity[7]= {0x03, pVelocityBytes[0], pVelocityBytes[1], pVelocityBytes[2], pVelocityAvgBytes[0], pVelocityAvgBytes[1], pVelocityAvgBytes[2]}; + canWrite(hndW1, 0x183, msgEposVelocity, 7, canMSG_STD); + + int16_t pTorque = msg.data[5]*100; + int8_t pTorqueBytes[2]; + intToBytes(pTorque, pTorqueBytes); + + int8_t msgEposTorque[3]= {0x04, pTorqueBytes[0], pTorqueBytes[1]}; + canWrite(hndW1, 0x183, msgEposTorque, 3, canMSG_STD); +} + +void CanInterface::pubHeartBeat(const ros::TimerEvent&) +{ + uint8_t data[1] = {0x00}; + canWrite(hndW1, 0x183, data, 1, canMSG_STD); +} + +void CanInterface::lapCounterCallback(std_msgs::Int16 msg) +{ + this->lap_counter = msg.data; +} + +void CanInterface::conesCountCallback(sensor_msgs::PointCloud2 msg) +{ + this->cones_count_actual = msg.width; +} + +void CanInterface::conesCountAllCallback(sensor_msgs::PointCloud2 msg) +{ + if(this->cones_count_allcones_count_all = msg.width; + } +} + +void CanInterface::DL500Callback(const ros::TimerEvent&) +{ + std_msgs::Float32MultiArray x; + + int8_t data[8] = {motor_moment_target ,this->motor_moment_actual ,this->brake_hydr_target,this->brake_hydr_actual, + this->target_steering_angle,this->actual_steering_angle,this->target_speed,this->actual_speed}; + + x.data.push_back(motor_moment_target); + x.data.push_back(this->motor_moment_actual); + x.data.push_back(this->brake_hydr_target); + x.data.push_back(this->brake_hydr_actual); + x.data.push_back(this->target_steering_angle); + x.data.push_back(this->actual_steering_angle); + x.data.push_back(this->target_speed); + x.data.push_back(this->actual_speed); + + this->DL500Pub.publish(x); + + canWrite(hndW0, 0x500, data, 8, canMSG_STD); +} + +void CanInterface::DL501Callback(const ros::TimerEvent&) +{ + std_msgs::Float32MultiArray x; + + int16_t long_acc = IMUData.linear_acceleration.x*512; + int8_t long_acc_bytes[2]; + intToBytes(long_acc, long_acc_bytes); + int8_t long_acc_bytes_le[2] = {long_acc_bytes[1], long_acc_bytes[0]}; + x.data.push_back(IMUData.linear_acceleration.x); + + int16_t lat_acc = IMUData.linear_acceleration.y*512; + int8_t lat_acc_bytes[2]; + intToBytes(lat_acc, lat_acc_bytes); + int8_t lat_acc_bytes_le[2] = {lat_acc_bytes[1], lat_acc_bytes[0]}; + x.data.push_back(IMUData.linear_acceleration.y); + + int16_t yaw_rate = IMUData.angular_velocity.z*(180/M_PI)*128; + int8_t yaw_rate_bytes[2]; + intToBytes(yaw_rate, yaw_rate_bytes); + int8_t yaw_rate_bytes_le[2] = {yaw_rate_bytes[1], yaw_rate_bytes[0]}; + x.data.push_back(IMUData.angular_velocity.z); + + int8_t data[6]; + std::copy(long_acc_bytes_le, long_acc_bytes_le + 2, data + 4); + std::copy(lat_acc_bytes_le, lat_acc_bytes_le + 2, data + 2); + std::copy(yaw_rate_bytes_le, yaw_rate_bytes_le + 2, data); + + canWrite(hndW0, 0x501, data, 6, canMSG_STD); + this->DL501Pub.publish(x); +} + +void CanInterface::DL502Callback(const ros::TimerEvent&) +{ + std_msgs::Float32MultiArray x; + uint8_t data[5]; + data[4] = (((this->AMI_state <<2) | this->EBS_state)<<3) | this->AS_state; + x.data.push_back(this->AMI_state); + x.data.push_back(this->EBS_state); + x.data.push_back(this->AS_state); + data[3] = ((((((this->cones_count_actual & 0x01)<<4)|this->lap_counter)<<2)|this->service_brake_state)<<1)|steering_state; + x.data.push_back(this->cones_count_actual); + x.data.push_back(this->lap_counter); + x.data.push_back(this->service_brake_state); + x.data.push_back(this->steering_state); + data[2] = (this->cones_count_all & 0x0001)|((this->cones_count_actual & 0xFE)>>1); + x.data.push_back(this->cones_count_all); + data[1] = (this->cones_count_all & 0x01FE)>>1; + data[0] = (this->cones_count_all & 0xFE00)>>9; + + canWrite(hndW0, 0x502, data, 5, canMSG_STD); + this->DL502Pub.publish(x); +} + +void CanInterface::targetSpeedCallback(std_msgs::Float32 msg) +{ + this->target_speed = msg.data; +} + +void CanInterface::pcTempCallback(const ros::TimerEvent&) +{ + this->getPcTemp(); + std_msgs::Float32 x; + x.data = this->pc_temp; + this->PCTempPub.publish(x); + + int8_t bytes[2]; + int16_t temp = this->pc_temp*100; + intToBytes(temp, bytes); + + int16_t msg[3] = {0x01, bytes[0], bytes[1]}; + canWrite(hndW1, 0x183, msg, 3, canMSG_STD); +} + +void CanInterface::brakeLightCallback(std_msgs::Int16 msg) +{ + uint8_t data[2] = {0x01, msg.data}; + canWrite(hndW1, 0x208, data, 2, canMSG_STD); +} + +void CanInterface::getPcTemp() +{ + float temp = 0.0; + FILE* fp = popen("sensors", "r"); + if (fp == NULL) { + ROS_ERROR("Failed to run sensors command"); + } + + char path[1035]; + while (fgets(path, sizeof(path), fp) != NULL) { + std::string line(path); + if (line.find("Core 0:") != std::string::npos) { // Ajusta esto según tu salida de 'sensors' + std::istringstream iss(line); + std::string token; + while (iss >> token) { + if (token[0] == '+') { + token = token.substr(1); + token.pop_back(); + temp = std::stof(token); + break; + } + } + break; + } + } + pclose(fp); + this->pc_temp = temp; +} + +void CanInterface::DL511Callback(const ros::TimerEvent&) +{ + uint8_t data[5]; + data[4] = 0x01; + data[2] = this->frontPres * 2; + data[3] = this->rearPres * 2; + data[0] = this->pnPres1 * 10; + data[1] = this->pnPres2 * 10; + + canWrite(hndW0, 0x511, data, 5, canMSG_STD); +} diff --git a/src/car_interface/can_c/src/canInterface.hpp b/src/car_interface/can_c/src/canInterface.hpp new file mode 100644 index 00000000..01bdbda8 --- /dev/null +++ b/src/car_interface/can_c/src/canInterface.hpp @@ -0,0 +1,125 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "sensor_msgs/PointCloud2.h" +#include + +using namespace std; + +class CanInterface +{ + +public: + CanInterface(); + + static void check_can(canStatus stat); +private : + + void pubHeartBeat(const ros::TimerEvent&); + void controlsCallback(common_msgs::Controls); + void brakeLightCallback(std_msgs::Int16); + void steeringInfoCallback(std_msgs::Float32MultiArray); + void ASStatusCallback(std_msgs::Int16); + void lapCounterCallback(std_msgs::Int16); + void conesCountCallback(sensor_msgs::PointCloud2); + void conesCountAllCallback(sensor_msgs::PointCloud2); + void targetSpeedCallback(std_msgs::Float32); + void DL500Callback(const ros::TimerEvent&); + void DL501Callback(const ros::TimerEvent&); + void DL502Callback(const ros::TimerEvent&); + void DL511Callback(const ros::TimerEvent&); + void pcTempCallback(const ros::TimerEvent&); + + void readCan1(); + void readCan0(); + + canHandle hndW0; + canHandle hndW1; + + ros::NodeHandle nh; + + ros::Publisher extensometerPub; + ros::Publisher ASStatusPub; + ros::Publisher IMUPub; + ros::Publisher GPSPub; + ros::Publisher GPSSpeedPub; + ros::Publisher motorSpeedPub; + ros::Publisher wheelSpeedPub; + ros::Publisher steeringAnglePub; + ros::Publisher RESRangePub; + ros::Publisher PCTempPub; + ros::Publisher DL500Pub; + ros::Publisher DL501Pub; + ros::Publisher DL502Pub; + + float pc_temp; + int rearPres; + int frontPres; + int pnPres1; + int pnPres2; + void getPcTemp(); + + int32_t rl_wheel_speed_cycles = 0; + bool moving = false; + uint8_t actual_speed; + uint8_t target_speed; + int8_t actual_steering_angle; + int8_t target_steering_angle; + uint8_t brake_hydr_actual; + uint8_t brake_hydr_target; + uint8_t pneumatic_press; + int8_t motor_moment_actual; + int8_t motor_moment_target; + + sensor_msgs::Imu IMUData; + + uint8_t AS_state; + uint8_t EBS_state; + uint8_t AMI_state; + bool steering_state; + uint8_t service_brake_state; + uint8_t lap_counter; + uint8_t cones_count_actual; + uint16_t cones_count_all; + + void parseInvSpeed(unsigned char []); + void parseMission(unsigned char []); + void parseASStatus(unsigned char []); + void parseAcc(unsigned char []); + void parseEulerAngles(unsigned char []); + void parseAngularVelocity(unsigned char []); + void parseGPS(unsigned char []); + void parseGPSVel(unsigned char []); + void parseSteeringAngle(unsigned char []); + void parseRES(unsigned char []); + void parseBrakeHydr(unsigned char []); + void parsePneumatic(unsigned char []); + void parseWheelSpeeds(unsigned char []); + void initialize_timer(); + + + ros::Subscriber controlsSub; + ros::Subscriber steeringInfoSub; + ros::Subscriber ASStatusSub; + ros::Subscriber lapCounterSub; + ros::Subscriber conesCountSub; + ros::Subscriber conesCountAllSub; + ros::Subscriber targetSpeedSub; + ros::Subscriber brakeLightSub; + + ros::Timer pcTempTimer; + ros::Timer heartBeatTimer; + ros::Timer DL500Timer; + ros::Timer DL501Timer; + ros::Timer DL502Timer; + ros::Timer DL511Timer; + + std::thread thread_0; + std::thread thread_1; +}; diff --git a/src/car_interface/can_c/src/main.cpp b/src/car_interface/can_c/src/main.cpp new file mode 100644 index 00000000..b9d0665c --- /dev/null +++ b/src/car_interface/can_c/src/main.cpp @@ -0,0 +1,14 @@ +#include +#include "canInterface.hpp" + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "can_c"); + std::cout << "Powered by ADDA V3" << std::endl; + // ros::spin(); + ros::AsyncSpinner spinner(4); + spinner.start(); + CanInterface canInterface; + + return 0; +} \ No newline at end of file diff --git a/src/car_interface/can_c/src/missionHandle.cpp b/src/car_interface/can_c/src/missionHandle.cpp new file mode 100755 index 00000000..8ba0678c --- /dev/null +++ b/src/car_interface/can_c/src/missionHandle.cpp @@ -0,0 +1,167 @@ +#include +#include +#include +#include +#include +#include +#include + + +bool HV_ON = false; +canStatus stat; +canHandle hnd; +canHandle hnd2; +uint8_t mission; +std::string baseCommand = "roslaunch common_meta "; + +void initCan() +{ + //Inicializamos la libreria + canInitializeLibrary(); + + //Openeamos el canalw + hnd = canOpenChannel(1, canOPEN_ACCEPT_VIRTUAL); + if (hnd < 0) + { + printf("canOpenChannel failed, status=%d\n", hnd); + } + + hnd2 = canOpenChannel(1, canOPEN_ACCEPT_VIRTUAL); + if (hnd2 < 0) + { + printf("canOpenChannel2 failed, status=%d\n", hnd2); + } + + //Oneamos el bus + stat = canBusOn(hnd); + if (stat != canOK) + { + printf("canBusOn failed, status=%d\n", stat); + } + + stat = canBusOn(hnd2); + if (stat != canOK) + { + printf("canBusOn failed 2, status=%d\n", stat); + } +} + +void closeCan() +{ + stat = canBusOff(hnd); + if (stat != canOK) + { + printf("canBusOff failed, status=%d\n", stat); + } + + stat = canClose(hnd); + if (stat != canOK) + { + printf("canClose failed, status=%d\n", stat); + } + + stat = canBusOff(hnd2); + if (stat != canOK) + { + printf("canBusOff failed, status=%d\n", stat); + } + + stat = canClose(hnd2); + if (stat != canOK) + { + printf("canClose failed, status=%d\n", stat); + } + + canUnloadLibrary(); +} + +void launchMission() +{ + switch(mission) + { + case 1: + baseCommand += "acceleration.launch"; + break; + case 2: + baseCommand += "trackdrive.launch"; + break; + case 3: + baseCommand += "skidpad_antiguo.launch"; + break; + case 4: + baseCommand += "autocross.launch"; + break; + case 5: + baseCommand += "ebs_test.launch"; + break; + case 6: + baseCommand += "inspection.launch"; + break; + default: + break; + } + + + int ret = system(baseCommand.c_str()); + + if(ret == 0) + { + ROS_INFO("Mission launched successfully\n"); + } + else + { + ROS_INFO("Mission failed to launch\n"); + } +} + +void pubHeartBeat(const ros::TimerEvent&) +{ + uint8_t data[1] = {0x00}; + canWrite(hnd2, 0x183, data, 1, canMSG_STD); +} + +int main(int argc, char **argv) +{ + ros::init(argc,argv,"carlos_mpc"); + ros::NodeHandle nh; + + ros::Timer heartBeatTimer = nh.createTimer(ros::Duration(0.1), pubHeartBeat); + + + initCan(); + + while(ros::ok()) + { + ros::spinOnce(); + long id; + uint8_t msg[8]; + unsigned int dlc; + unsigned int flag; + unsigned long time; + + stat = canRead(hnd, &id, &msg, &dlc, &flag, &time); + + if (stat == canOK) + { + if(!HV_ON) + { + if((id == 0x186) && (msg[0] == 0x00) && (msg[1] == 0x0F)){ + HV_ON = true; //Se da alta + ROS_INFO("HV ON \n"); + } + } + else + { + if((id == 0x185) && (msg[0]==0x01)) + { + ROS_INFO("Mission received\n"); + mission = msg[1]; + closeCan(); + launchMission(); + while(true){} + break; + } + } + } + } +} diff --git a/src/car_interface/can_c/src/telemetry.cpp b/src/car_interface/can_c/src/telemetry.cpp new file mode 100644 index 00000000..44ad77e3 --- /dev/null +++ b/src/car_interface/can_c/src/telemetry.cpp @@ -0,0 +1,587 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +// CAN IDs +#define CAN_ID_INVERTER_TX 0x181 +#define CAN_ID_INVERTER_RX 0x201 +#define CAN_ID_AS 0x182 +#define CAN_ID_DASHBOARD 0x185 +#define CAN_ID_BMS 0x186 +#define CAN_ID_ACQUISITION 0x187 +#define CAN_ID_POWERMGNT 0x188 +#define CAN_ID_FL_1 0x310 +#define CAN_ID_FL_2 0x311 +#define CAN_ID_FR_1 0x330 +#define CAN_ID_FR_2 0x331 +#define CAN_ID_RL_1 0x350 +#define CAN_ID_RL_2 0x351 +#define CAN_ID_RR_1 0x370 +#define CAN_ID_RR_2 0x371 + +// Global Byte Positions +#define ID_HEARTBEAT 0x00 +#define BYTE_LSB_1 1 +#define BYTE_MSB_1 2 +#define BYTE_LSB_2 3 +#define BYTE_MSB_2 4 +#define BYTE_LSB_3 5 +#define BYTE_MSB_3 6 + +// INVERTER TX +#define ID_TEMP_MOTOR 0x49 +#define ID_TEMP_IGBT 0x4A +#define ID_CURRENT_LIMIT 0xC4 +#define ID_STATUS_INVERTER 0x40 +#define ID_ERROR_WARNING_BITMAP 0x8F +#define ID_ACTUAL_CURRENT 0x20 +#define ID_COMMAND_CURRENT 0x26 +#define ID_SPEED_ACTUAL 0x30 +#define ID_FILTERED_ACTL_CURRENT 0x5F +#define ID_VOLTAGE_DC_BUS 0xEB + +// INVERTER RX +#define ID_TORQUE_COMMAND 0x90 + +// DASHBOARD +#define ID_MISSION 0x01 +#define ID_BUZZER 0x02 + +// AS +#define ID_STATUS_AS 0x01 +#define ID_FAULT 0x02 +#define ID_APPS 0x03 +#define ID_BRAKE_PRESSURE 0x04 +#define ID_PNEUMATIC_PRESSURE 0x05 +#define ID_STATUS_VALVE 0x06 + +// BMS +#define ID_RELAYS 0x00 +#define ID_VOLTAGES 0x01 +#define ID_CURRENT 0x02 +#define ID_TEMP 0x03 + +// ADQUISITION +#define ID_LOWVOLTAGE 0x00 +#define ID_STEERING 0x01 +#define ID_FRONT_EXT 0x02 +#define ID_REAR_EXT 0x03 +#define ID_FRONT_WHEELSPEED 0x04 +#define ID_REAR_WHEELSPEED 0x05 + +// POWER MANAGEMENT +#define ID_STATUSPM 0x00 +#define ID_TEMPREFRI 0x01 + +struct INVERTER +{ + unsigned int statusInverter; + unsigned int actualCurrent; + unsigned int commandCurrent; + unsigned int errorBitmap; + unsigned int warningBitmap; + int torqueCommand; + int currentLimit; + int tempMotor; + int tempIGBT; + int16_t speedActual = 51; + uint16_t filteredActualCurrent; + uint16_t voltageDCBus; + +} inverterCAN; + +struct AS +{ + bool heartbeat; + bool autonomous; + int statusAS; + int fault; + int apps; + int frontBrakePressure; + int rearBrakePressure; + int pneumaticPressure1; + int pneumaticPressure2; + int statusValve; +} asCAN; + +struct PC +{ + bool heartbeat; + int cpuTemp; +} pcCAN; + +struct DASHBOARD +{ + bool heartbeat; + int mission; + int buzzer; +} dashboardCAN; +struct BMS +{ + int statusBMS; + int totalVoltage; + int tempCells; + int globalMinVoltage; + int lastMinVoltage; + int currrent = 200; +} bmsCAN; + +struct ACQUISITION +{ + int lowVoltage; + int steering; + int extfl; + int extfr; + int extrl; + int extrr; + int wsfl; + int wsfr; + int wsrl; + int wsrr; +} acquisitionCAN; + +struct POWERMGNT_CAN +{ + int statusPM; + int tempRefri; +} powerMgntCAN; + +struct TIRE_TEMP +{ + double FL1; + double FL2; + double FL3; + double FL4; + double FR1; + double FR2; + double FR3; + double FR4; + double RL1; + double RL2; + double RL3; + double RL4; + double RR1; + double RR2; + double RR3; + double RR4; +} tireTempCAN; + +canStatus stat; +canHandle hnd; + +const std::string SERVER_ADDRESS("tcp://arus.westeurope.cloudapp.azure.com:1883"); +const std::string CLIENT_ID("carrinho"); +const std::string TOPIC("telemetry/ARTE"); + +mqtt::async_client client(SERVER_ADDRESS, CLIENT_ID); + + +void initCan() +{ + // Inicializamos la libreria + canInitializeLibrary(); + + // Openeamos el canalw + hnd = canOpenChannel(1, canOPEN_ACCEPT_VIRTUAL); + if (hnd < 0) + { + printf("canOpenChannel failed, status=%d\n", hnd); + } + + // Oneamos el bus + stat = canBusOn(hnd); + if (stat != canOK) + { + printf("canBusOn failed, status=%d\n", stat); + } +} + +void closeCan() +{ + stat = canBusOff(hnd); + if (stat != canOK) + { + printf("canBusOff failed, status=%d\n", stat); + } + + stat = canClose(hnd); + if (stat != canOK) + { + printf("canClose failed, status=%d\n", stat); + } + + canUnloadLibrary(); +} + +void processCANMessage(unsigned long id, unsigned char *buffer) +{ + + switch (id) + { + + case CAN_ID_INVERTER_TX: + switch (buffer[0]) + { + case ID_TEMP_MOTOR: + inverterCAN.tempMotor = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + + case ID_TEMP_IGBT: + inverterCAN.tempIGBT = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + + case ID_ERROR_WARNING_BITMAP: + inverterCAN.errorBitmap = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + inverterCAN.warningBitmap = (int)(buffer[BYTE_MSB_2] << 8 | buffer[BYTE_LSB_2]); + break; + + case ID_STATUS_INVERTER: + inverterCAN.statusInverter = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + + case ID_CURRENT_LIMIT: + inverterCAN.currentLimit = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + + case ID_ACTUAL_CURRENT: + inverterCAN.actualCurrent = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + + case ID_COMMAND_CURRENT: + inverterCAN.commandCurrent = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + + case ID_SPEED_ACTUAL: + inverterCAN.speedActual = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + + case ID_FILTERED_ACTL_CURRENT: + inverterCAN.filteredActualCurrent = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + + case ID_VOLTAGE_DC_BUS: + inverterCAN.voltageDCBus = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + + default: + break; + } + break; + + case CAN_ID_INVERTER_RX: + switch (buffer[0]) + { + case ID_TORQUE_COMMAND: + inverterCAN.torqueCommand = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + + default: + break; + } + break; + + case CAN_ID_AS: + switch (buffer[0]) + { + case ID_HEARTBEAT: + asCAN.heartbeat = buffer[1]; + break; + case ID_STATUS_AS: + asCAN.autonomous = buffer[1]; + asCAN.statusAS = buffer[2]; + break; + case ID_FAULT: + asCAN.fault = buffer[1]; + break; + case ID_APPS: + asCAN.apps = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + case ID_BRAKE_PRESSURE: + asCAN.frontBrakePressure = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + asCAN.rearBrakePressure = (int)(buffer[BYTE_MSB_2] << 8 | buffer[BYTE_LSB_2]); + break; + case ID_PNEUMATIC_PRESSURE: + asCAN.pneumaticPressure1 = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + asCAN.pneumaticPressure2 = (int)(buffer[BYTE_MSB_2] << 8 | buffer[BYTE_LSB_2]); + break; + case ID_STATUS_VALVE: + asCAN.statusValve = buffer[1]; + break; + default: + break; + } + break; + + case CAN_ID_DASHBOARD: + switch (buffer[0]) + { + case ID_HEARTBEAT: + dashboardCAN.heartbeat = buffer[1]; + break; + case ID_MISSION: + dashboardCAN.mission = buffer[1]; + break; + case ID_BUZZER: + dashboardCAN.buzzer = buffer[1]; + break; + default: + break; + } + break; + + case CAN_ID_BMS: + switch (buffer[0]) + { + case ID_RELAYS: + bmsCAN.statusBMS = buffer[1]; + break; + + case ID_VOLTAGES: + bmsCAN.totalVoltage = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + bmsCAN.globalMinVoltage = buffer[3]; + bmsCAN.lastMinVoltage = buffer[4]; + break; + + case ID_CURRENT: + bmsCAN.currrent = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + + case ID_TEMP: + bmsCAN.tempCells = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + + default: + break; + } + break; + + case CAN_ID_ACQUISITION: + + switch (buffer[0]) + { + case ID_LOWVOLTAGE: + acquisitionCAN.lowVoltage = buffer[1]; + break; + case ID_STEERING: + acquisitionCAN.steering = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + case ID_FRONT_EXT: + acquisitionCAN.extfl = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + acquisitionCAN.extfr = (int)(buffer[BYTE_MSB_2] << 8 | buffer[BYTE_LSB_2]); + break; + case ID_REAR_EXT: + acquisitionCAN.extrl = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + acquisitionCAN.extrr = (int)(buffer[BYTE_MSB_2] << 8 | buffer[BYTE_LSB_2]); + break; + case ID_FRONT_WHEELSPEED: + acquisitionCAN.wsfl = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + acquisitionCAN.wsfr = (int)(buffer[BYTE_MSB_2] << 8 | buffer[BYTE_LSB_2]); + break; + case ID_REAR_WHEELSPEED: + acquisitionCAN.wsrl = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + acquisitionCAN.wsrr = (int)(buffer[BYTE_MSB_2] << 8 | buffer[BYTE_LSB_2]); + break; + default: + break; + } + break; + + case CAN_ID_POWERMGNT: + switch (buffer[0]) + { + case ID_STATUSPM: + powerMgntCAN.statusPM = buffer[1]; + break; + case ID_TEMPREFRI: + powerMgntCAN.tempRefri = (int)(buffer[BYTE_MSB_1] << 8 | buffer[BYTE_LSB_1]); + break; + default: + break; + } + break; + + case CAN_ID_FL_1: + tireTempCAN.FL1 = (((buffer[0] << 8 | buffer[1]) + (buffer[2] << 8 | buffer[3])) / 2) * 10 - 2000; + tireTempCAN.FL2 = (((buffer[4] << 8 | buffer[5]) + (buffer[6] << 8 | buffer[7])) / 2) * 10 - 2000; + break; + + case CAN_ID_FL_2: + tireTempCAN.FL3 = (((buffer[0] << 8 | buffer[1]) + (buffer[2] << 8 | buffer[3])) / 2) * 10 - 2000; + tireTempCAN.FL4 = (((buffer[4] << 8 | buffer[5]) + (buffer[6] << 8 | buffer[7])) / 2) * 10 - 2000; + break; + + case CAN_ID_FR_1: + tireTempCAN.FR1 = (((buffer[0] << 8 | buffer[1]) + (buffer[2] << 8 | buffer[3])) / 2) * 10 - 2000; + tireTempCAN.FR2 = (((buffer[4] << 8 | buffer[5]) + (buffer[6] << 8 | buffer[7])) / 2) * 10 - 2000; + break; + + case CAN_ID_FR_2: + tireTempCAN.FR3 = (((buffer[0] << 8 | buffer[1]) + (buffer[2] << 8 | buffer[3])) / 2) * 10 - 2000; + tireTempCAN.FR4 = (((buffer[4] << 8 | buffer[5]) + (buffer[6] << 8 | buffer[7])) / 2) * 10 - 2000; + break; + + case CAN_ID_RL_1: + tireTempCAN.RL1 = (((buffer[0] << 8 | buffer[1]) + (buffer[2] << 8 | buffer[3])) / 2) * 10 - 2000; + tireTempCAN.RL2 = (((buffer[4] << 8 | buffer[5]) + (buffer[6] << 8 | buffer[7])) / 2) * 10 - 2000; + break; + + case CAN_ID_RL_2: + tireTempCAN.RL3 = (((buffer[0] << 8 | buffer[1]) + (buffer[2] << 8 | buffer[3])) / 2) * 10 - 2000; + tireTempCAN.RL4 = (((buffer[4] << 8 | buffer[5]) + (buffer[6] << 8 | buffer[7])) / 2) * 10 - 2000; + break; + + case CAN_ID_RR_1: + tireTempCAN.RR1 = (((buffer[0] << 8 | buffer[1]) + (buffer[2] << 8 | buffer[3])) / 2) * 10 - 2000; + tireTempCAN.RR2 = (((buffer[4] << 8 | buffer[5]) + (buffer[6] << 8 | buffer[7])) / 2) * 10 - 2000; + break; + + case CAN_ID_RR_2: + tireTempCAN.RR3 = (((buffer[0] << 8 | buffer[1]) + (buffer[2] << 8 | buffer[3])) / 2) * 10 - 2000; + tireTempCAN.RR4 = (((buffer[4] << 8 | buffer[5]) + (buffer[6] << 8 | buffer[7])) / 2) * 10 - 2000; + break; + + default: + break; + } +} + +nlohmann::json createCANJson() + +{ + nlohmann::json data; + data["time"] = 0; // TODO Comprobar + + data["speedActual"] = inverterCAN.speedActual; + data["tempMotor"] = inverterCAN.tempMotor; + data["tempIGBT"] = inverterCAN.tempIGBT; + data["statusInverter"] = inverterCAN.statusInverter; + data["errorBitmap"] = inverterCAN.errorBitmap; + data["warningBitmap"] = inverterCAN.warningBitmap; + data["currentLimit"] = inverterCAN.currentLimit; + data["voltageDCBus"] = inverterCAN.voltageDCBus; + + data["torqueCommand"] = inverterCAN.torqueCommand; + + data["heartbeatAS"] = asCAN.heartbeat; + data["autonomous"] = asCAN.autonomous; + data["statusAS"] = asCAN.statusAS; + data["fault"] = asCAN.fault; + data["apps"] = asCAN.apps; + data["frontBrakePressure"] = asCAN.frontBrakePressure; + data["rearBrakePressure"] = asCAN.rearBrakePressure; + data["pneumaticPressure1"] = asCAN.pneumaticPressure1; + data["pneumaticPressure2"] = asCAN.pneumaticPressure2; + data["statusValve"] = asCAN.statusValve; + + data["heartbeatPC"] = pcCAN.heartbeat; + data["cpuTemp"] = pcCAN.cpuTemp; + + data["heartbeatDashboard"] = dashboardCAN.heartbeat; + data["mission"] = dashboardCAN.mission; + data["buzzer"] = dashboardCAN.buzzer; + + data["current"] = bmsCAN.currrent; + data["totalVoltage"] = bmsCAN.totalVoltage; + data["globalMinVoltage"] = bmsCAN.globalMinVoltage; + data["lastMinVoltage"] = bmsCAN.lastMinVoltage; + data["tempCells"] = bmsCAN.tempCells; + data["statusBMS"] = bmsCAN.statusBMS; + + data["lowVoltage"] = acquisitionCAN.lowVoltage; + data["steering"] = acquisitionCAN.steering; + data["extfl"] = acquisitionCAN.extfl; + data["extfr"] = acquisitionCAN.extfr; + data["extrl"] = acquisitionCAN.extrl; + data["extrr"] = acquisitionCAN.extrr; + data["wsfl"] = acquisitionCAN.wsfl; + data["wsfr"] = acquisitionCAN.wsfr; + data["wsrl"] = acquisitionCAN.wsrl; + data["wsrr"] = acquisitionCAN.wsrr; + + data["statusPM"] = powerMgntCAN.statusPM; + data["tempRefri"] = powerMgntCAN.tempRefri; + + data["tempFL1"] = tireTempCAN.FL1; + data["tempFL2"] = tireTempCAN.FL2; + data["tempFL3"] = tireTempCAN.FL3; + data["tempFL4"] = tireTempCAN.FL4; + + data["tempFR1"] = tireTempCAN.FR1; + data["tempFR2"] = tireTempCAN.FR2; + data["tempFR3"] = tireTempCAN.FR3; + data["tempFR4"] = tireTempCAN.FR4; + + data["tempRL1"] = tireTempCAN.RL1; + data["tempRL2"] = tireTempCAN.RL2; + data["tempRL3"] = tireTempCAN.RL3; + data["tempRL4"] = tireTempCAN.RL4; + + data["tempRR1"] = tireTempCAN.RR1; + data["tempRR2"] = tireTempCAN.RR2; + data["tempRR3"] = tireTempCAN.RR3; + data["tempRR4"] = tireTempCAN.RR4; + + return data; +} + +void initMQTT() +{ + mqtt::connect_options connOpts; + connOpts.set_clean_session(true); + + try + { + std::cout << "Conectando al MQTT broker en " << SERVER_ADDRESS << "..." << std::endl; + client.connect(connOpts)->wait(); + std::cout << "Conectado." << std::endl; + } + catch (const mqtt::exception &exc) + { + std::cerr << "Error al conectar: " << exc.what() << std::endl; + exit(1); + } +} + +void publishCANData(const nlohmann::json &jsonData) +{ + std::string payload = jsonData.dump(); + mqtt::message_ptr pubmsg = mqtt::make_message(TOPIC, payload); + pubmsg->set_qos(1); + client.publish(pubmsg)->wait_for(20); +} + + +int main(int argc, char **argv) +{ + initCan(); + initMQTT(); + + while (true) + { + long id; + uint8_t msg[8]; + unsigned int dlc; + unsigned int flag; + unsigned long time; + + stat = canRead(hnd, &id, &msg, &dlc, &flag, &time); + + if (stat == canOK) + { + processCANMessage(id, msg); + nlohmann::json jsonData = createCANJson(); + publishCANData(jsonData); + } + + //loop_rate.sleep() + } + + closeCan(); + + return 0; +} diff --git a/src/car_interface/steering/CMakeLists.txt b/src/car_interface/steering/CMakeLists.txt new file mode 100644 index 00000000..1fc38c53 --- /dev/null +++ b/src/car_interface/steering/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 3.0.2) +project(steering) + +find_package(catkin REQUIRED COMPONENTS + rospy +) + +catkin_package( + DEPENDS common_msgs +) + +catkin_package( +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/src/car_interface/steering/config/steering.yaml b/src/car_interface/steering/config/steering.yaml new file mode 100644 index 00000000..c3906daa --- /dev/null +++ b/src/car_interface/steering/config/steering.yaml @@ -0,0 +1,3 @@ +MAX_ACCELERATION: 6000 +MAX_DECELERATION: 6000 +PROFILE_VELOCITY: 6000 \ No newline at end of file diff --git a/src/car_interface/steering/launch/steering.launch b/src/car_interface/steering/launch/steering.launch new file mode 100644 index 00000000..e3b2a087 --- /dev/null +++ b/src/car_interface/steering/launch/steering.launch @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/src/car_interface/steering/lib/libEposCmd.so.6.8.1.0 b/src/car_interface/steering/lib/libEposCmd.so.6.8.1.0 new file mode 100755 index 00000000..e1705a51 Binary files /dev/null and b/src/car_interface/steering/lib/libEposCmd.so.6.8.1.0 differ diff --git a/src/car_interface/steering/package.xml b/src/car_interface/steering/package.xml new file mode 100644 index 00000000..fa256192 --- /dev/null +++ b/src/car_interface/steering/package.xml @@ -0,0 +1,17 @@ + + + steering + 0.1.0 + Package that handles harware comunication for steering, motor and sensors. + + Jacobo Pindado + + + TODO + + + catkin + rospy + rospy + rospy + diff --git a/src/car_interface/steering/src/eposhandle.py b/src/car_interface/steering/src/eposhandle.py new file mode 100644 index 00000000..1c4678c5 --- /dev/null +++ b/src/car_interface/steering/src/eposhandle.py @@ -0,0 +1,219 @@ +import threading +import time +from ctypes import * + +import rospy +import rospkg + + +class EPOSHandle: + rospack = rospkg.RosPack() + EPOS_LIB_PATH = rospack.get_path('steering')+"/lib/libEposCmd.so.6.8.1.0" + NodeID = 4 + + def __init__(self, max_acc, max_dec, prof_vel): + self.max_acc = max_acc + self.max_dec = max_dec + self.prof_vel = prof_vel + cdll.LoadLibrary(self.EPOS_LIB_PATH) + self.epos = CDLL(self.EPOS_LIB_PATH) + + + self._is_centered = False # Normal operation shouldn't be before the home position + # has been set, except for the zero_potision_protocol. + self._is_enabled = False + self._is_connected = False + + def connect_to_device(self): + pErrorCode = c_uint() + if not self._is_connected: + + self.keyhandle = self.epos.VCS_OpenDevice(b'EPOS4', b'MAXON SERIAL V2', b'USB', + b'USB0', byref(pErrorCode)) + #self.keyhandle = self.epos.VCS_OpenDevice(b'EPOS4', b'CANopen', b'CAN_kvaser_usb 0', + # b'CAN0', byref(pErrorCode)) + + if self.keyhandle == 0: + rospy.logerr('Failed to connect to EPOS4. Is it on and connected?') + elif pErrorCode.value != 0: + rospy.logerr(f'EPOS OpenDevice returned error code {pErrorCode.value}') + else: + self._is_connected = True + rospy.loginfo('EPOS4 Succesfully connected') + + ret = self.epos.VCS_ActivateProfilePositionMode(self.keyhandle, self.NodeID, byref(pErrorCode)) + + if ret == 0: + rospy.logerr(f'EPOS ActivatePositionMode returned error code {pErrorCode.value}') + else: + rospy.loginfo(f'Succesfully activated position mode') + + ret = self.epos.VCS_SetPositionProfile(self.keyhandle, self.NodeID, self.prof_vel, + self.max_acc, self.max_dec, byref(pErrorCode)) + + if ret == 0: + rospy.logerr(f'EPOS SetPositionProfile returned error code {pErrorCode.value}') + else: + rospy.loginfo(f'Succesfully set position profile') + + + def disconnect_device(self): + pErrorCode = c_uint() + if self._is_connected: + ret = self.epos.VCS_CloseDevice(self.keyhandle, byref(pErrorCode)) + + if ret == 0: + rospy.logerr('Failed to disconnect to EPOS4.') + elif pErrorCode.value != 0: + rospy.logerr(f'EPOS CloseDevice returned error code {pErrorCode.value}') + else: + self._is_connected = False + rospy.loginfo('EPOS4 Succesfully disconnected') + + + def enable(self): + pErrorCode = c_uint() + if not self._is_connected: + rospy.logerr(f'EPOS4 not connected. Cannot enable') + elif not self._is_enabled: + #ret = self.epos.VCS_ClearFault(self.keyhandle, self.NodeId, byref(pErrorCode)) + return_code = self.epos.VCS_SetEnableState(self.keyhandle, self.NodeID, byref(pErrorCode)) + if return_code == 0: + rospy.logerr(f'Couldn\'t enable EPOS4 with error code {pErrorCode.value}') + else: + rospy.loginfo('EPOS4 enabled') + self._is_enabled = True + else: + rospy.logwarn('EPOS already enabled') + + def disable(self): + return + pErrorCode = c_uint() + if not self._is_connected: + rospy.logerr(f'EPOS4 not connected. Cannot disable') + elif self._is_enabled: + return_code = self.epos.VCS_SetDisableState(self.keyhandle, self.NodeID, byref(pErrorCode)) + if return_code == 0: + rospy.logerr(f'Couldn\'t disable EPOS4 with error code {pErrorCode.value}') + else: + rospy.loginfo('EPOS4 disabled') + self._is_enabled = False + else: + rospy.logwarn('EPOS already disabled') + + def move_to(self, wheel_angle): + pErrorCode = c_uint() + + motor_position = -int(2*wheel_angle*(2048*5*66/360))#*(180/math.pi)) + if self._is_enabled: + ret = self.epos.VCS_MoveToPosition(self.keyhandle, self.NodeID, motor_position, 1, + 1, byref(pErrorCode)) + + if ret == 0: + rospy.logwarn(f'MoveToPosition error with code {pErrorCode.value}\n\ + Disabling controller.') + self.disable() + + else: + rospy.logerr('Cannot move to position with disabled controller :(') + + def get_epos_info(self): + pErrorCode = c_uint() + pMovementState = c_uint() + pPosition = c_long() + pTargetPosition = c_long() + pVelocity = c_long() + pVelocityAvg = c_long() + + + pTorque = c_int16() + pBytesRead = c_uint() + + epos_info = [] + + if self._is_enabled: + + ret = self.epos.VCS_GetMovementState(self.keyhandle, self.NodeID, byref(pMovementState), byref(pErrorCode)) + if ret == 0: + rospy.logwarn(f'getMovementState error with code {pErrorCode.value}\n\ + Disabling controller.') + self.disable() + epos_info.append(pMovementState.value) + + ret = self.epos.VCS_GetPositionIs(self.keyhandle, self.NodeID, byref(pPosition), byref(pErrorCode)) + if ret == 0: + rospy.logwarn(f'getPosition error with code {pErrorCode.value}\n\ + Disabling controller.') + self.disable() + if len(bin(pPosition.value))==34: + pPosition.value = pPosition.value - 2**32 + epos_info.append(pPosition.value*360/(2*2048*5*66)) + + ret = self.epos.VCS_GetTargetPosition(self.keyhandle, self.NodeID, byref(pTargetPosition), byref(pErrorCode)) + if ret == 0: + rospy.logwarn(f'getTargetPosition error with code {pErrorCode.value}\n\ + Disabling controller.') + self.disable() + if len(bin(pTargetPosition.value))==34: + pTargetPosition.value = pTargetPosition.value - 2**32 + epos_info.append(pTargetPosition.value*360/(2*2048*5*66)) + + ret = self.epos.VCS_GetVelocityIs(self.keyhandle, self.NodeID, byref(pVelocity), byref(pErrorCode)) + if ret == 0: + rospy.logwarn(f'getVelocity error with code {pErrorCode.value}\n\ + Disabling controller.') + self.disable() + if len(bin(pVelocity.value))==34: + pVelocity.value = pVelocity.value - 2**32 + epos_info.append(pVelocity.value) + + ret = self.epos.VCS_GetVelocityIsAveraged(self.keyhandle, self.NodeID, byref(pVelocityAvg), byref(pErrorCode)) + if ret == 0: + rospy.logwarn(f'getVelocityAvg error with code {pErrorCode.value}\n\ + Disabling controller.') + self.disable() + if len(bin(pVelocityAvg.value))==34: + pVelocityAvg.value = pVelocityAvg.value - 2**32 + epos_info.append(pVelocityAvg.value) + + + + + ret = self.epos.VCS_GetObject(self.keyhandle, self.NodeID, 0x6077, 0x00, byref(pTorque), 2, byref(pBytesRead), byref(pErrorCode)) + if ret == 0: + rospy.logwarn(f'getTorque error with code {pErrorCode.value}\n\ + Disabling controller.') + self.disable() + # #The value is given in per thousand of “Motor rated torque” (uNm) + epos_info.append(pTorque.value) + + + return epos_info + + else: + rospy.logerr('Cannot get epos info with disabled controller :(') + + def set_position_offset(self,initial_position): + pErrorCode = c_uint() + pPositionOffset = c_float() + pBytesWritten = c_uint() + pPositionOffset.value = int(2*initial_position*(2048*5*66/360))#*(180/math.pi)) + + if self._is_enabled: + ret = self.epos.VCS_SetObject(self.keyhandle, self.NodeID, 0x60B0, 0x00, byref(pPositionOffset), 4, byref(pBytesWritten), byref(pErrorCode)) + + if ret == 0: + rospy.logwarn(f'SetPositionOffset error with code {pErrorCode.value}\n\ + Disabling controller.') + self.disable() + + else: + rospy.logerr('Cannot set position offset with disabled controller :(') + + def zero_position_protocol(self): + pass + + def set_zero_position(self): + pass + + diff --git a/src/car_interface/steering/src/main.py b/src/car_interface/steering/src/main.py new file mode 100755 index 00000000..88dfad5d --- /dev/null +++ b/src/car_interface/steering/src/main.py @@ -0,0 +1,19 @@ +#!/usr/bin/env python3 +"""Script to initialize EPOS handler + +@author: Jacobo Pindado +@date: 06/06/2023 +""" +import rospy + +from steering_handle import SteeringHandle + + +if __name__ == '__main__': + rospy.init_node('steering', anonymous=False) + try: + steering_h = SteeringHandle() + rospy.on_shutdown(steering_h.clean_and_close) + rospy.spin() + except: + steering_h.clean_and_close() diff --git a/src/car_interface/steering/src/steering_handle.py b/src/car_interface/steering/src/steering_handle.py new file mode 100644 index 00000000..e0676a40 --- /dev/null +++ b/src/car_interface/steering/src/steering_handle.py @@ -0,0 +1,58 @@ +import rospy +from common_msgs.msg import Controls, CarState +from eposhandle import EPOSHandle +from std_msgs.msg import Float32MultiArray,Float32 +import math + + +MAX_ACCELERATION = rospy.get_param('/steering/MAX_ACCELERATION',default=6000) +MAX_DECELERATION = rospy.get_param('/steering/MAX_DECELERATION',default=6000) +PROFILE_VELOCITY = rospy.get_param('/steering/PROFILE_VELOCITY',default=6000) +holgura = 5 +L = 1.535 +CORRIGE_HOLGURA = False + +class SteeringHandle: + def __init__(self): + self.speed = 0 + self.r = 0 + self.epos = EPOSHandle(MAX_ACCELERATION, MAX_DECELERATION, PROFILE_VELOCITY) + self.epos.connect_to_device() + self.epos.enable() + + # self.initial_position = rospy.wait_for_message("/can/extensometer",Float32) + # self.epos.set_position_offset(self.initial_position.data) + + self._is_shutdown = False + + rospy.Subscriber('/controls', Controls, callback=self.command_callback, queue_size=1) + rospy.Subscriber('/car_state/state', CarState, callback=self.update_state) + self.info_pub = rospy.Publisher('/steering/epos_info', Float32MultiArray, queue_size=10) + + + def command_callback(self, msg: Controls): + assert msg.steering <= 20 and msg.steering >= -20 + if not self._is_shutdown: + if CORRIGE_HOLGURA and self.speed > 2: + k_cmd = msg.steering/L + k_actual = self.r/self.speed + if k_cmd>k_actual: + self.epos.move_to(-(msg.steering+holgura)) + else: + self.epos.move_to(-(msg.steering-holgura)) + else: + self.epos.move_to(-msg.steering) + + epos_info = self.epos.get_epos_info() + msg = Float32MultiArray() + msg.data = epos_info + self.info_pub.publish(msg) + + def clean_and_close(self): + self._is_shutdown = True + self.epos.disable() + self.epos.disconnect_device() + + def update_state(self, msg: CarState): + self.speed = math.hypot(msg.vx,msg.vy) + self.r = msg.r diff --git a/src/car_state/CMakeLists.txt b/src/car_state/CMakeLists.txt new file mode 100644 index 00000000..1a039478 --- /dev/null +++ b/src/car_state/CMakeLists.txt @@ -0,0 +1,205 @@ +cmake_minimum_required(VERSION 3.0.2) +project(car_state) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES can_interface +# CATKIN_DEPENDS rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/can_interface.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/can_interface_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_can_interface.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/car_state/config/car_state.yaml b/src/car_state/config/car_state.yaml new file mode 100644 index 00000000..146e4b28 --- /dev/null +++ b/src/car_state/config/car_state.yaml @@ -0,0 +1,7 @@ +global_frame: "map" +car_frame: "body" +get_base_pose_position: false +SLAM: "marrano" + +V_ESTIMATION: "none" +N_KMEANS: 3 \ No newline at end of file diff --git a/src/car_state/launch/car_state.launch b/src/car_state/launch/car_state.launch new file mode 100644 index 00000000..e767025e --- /dev/null +++ b/src/car_state/launch/car_state.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/car_state/package.xml b/src/car_state/package.xml new file mode 100644 index 00000000..4178117a --- /dev/null +++ b/src/car_state/package.xml @@ -0,0 +1,65 @@ + + + car_state + 0.0.0 + The car state package + + + + + gonzalo + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + std_msgs + rospy + std_msgs + rospy + std_msgs + + + + + + + + diff --git a/src/car_state/src/main.py b/src/car_state/src/main.py new file mode 100755 index 00000000..e9cfe7aa --- /dev/null +++ b/src/car_state/src/main.py @@ -0,0 +1,14 @@ +#!/usr/bin/env python3 +import rospy +from state_handle import StateClass + +def main(): + rospy.init_node('state_node', anonymous=True) + state_class = StateClass() + rospy.spin() + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass \ No newline at end of file diff --git a/src/car_state/src/state_handle.py b/src/car_state/src/state_handle.py new file mode 100644 index 00000000..24ba07a6 --- /dev/null +++ b/src/car_state/src/state_handle.py @@ -0,0 +1,168 @@ +import rospy +from std_msgs.msg import Float32, Float32MultiArray, String +from common_msgs.msg import CarState +import tf2_ros +import tf.transformations +from fssim_common.msg import State +from sensor_msgs.msg import Imu +import numpy as np +import math +import subprocess +import rospkg +import os + +global_frame = rospy.get_param('/car_state/global_frame') +car_frame = rospy.get_param('/car_state/car_frame') +get_base_pose_position = rospy.get_param('/car_state/get_base_pose_position') +SLAM = rospy.get_param('/car_state/SLAM') +V_ESTIMATION = rospy.get_param('/car_state/V_ESTIMATION') +N_KMEANS = rospy.get_param('/car_state/N_KMEANS') + +class StateClass: + + def __init__(self): + self.x = 0 + self.y = 0 + self.z = 0 + self.vx = 0 + self.vy = 0 + self.vz = 0 + self.r = 0 + self.roll = 0 + self.pitch = 0 + self.yaw = 0 + self.pub_state = None + + PATH = rospkg.RosPack().get_path('can_c') + + self.yaw_ini = None + + self.limovelo_rotation = np.array([[1,0,0],[0,1,0],[0,0,1]]) + + os.chdir(self.extract_workspace_path(PATH)) + self.commit_hash = subprocess.check_output(['git', 'rev-parse', 'HEAD']).strip().decode('utf-8') + + # Initialize subscribers and publishers + self.pub_state = rospy.Publisher('/car_state/state', CarState, queue_size=10) + self.pub_commit_hash = rospy.Publisher('/car_state/commit_hash', String, queue_size=10) + rospy.Subscriber('/motor_speed', Float32, self.motorspeed_callback) + rospy.Subscriber('fssim/base_pose_ground_truth', State, self.base_pose_callback) + rospy.Subscriber('/can/IMU', Imu, self.imu_Callback) + + # Timer to periodically update global position + if SLAM != "none": + self.tf_buffer = tf2_ros.Buffer() + tf_listener = tf2_ros.TransformListener(self.tf_buffer) + rospy.Timer(rospy.Duration(0.01), self.update_position) + if SLAM == "limovelo": + rospy.Subscriber('/limovelo/rotation', Float32MultiArray, self.update_limovelo_rotation) + + # Time to periodically publish state + rospy.Timer(rospy.Duration(0.01), self.publish_state) + rospy.Timer(rospy.Duration(0.1), self.commit_hash_callback) + + def extract_workspace_path(self, full_path): + # Definir el patrón que identifica el final de la parte del workspace + pattern = "/DRIVERLESS/" + + # Encontrar la posición del patrón en la cadena completa + pos = full_path.find(pattern) + if pos != -1: + # Extraer la subcadena hasta el final del patrón + return full_path[:pos + len(pattern) - 1] + else: + # Si el patrón no se encuentra, devolver la ruta completa + return full_path + + def imu_Callback(self, msg: Imu): + # Extrae el cuaternión del mensaje IMU + q = ( + msg.orientation.x, + msg.orientation.y, + msg.orientation.z, + msg.orientation.w + ) + # Convierte el cuaternión a roll, pitch, yaw + roll, pitch, yaw = self.quaternion_to_euler(q) + if self.yaw_ini == None: + self.yaw_ini = - yaw + if SLAM == 'none': + self.yaw = ((-yaw - self.yaw_ini)+np.pi)%(2*np.pi) - np.pi + self.r = - msg.angular_velocity.z + + def quaternion_to_euler(self, q): + x, y, z, w = q + + # Conversión a ángulos de Euler (roll, pitch, yaw) + roll = math.atan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2)) + pitch = math.asin(2 * (w * y - z * x)) + yaw = math.atan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2)) + + return roll, pitch, yaw + + def motorspeed_callback(self, msg): + if V_ESTIMATION == 'N_MEANS': + self.vx = msg.data*(1/N_KMEANS) + self.vx*(1-1/N_KMEANS) + elif V_ESTIMATION == 'KALMANN_FILTER': + self.vx = self.getKalmanEstimation(msg.data) + else: + self.vx = msg.data + + def base_pose_callback(self,msg: State): + self.vx = msg.vx + self.vy = msg.vy + self.yaw = msg.yaw + self.r = msg.r + if get_base_pose_position: + self.x = msg.x + self.y = msg.y + + def update_limovelo_rotation(self, msg: Float32MultiArray): + self.limovelo_rotation = np.array([[msg.data[0],msg.data[1],msg.data[2]], + [msg.data[3],msg.data[4],msg.data[5]], + [msg.data[6],msg.data[7],msg.data[8]]]) + + + def update_position(self, event): + + try: + transform = self.tf_buffer.lookup_transform(global_frame, car_frame, rospy.Time(0), rospy.Duration(1.0)) + orientation = transform.transform.rotation + euler = tf.transformations.euler_from_quaternion([orientation.x, orientation.y, orientation.z, orientation.w]) + if SLAM == "marrano": + self.x = transform.transform.translation.x + self.y = transform.transform.translation.y + self.z = transform.transform.translation.z + self.yaw = euler[2] + elif SLAM == "limovelo": + trans = np.array([transform.transform.translation.x, + transform.transform.translation.y, + transform.transform.translation.z]) + pos = self.limovelo_rotation@trans + self.x = pos[0] + self.y = -pos[1] + self.z = -pos[2] + self.yaw = - euler[2] + except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException): + rospy.logwarn("Transform not available") + + def publish_state(self, event): + state = CarState() + state.vx = self.vx + state.vy = self.vy + state.vz = self.vz + state.r = self.r + state.x = self.x + state.y = self.y + state.z = self.z + state.roll = self.roll + state.pitch = self.pitch + state.yaw = self.yaw + self.pub_state.publish(state) + + def getKalmanEstimation(self, speed): + pass + + def commit_hash_callback(self, event): + self.pub_commit_hash.publish(self.commit_hash) + diff --git a/src/common/common_meta/CMakeLists.txt b/src/common/common_meta/CMakeLists.txt new file mode 100644 index 00000000..0816de64 --- /dev/null +++ b/src/common/common_meta/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 3.0.2) +project(common_meta) +find_package(catkin REQUIRED COMPONENTS) + + +catkin_package() + +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + diff --git a/src/common/common_meta/acceleration.launch b/src/common/common_meta/acceleration.launch new file mode 100755 index 00000000..0766dacd --- /dev/null +++ b/src/common/common_meta/acceleration.launch @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + + global_frame: "ini" + car_frame: "body" + SLAM: "marrano" + + + + + + + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 1 + min_cmd: 0 + + + + + + + + + perception_topic: "/mapa_icp" + global_frame: "ini" + car_frame: "body" + slam: "marrano" + + KP: 43.87 + KI: 1.29 + KD: 0.0 + + target: 5 + pendiente: 3 + track_length: 40 + + lqr_dist: 4.0 + lqr_yaw: 40.0 + lqr_beta: 0.0 + lqr_r: 0.0 + + + + + + + global_frame: "ini" + car_frame: "body" + + + + + + + + + + diff --git a/src/common/common_meta/autocross.launch b/src/common/common_meta/autocross.launch new file mode 100755 index 00000000..12c13c70 --- /dev/null +++ b/src/common/common_meta/autocross.launch @@ -0,0 +1,87 @@ + + + + + + + + + + + + + + + + + + + + + + mission: 'AUTOX' + + + + + + + topic_perception_map: '/mapa_icp' + color_enabled: false + MAX_ROUTE_LENGTH: 10 + slam: 'marrano' + SMOOTH: true + + + + + + + + SLAM: "marrano" + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 0.2 + min_cmd: -0.2 + + + + + + + frame: 'map' + + + + + + + + + + + controller_mode: 'PP' + + + + + + + + + LAD: 4 + TARGET_SPEED: 3 + + + + + + + + + + + diff --git a/src/common/common_meta/boot_autonomous_system.sh b/src/common/common_meta/boot_autonomous_system.sh new file mode 100755 index 00000000..7e10e662 --- /dev/null +++ b/src/common/common_meta/boot_autonomous_system.sh @@ -0,0 +1,10 @@ +#!/bin/bash +source /opt/ros/noetic/setup.bash +source /home/arus/workspaces/arus_ws/devel/setup.bash +# Ejecutar launchs +sleep 5 + +roslaunch can_c mission.launch & + +#sleep 10 +#rosrun can_c telemetry & diff --git a/src/common/common_meta/ebs_test.launch b/src/common/common_meta/ebs_test.launch new file mode 100755 index 00000000..c1c137be --- /dev/null +++ b/src/common/common_meta/ebs_test.launch @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + + + + + global_frame: "ini" + car_frame: "body" + + + + + + + + + + + + + + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 1 + min_cmd: 0 + + + + + + + perception_topic: "/mapa_icp" + global_frame: "ini" + car_frame: "body" + slam: "marrano" + + lqr_dist: 4.0 + lqr_yaw: 40.0 + lqr_beta: 0.0 + lqr_r: 0.0 + + KP: 43.87 + KD : 0.0 + KI : 1.29 + + target: 5 + pendiente: 3 + track_length: 50 + + + + + + + + + diff --git a/src/common/common_meta/feed_forward.launch b/src/common/common_meta/feed_forward.launch new file mode 100755 index 00000000..34412de6 --- /dev/null +++ b/src/common/common_meta/feed_forward.launch @@ -0,0 +1,33 @@ + + + + + + + + + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 0.05 + min_cmd: -0.05 + min_vel: -1 + + + + + + + + + + + + + + + + + diff --git a/src/common/common_meta/fssim_acceleration.launch b/src/common/common_meta/fssim_acceleration.launch new file mode 100755 index 00000000..5164ef67 --- /dev/null +++ b/src/common/common_meta/fssim_acceleration.launch @@ -0,0 +1,60 @@ + + + + + + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 1 + min_cmd: 0 + + + + + + + car_frame: "body" + SLAM: "marrano" + + + + + + + + + + + + + + + perception_topic: "/mapa_icp" + global_frame: "ini" + car_frame: "body" + slam: "marrano" + + KP: 43.87 + KI: 1.29 + KD: 0.0 + + target: 10 + track_length: 75 + + lqr_dist: 1.0 + lqr_yaw: 25.0 + lqr_beta: 0.0 + lqr_r: 3.0 + + + + + + + global_frame: "ini" + car_frame: "body" + + + + diff --git a/src/common/common_meta/fssim_autocross.launch b/src/common/common_meta/fssim_autocross.launch new file mode 100755 index 00000000..07699026 --- /dev/null +++ b/src/common/common_meta/fssim_autocross.launch @@ -0,0 +1,72 @@ + + + + + + + mission: 'AUTOX' + + + + + + + topic_perception_map: '/mapa_icp' + color_enabled: false + MAX_ROUTE_LENGTH: 10 + slam: 'marrano' + SMOOTH: true + + + + + + + + + + SLAM: "marrano" + + + + + + + frame: 'fssim/vehicle/cog' + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 0.2 + min_cmd: -0.2 + + + + + + + + + + + controller_mode: 'PP' + + + + + + + + + LAD: 6 + TARGET_SPEED: 5 + + + + + + + + diff --git a/src/common/common_meta/fssim_ebs_test.launch b/src/common/common_meta/fssim_ebs_test.launch new file mode 100755 index 00000000..7fd62d11 --- /dev/null +++ b/src/common/common_meta/fssim_ebs_test.launch @@ -0,0 +1,57 @@ + + + + + + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 1 + min_cmd: 0 + + + + + + + + + + + + + + + + + + + perception_topic: "/mapa_icp" + global_frame: "ini" + car_frame: "body" + slam: "marrano" + + KP: 43.87 + KD : 0.0 + KI : 1.29 + + lqr_dist: 2.0 + lqr_yaw: 25.0 + lqr_beta: 0.0 + lqr_r: 0.0 + + target: 12 + pendiente: 5.0 + track_length: 75 + + + + + + + global_frame: "ini" + car_frame: "body" + + + + diff --git a/src/common/common_meta/fssim_local_slam_simulation.launch b/src/common/common_meta/fssim_local_slam_simulation.launch new file mode 100755 index 00000000..61a9527e --- /dev/null +++ b/src/common/common_meta/fssim_local_slam_simulation.launch @@ -0,0 +1,65 @@ + + + + + + restart_map: true + restart_iterations: 100 + + + + + + + topic_perception_map: '/mapa_icp' + slam: 'marrano' + color_enabled: false + + + + + + + + + + SLAM: "marrano" + + + + + + + frame: 'fssim/vehicle/cog' + + + + + + + + + + + controller_mode: 'PP' + + + + + + + + + LAD: 6 + TARGET_SPEED: 5 + global_mode: false + + + + + + + + diff --git a/src/common/common_meta/fssim_pp_simulation.launch b/src/common/common_meta/fssim_pp_simulation.launch new file mode 100755 index 00000000..637cc37d --- /dev/null +++ b/src/common/common_meta/fssim_pp_simulation.launch @@ -0,0 +1,61 @@ + + + + + + + + + + topic_perception_map: '/perception_map' + color_enabled: false + + + + + + + + + + frame: 'fssim/vehicle/cog' + + + + + + + + SLAM: "none" + + + + + + + + + + + controller_mode: 'PP' + + + + + + + + + LAD: 8 + TARGET_SPEED: 6 + global_mode: false + + + + + + + + \ No newline at end of file diff --git a/src/common/common_meta/fssim_skidpad.launch b/src/common/common_meta/fssim_skidpad.launch new file mode 100755 index 00000000..0ddd8933 --- /dev/null +++ b/src/common/common_meta/fssim_skidpad.launch @@ -0,0 +1,49 @@ + + + + + + + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 0.15 + min_cmd: 0 + + + + + + + + + + global_frame: "map" + car_frame: "body" + SLAM: "marrano" + + + + + + + + targetillo: 5 + targetaso: 5 + + KP: 43.87 + KD : 0.0 + KI : 1.29 + + stanley_coef: 1 + k_delta: -0.02 + k_yaw_rate: 0.2 + + + + + + + + + diff --git a/src/common/common_meta/fssim_skidpad_antiguo.launch b/src/common/common_meta/fssim_skidpad_antiguo.launch new file mode 100755 index 00000000..52e44f25 --- /dev/null +++ b/src/common/common_meta/fssim_skidpad_antiguo.launch @@ -0,0 +1,45 @@ + + + + + + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 0.2 + min_cmd: 0 + + + + + + + + + + + SLAM: "marrano" + + + + + + + target: 5 + KP: 43.87 + KD : 0.0 + KI : 1.29 + + k_mu: 5 + k_phi: 12 + k_r: 0 + delta_correction: 1 + + + + + + + + + \ No newline at end of file diff --git a/src/common/common_meta/fssim_slam_simulation.launch b/src/common/common_meta/fssim_slam_simulation.launch new file mode 100755 index 00000000..40df14c8 --- /dev/null +++ b/src/common/common_meta/fssim_slam_simulation.launch @@ -0,0 +1,62 @@ + + + + + + + + + + topic_perception_map: '/mapa_icp' + color_enabled: false + MAX_ROUTE_LENGTH: 9999 + slam: 'none' + + + + + + + + + + SLAM: "marrano" + + + + + + + frame: 'map' + + + + + + + + + + + controller_mode: 'PP' + + + + + + + + + LAD: 6 + TARGET_SPEED: 5 + global_mode: true + + + + + + + + diff --git a/src/common/common_meta/fssim_trackdrive.launch b/src/common/common_meta/fssim_trackdrive.launch new file mode 100755 index 00000000..66f86acd --- /dev/null +++ b/src/common/common_meta/fssim_trackdrive.launch @@ -0,0 +1,86 @@ + + + + + + + mission: 'TRACKDRIVE' + restart_map_at_origin: true + + + + + + + topic_perception_map: '/mapa_icp' + color_enabled: false + MAX_ROUTE_LENGTH: 10 + slam: 'marrano' + SMOOTH: true + + + + + + + + + + SLAM: "marrano" + + + + + + + frame: 'fssim/vehicle/cog' + + + + + + + + + + + controller_mode: 'PP' + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 0.2 + min_cmd: -0.2 + + + + + + + + + LAD: 6 + TARGET_SPEED: 5 + + + + + + + + + + diff --git a/src/common/common_meta/inspection.launch b/src/common/common_meta/inspection.launch new file mode 100755 index 00000000..13dfcda9 --- /dev/null +++ b/src/common/common_meta/inspection.launch @@ -0,0 +1,33 @@ + + + + + + + + + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 0.2 + min_cmd: 0 + min_vel: -1 + + + + + + + + + + + + + + + + + + + diff --git a/src/common/common_meta/lidar_can.launch b/src/common/common_meta/lidar_can.launch new file mode 100644 index 00000000..ad2ca74b --- /dev/null +++ b/src/common/common_meta/lidar_can.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/src/common/common_meta/package.xml b/src/common/common_meta/package.xml new file mode 100644 index 00000000..9924fe4b --- /dev/null +++ b/src/common/common_meta/package.xml @@ -0,0 +1,19 @@ + + + common_meta + 0.0.0 + Package with all missions defined + + + Mariano + TODO + Mariano + + + catkin + rospy + rospy + rospy + + + diff --git a/src/common/common_meta/records/base_pose_ground_truth.csv b/src/common/common_meta/records/base_pose_ground_truth.csv new file mode 100644 index 00000000..77bf5b1c --- /dev/null +++ b/src/common/common_meta/records/base_pose_ground_truth.csv @@ -0,0 +1,13177 @@ +Time,X,Y,Yaw,Vx,Vy,R +1356242000000,0.0,0.0,0.0,0.00594254595171576,-0.013512953489260793,0.017920672008378706 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b/src/common/common_meta/skidpad_antiguo.launch new file mode 100755 index 00000000..bbd02f2f --- /dev/null +++ b/src/common/common_meta/skidpad_antiguo.launch @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 0.2 + min_cmd: 0 + + + + + + + + SLAM: "marrano" + + + + + + + + + + + target: 5 + KP: 43.87 + KD : 0.0 + KI : 1.29 + + k_mu: 5 + k_phi: 12 + k_r: 0 + delta_correction: 1 + + + + + + + + + + + + \ No newline at end of file diff --git a/src/common/common_meta/trackdrive.launch b/src/common/common_meta/trackdrive.launch new file mode 100755 index 00000000..31b5692d --- /dev/null +++ b/src/common/common_meta/trackdrive.launch @@ -0,0 +1,88 @@ + + + + + + + + + + + + + + + + + + + + + + mission: 'TRACKDRIVE' + restart_map_at_origin: true + + + + + + + topic_perception_map: '/mapa_icp' + color_enabled: false + MAX_ROUTE_LENGTH: 10 + slam: 'marrano' + SMOOTH: true + + + + + + + + SLAM: "marrano" + + + + + + + frame: 'map' + + + + + + + + + + + controller_mode: 'PP' + braking_kp: 0.5 + deceleration: 5 + min_braking_cmd: -0.2 + max_cmd: 0.2 + min_cmd: -0.2 + + + + + + + + + LAD: 4 + TARGET_SPEED: 2 + + + + + + + + + + + diff --git a/src/common/common_msgs/CMakeLists.txt b/src/common/common_msgs/CMakeLists.txt new file mode 100644 index 00000000..23eb1a2b --- /dev/null +++ b/src/common/common_msgs/CMakeLists.txt @@ -0,0 +1,54 @@ +cmake_minimum_required(VERSION 3.0.2) +project(common_msgs) + +find_package(catkin REQUIRED COMPONENTS + genmsg + geometry_msgs + message_generation + rospy + sensor_msgs + std_msgs +) + + +## Generate messages in the 'msg' folder + add_message_files( + FILES + Trajectory.msg + Controls.msg + Camera_dofs.msg + Mission.msg + Simplex.msg + Triangulation.msg + CarState.msg + ) + +## Generate services in the 'srv' folder + add_service_files( + FILES + Spawn.srv + MPCCurrentState.srv + ) + +## Generate added messages and services with any dependencies listed here + generate_messages( + DEPENDENCIES + geometry_msgs + sensor_msgs + std_msgs + ) + + + catkin_package( +# INCLUDE_DIRS include +# LIBRARIES common_msgs +# CATKIN_DEPENDS genmsg geometry_msgs message_generation rospy sensor_msgs std_msgs +# DEPENDS system_lib + CATKIN_DEPENDS message_runtime std_msgs geometry_msgs + ) + +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + diff --git a/src/common/common_msgs/msg/Camera_dofs.msg b/src/common/common_msgs/msg/Camera_dofs.msg new file mode 100644 index 00000000..ad782945 --- /dev/null +++ b/src/common/common_msgs/msg/Camera_dofs.msg @@ -0,0 +1,8 @@ +std_msgs/Header header + +float64 x +float64 y +float64 z +float64 roll +float64 pitch +float64 yaw diff --git a/src/common/common_msgs/msg/CarState.msg b/src/common/common_msgs/msg/CarState.msg new file mode 100644 index 00000000..a59eace6 --- /dev/null +++ b/src/common/common_msgs/msg/CarState.msg @@ -0,0 +1,12 @@ +std_msgs/Header header + +float64 x #[m] +float64 y #[m] +float64 z #[m] +float64 vx #[m/s] +float64 vy #[m/s] +float64 vz #[m/s] +float64 r +float64 roll #[rad] +float64 pitch #[rad] +float64 yaw #[rad] diff --git a/src/common/common_msgs/msg/Controls.msg b/src/common/common_msgs/msg/Controls.msg new file mode 100644 index 00000000..852af5fe --- /dev/null +++ b/src/common/common_msgs/msg/Controls.msg @@ -0,0 +1,4 @@ +std_msgs/Header header + +float64 steering +float64 accelerator diff --git a/src/common/common_msgs/msg/GpsPos.msg b/src/common/common_msgs/msg/GpsPos.msg new file mode 100644 index 00000000..75711d74 --- /dev/null +++ b/src/common/common_msgs/msg/GpsPos.msg @@ -0,0 +1,4 @@ +std_msgs/Header header + +float64 latitude #[m] +float64 longitude #[m] diff --git a/src/common/common_msgs/msg/Mission.msg b/src/common/common_msgs/msg/Mission.msg new file mode 100644 index 00000000..0b242993 --- /dev/null +++ b/src/common/common_msgs/msg/Mission.msg @@ -0,0 +1,4 @@ +std_msgs/Header header + +string mission +bool finished diff --git a/src/common/common_msgs/msg/Simplex.msg b/src/common/common_msgs/msg/Simplex.msg new file mode 100644 index 00000000..2e88c121 --- /dev/null +++ b/src/common/common_msgs/msg/Simplex.msg @@ -0,0 +1 @@ +geometry_msgs/Point[] simplex diff --git a/src/common/common_msgs/msg/Trajectory.msg b/src/common/common_msgs/msg/Trajectory.msg new file mode 100644 index 00000000..2d00fdc5 --- /dev/null +++ b/src/common/common_msgs/msg/Trajectory.msg @@ -0,0 +1,3 @@ +std_msgs/Header header + +geometry_msgs/Point[] trajectory diff --git a/src/common/common_msgs/msg/Triangulation.msg b/src/common/common_msgs/msg/Triangulation.msg new file mode 100644 index 00000000..2386ca21 --- /dev/null +++ b/src/common/common_msgs/msg/Triangulation.msg @@ -0,0 +1 @@ +common_msgs/Simplex[] simplices diff --git a/src/common/common_msgs/package.xml b/src/common/common_msgs/package.xml new file mode 100644 index 00000000..5cdbf66c --- /dev/null +++ b/src/common/common_msgs/package.xml @@ -0,0 +1,30 @@ + + + common_msgs + 0.0.0 + Package with all messages defined + + Mariano + TODO + Mariano + + + catkin + genmsg + geometry_msgs + message_generation + rospy + sensor_msgs + std_msgs + geometry_msgs + rospy + sensor_msgs + std_msgs + message_runtime + geometry_msgs + rospy + sensor_msgs + std_msgs + + + diff --git a/src/common/common_msgs/srv/MPCCurrentState.srv b/src/common/common_msgs/srv/MPCCurrentState.srv new file mode 100644 index 00000000..83c54d76 --- /dev/null +++ b/src/common/common_msgs/srv/MPCCurrentState.srv @@ -0,0 +1,8 @@ +--- +float32 si +float32 dist +float32 phi +float32 vx +float32 delta +float32 dc + diff --git a/src/common/common_msgs/srv/Spawn.srv b/src/common/common_msgs/srv/Spawn.srv new file mode 100644 index 00000000..9387ba4c --- /dev/null +++ b/src/common/common_msgs/srv/Spawn.srv @@ -0,0 +1,7 @@ +float32 x +float32 y +float32 theta +string name +--- +string name + diff --git a/src/common/control_joystick/CMakeLists.txt b/src/common/control_joystick/CMakeLists.txt new file mode 100644 index 00000000..23c89638 --- /dev/null +++ b/src/common/control_joystick/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 3.0.2) +project(control_joystick) +find_package(catkin REQUIRED COMPONENTS) + + +catkin_package() + +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + diff --git a/src/common/control_joystick/README.txt b/src/common/control_joystick/README.txt new file mode 100755 index 00000000..9f67fe62 --- /dev/null +++ b/src/common/control_joystick/README.txt @@ -0,0 +1,3 @@ +Primero hay que conectar el mando al ordenador antes de ejecutar el launch. +El launch que hay que ejecutar es: roslaunch control_joystick joystick.launch +Con este launch se activa tanto el controlador del mando como el nodo que publica por /controls diff --git a/src/common/control_joystick/config/parameters.yaml b/src/common/control_joystick/config/parameters.yaml new file mode 100644 index 00000000..f97f341e --- /dev/null +++ b/src/common/control_joystick/config/parameters.yaml @@ -0,0 +1,3 @@ +# Parameters of pure pursuit controller +CMD: 0.1 +DELTA: 19.9 diff --git a/src/common/control_joystick/launch/joystick.launch b/src/common/control_joystick/launch/joystick.launch new file mode 100755 index 00000000..a7dbb197 --- /dev/null +++ b/src/common/control_joystick/launch/joystick.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/common/control_joystick/package.xml b/src/common/control_joystick/package.xml new file mode 100644 index 00000000..8ba51b20 --- /dev/null +++ b/src/common/control_joystick/package.xml @@ -0,0 +1,19 @@ + + + control_joystick + 0.0.0 + Script to control the car with a Dualshock4 + + + Rafa + TODO + Rafa + + + catkin + rospy + rospy + rospy + + + diff --git a/src/common/control_joystick/src/joystick_handle.py b/src/common/control_joystick/src/joystick_handle.py new file mode 100755 index 00000000..4aad0c07 --- /dev/null +++ b/src/common/control_joystick/src/joystick_handle.py @@ -0,0 +1,35 @@ +""" +Script to control the car with a Dualshock4 + +@author: Rafael Guil Valero +@date: 15/05/24 +""" + +import rospy +from ds4_driver.msg import Status +from common_msgs.msg import Controls + +CMD = rospy.get_param('/control_joystick/CMD') +DELTA = rospy.get_param('/control_joystick/DELTA') + +class joystick(): + def __init__(self): + + self.subscribe_topics() + self.pub = None + self.publish_topics() + + def publish_topics(self): + self.pub = rospy.Publisher('/controls', Controls, queue_size=10) + + def subscribe_topics(self): + rospy.Subscriber('/status', Status, self.send_controllers) + + def send_controllers(self, msg: Status) : + cmd = Controls() + delta = 0.5 + if msg.button_r2 == 1: + delta = (msg.axis_r2 + 1) / 2 + cmd.accelerator = delta * msg.axis_left_y * CMD + cmd.steering = delta * msg.axis_right_x * DELTA + self.pub.publish(cmd) \ No newline at end of file diff --git a/src/common/control_joystick/src/main.py b/src/common/control_joystick/src/main.py new file mode 100755 index 00000000..943f4d3e --- /dev/null +++ b/src/common/control_joystick/src/main.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python3 + +''' +Script to control the car with a Dualshock4 + +@author: Rafael Guil Valero +@date: 15/05/24 +''' +import rospy +from joystick_handle import joystick + + +def main(): + + rospy.init_node('joystick', anonymous=True) + joystick() #Run node + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/common/telemetries/CMakeLists.txt b/src/common/telemetries/CMakeLists.txt new file mode 100644 index 00000000..e10a68ad --- /dev/null +++ b/src/common/telemetries/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(telemetries) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES telemetries +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/telemetries.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/telemetries_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_telemetries.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/common/telemetries/package.xml b/src/common/telemetries/package.xml new file mode 100644 index 00000000..c9294878 --- /dev/null +++ b/src/common/telemetries/package.xml @@ -0,0 +1,59 @@ + + + telemetries + 0.0.0 + The telemetries package + + + + + gonzalo + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/src/common/telemetries/src/main.py b/src/common/telemetries/src/main.py new file mode 100755 index 00000000..a0075e4a --- /dev/null +++ b/src/common/telemetries/src/main.py @@ -0,0 +1,17 @@ +#!/usr/bin/env python3 +import rospy +from writter import DataLoggerNode + +sim_mode = rospy.get_param('/control_pure_pursuit/simulation') + +def main(): + rospy.init_node('DataLoggerNode', anonymous=True) + if sim_mode: + DataLoggerNode() + rospy.spin() + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass \ No newline at end of file diff --git a/src/common/telemetries/src/writter.py b/src/common/telemetries/src/writter.py new file mode 100644 index 00000000..1edb1243 --- /dev/null +++ b/src/common/telemetries/src/writter.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python3 +import rospy +import csv +import os +from datetime import datetime +import rospkg +from fssim_common.msg import CarInfo, State + +class DataLoggerNode: + def __init__(self): + # Obtener el path base usando rospkg + rospack = rospkg.RosPack() + base_path = rospack.get_path('common_meta') + + # Definir el nombre de los archivos con marcas de tiempo + timestamp = datetime.now().strftime("%Y-%m-%d_%H-%M-%S") + self.car_info_path = base_path+"/records/"+"car_info_"+timestamp+".csv" + self.base_pose_path = base_path+"/records/"+"base_pose_"+timestamp+".csv" + + # Crear y abrir los archivos CSV + self.car_info_csv = open(self.car_info_path, "w", newline='') + self.car_info_writer = csv.writer(self.car_info_csv) + self.car_info_writer.writerow(["Time", "Drag_Force_X", "Drag_Force_Y", "Drag_Force_Z", "Delta", "DC", "Front_Left_Steering_Angle", "Front_Right_Steering_Angle", "Delta_Measured", "Vx", "Vy", "R", "Torque_OK", "Alpha_F", "Alpha_F_Left", "Alpha_F_Right", "Alpha_R_Left", "Alpha_R", "Alpha_R_Right", "Fy_F", "Fy_F_Left", "Fy_F_Right", "Fy_R", "Fy_R_Left", "Fy_R_Right", "Fx"]) + + self.base_pose_csv = open(self.base_pose_path, "w", newline='') + self.base_pose_writer = csv.writer(self.base_pose_csv) + self.base_pose_writer.writerow(["Time", "X", "Y", "Yaw", "Vx", "Vy", "R"]) + + # Suscripciones a los tópicos + self.car_info_sub = rospy.Subscriber("/fssim/car_info", CarInfo, self.car_info_callback) + self.base_pose_sub = rospy.Subscriber("/fssim/base_pose_ground_truth", State, self.base_pose_callback) + + def car_info_callback(self, data): + # Escribir la información recibida en el archivo CSV + self.car_info_writer.writerow([rospy.Time.now()] + [getattr(data.drag_force.vec, dim) for dim in 'xyz'] + [getattr(data, attr) for attr in ('delta', 'dc', 'front_left_steering_angle', 'front_right_steering_angle', 'delta_measured', 'vx', 'vy', 'r', 'torque_ok', 'alpha_f', 'alpha_f_l', 'alpha_f_r', 'alpha_r_l', 'alpha_r', 'alpha_r_r', 'Fy_f', 'Fy_f_l', 'Fy_f_r', 'Fy_r', 'Fy_r_l', 'Fy_r_r', 'Fx')]) + + def base_pose_callback(self, data): + # Escribir la información recibida en el archivo CSV + self.base_pose_writer.writerow([rospy.Time.now(), data.x, data.y, data.yaw, data.vx, data.vy, data.r]) + + def close_files(self): + # Cerrar los archivos CSV al terminar + self.car_info_csv.close() + self.base_pose_csv.close() + diff --git a/src/common/tests/CMakeLists.txt b/src/common/tests/CMakeLists.txt new file mode 100644 index 00000000..a8a001d1 --- /dev/null +++ b/src/common/tests/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(tests) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES telemetries +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/telemetries.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/telemetries_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_telemetries.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/common/tests/package.xml b/src/common/tests/package.xml new file mode 100644 index 00000000..72629f77 --- /dev/null +++ b/src/common/tests/package.xml @@ -0,0 +1,59 @@ + + + tests + 0.0.0 + The tests package + + + + + gonzalo + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/src/common/tests/src/feed_forward_test.py b/src/common/tests/src/feed_forward_test.py new file mode 100755 index 00000000..0faa93fe --- /dev/null +++ b/src/common/tests/src/feed_forward_test.py @@ -0,0 +1,105 @@ +#!/usr/bin/env python3 +import rospy +from common_msgs.msg import Controls, CarState +from std_msgs.msg import Int16, Bool, Float32, Float32MultiArray +import math +import time + +KP = 43.87 +#KI = 1.29 +KI=0 +profile_ax = 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+profile_vx = [0,0,0,0,0,0,0,0,0,0,0.00070721,0.022993,0.056875,0.099736,0.14991,0.20625,0.26801,0.3347,0.40593,0.48142,0.56097,0.64444,0.73175,0.82274,0.9171,1.0128,1.1073,1.2014,1.2955,1.3874,1.4792,1.5703,1.64,1.6981,1.7475,1.7898,1.8271,1.8598,1.8894,1.9166,1.942,1.966,1.9889,2.0109,2.0323,2.0533,2.0748,2.0983,2.1225,2.1465,2.173,2.2005,2.2282,2.2564,2.2858,2.3164,2.3485,2.3813,2.415,2.4489,2.4828,2.5163,2.5492,2.5818,2.6139,2.6456,2.6775,2.7111,2.7475,2.7868,2.8266,2.8666,2.9067,2.9473,2.9889,3.0321,3.0764,3.1215,3.1673,3.2122,3.256,3.2988,3.3405,3.3808,3.4195,3.4564,3.4914,3.5246,3.5555,3.5849,3.6148,3.6481,3.6827,3.7177,3.7532,3.7888,3.8233,3.8567,3.8893,3.9213,3.954,3.9876,4.0219,4.0569,4.0928,4.1299,4.1682,4.2032,4.2319,4.2546,4.2707,4.2789,4.279,4.2725,4.2597,4.2403,4.2138,4.1811,4.1445,4.1035,4.058,4.008,3.9525,3.8912,3.8233,3.7487,3.6679,3.5818,3.4959,3.4133,3.3343,3.2592,3.1886,3.1164,3.0487,2.9861,2.9287,2.8769,2.8292,2.7842,2.7415,2.7012,2.6633,2.6293,2.5994,2.5748,2.5558,2.5426,2.5345,2.5308,2.5311,2.535,2.5423,2.5521,2.5702,2.591,2.6126,2.6356,2.6584,2.6821,2.7064,2.732,2.7591,2.7879,2.8178,2.8494,2.882,2.9152,2.9487,2.9821,3.0152,3.0477,3.0793,3.1099,3.1397,3.1688,3.1972,3.2261,3.2553,3.2857,3.3168,3.3494,3.3833,3.4181,3.4528,3.4875,3.5221,3.5561,3.5854,3.6095,3.6285,3.6402,3.6435,3.6404,3.6319,3.6178,3.598,3.5725,3.5416,3.5053,3.4641,3.4191,3.3702,3.318,3.2632,3.2071,3.1428,3.077,3.0106,2.9469,2.8855,2.8266,2.7722,2.7238,2.6794,2.6383,2.6005,2.5663,2.5361,2.5066,2.4809,2.4587,2.4389,2.4209,2.4045,2.3881,2.3723,2.3645,2.3586,2.3545,2.3532,2.3555,2.361,2.3691,2.3795,2.3921,2.4009,2.4059,2.4077,2.4067,2.407,2.4057,2.4034,2.4006,2.3974,2.3935,2.3868,2.3795,2.3708,2.3603,2.3477,2.3326,2.315,2.2949,2.273,2.2494,2.2242,2.2041,2.1885,2.1777,2.1706,2.1665,2.1649,2.165,2.1663,2.1681,2.1702,2.1757,2.1818,2.1883,2.1954,2.2033,2.2118,2.2211,2.2312,2.2428,2.2552,2.2688,2.2827,2.2974,2.3122,2.328,2.345,2.3633,2.3836,2.4061,2.4313,2.4595,2.4906,2.5241,2.5595,2.5967,2.6356,2.676,2.7177,2.7605,2.8037,2.8468,2.8896,2.9323,2.974,3.0149,3.054,3.0912,3.126,3.1585,3.1887,3.2165,3.2418,3.2649,3.2866,3.3072,3.3271,3.3462,3.3644,3.3812,3.397,3.4124,3.4286,3.4455,3.4596,3.4701,3.4765,3.4795,3.4793,3.4761,3.4695,3.4589,3.444,3.4243,3.3997,3.3701,3.3352,3.2946,3.2481,3.196,3.1386,3.0758,3.0069,2.9324,2.8528,2.772,2.6926,2.6153,2.5407,2.469,2.4002,2.3334,2.2702,2.2106,2.1549,2.103,2.055,2.0112,1.972,1.9388,1.9121,1.8926,1.8806,1.8763,1.8787,1.8877,1.9024,1.9219,1.9455,1.9723,2.0019,2.0341,2.0701,2.1086,2.1497,2.1933,2.2393,2.2876,2.338,2.3901,2.4428,2.4954,2.5479,2.6011,2.6547,2.7087,2.7627,2.8165,2.8701,2.9231,2.9756,3.0275,3.0788,3.1293,3.1791,3.2281,3.2763,3.3239,3.3708,3.4173,3.4635,3.5097,3.5564,3.6041,3.6484,3.6814,3.7041,3.7178,3.7232,3.7211,3.7111,3.6928,3.666,3.6308,3.5889,3.541,3.4902,3.4374,3.3795,3.3155,3.2442,3.1656,3.08,2.9878,2.8889,2.7873,2.6916,2.6012,2.5155,2.4343,2.3577,2.2863,2.221,2.1621,2.109,2.0606,2.0164,1.9733,1.9306,1.8913,1.8567,1.8283,1.8064,1.7916,1.7828,1.7802,1.7832,1.7916,1.805,1.823,1.8452,1.8711,1.9003,1.9325,1.9675,2.0059,2.0462,2.088,2.1317,2.1773,2.2249,2.2742,2.3225,2.3665,2.4054,2.4396,2.4685,2.4924,2.5115,2.5265,2.5374,2.5448,2.5492,2.5462,2.5403,2.5314,2.5197,2.5065,2.4923,2.4771,2.4615,2.4456,2.4299,2.4168,2.4096,2.4084,2.4127,2.4216,2.4326,2.4452,2.4587,2.4733,2.4889,2.5054,2.5274,2.5512,2.5768,2.6045,2.6337,2.6645,2.6965,2.7291,2.7621,2.7952,2.8285,2.8615,2.8938,2.9253,2.9564,2.988,3.0199,3.0525,3.0856,3.1187,3.1517,3.1844,3.2166,3.2482,3.2792,3.3096,3.3395,3.3687,3.3974,3.4253,3.4524,3.4782,3.5027,3.5257,3.5468,3.5665,3.5859,3.6049,3.6234,3.6408,3.6574,3.6731,3.6876,3.7008,3.7124,3.7225,3.7308,3.7371,3.7413,3.744,3.7446,3.7436,3.7412,3.7371,3.7323,3.7273,3.7221,3.7164,3.7109,3.7055,3.7008,3.6966,3.6931,3.6908,3.6896,3.69,3.692,3.6959,3.7019,3.71,3.72,3.7321,3.741,3.7462,3.7477,3.7455,3.7392,3.7288,3.7141,3.6941,3.6677,3.6342,3.5934,3.5473,3.4979,3.4459,3.3919,3.3361,3.2789,3.2144,3.1481,3.0804,3.0111,2.9453,2.8835,2.8258,2.7721,2.7225,2.677,2.636,2.6008,2.572,2.5508,2.5375,2.5305,2.5105,2.5105,2.5105,2.5105,2.5105,2.5105,2.5105,2.5105,2.5105,2.5105] +profile_t = [0,0.0496689,0.0993377,0.149007,0.198675,0.248344,0.298013,0.347682,0.397351,0.44702,0.496689,0.546358,0.596026,0.645695,0.695364,0.745033,0.794702,0.844371,0.89404,0.943709,0.993377,1.04305,1.09272,1.14238,1.19205,1.24172,1.29139,1.34106,1.39073,1.4404,1.49007,1.53974,1.5894,1.63907,1.68874,1.73841,1.78808,1.83775,1.88742,1.93709,1.98675,2.03642,2.08609,2.13576,2.18543,2.2351,2.28477,2.33444,2.38411,2.43377,2.48344,2.53311,2.58278,2.63245,2.68212,2.73179,2.78146,2.83113,2.88079,2.93046,2.98013,3.0298,3.07947,3.12914,3.17881,3.22848,3.27815,3.32781,3.37748,3.42715,3.47682,3.52649,3.57616,3.62583,3.6755,3.72517,3.77483,3.8245,3.87417,3.92384,3.97351,4.02318,4.07285,4.12252,4.17219,4.22185,4.27152,4.32119,4.37086,4.42053,4.4702,4.51987,4.56954,4.61921,4.66887,4.71854,4.76821,4.81788,4.86755,4.91722,4.96689,5.01656,5.06623,5.11589,5.16556,5.21523,5.2649,5.31457,5.36424,5.41391,5.46358,5.51325,5.56291,5.61258,5.66225,5.71192,5.76159,5.81126,5.86093,5.9106,5.96026,6.00993,6.0596,6.10927,6.15894,6.20861,6.25828,6.30795,6.35762,6.40728,6.45695,6.50662,6.55629,6.60596,6.65563,6.7053,6.75497,6.80464,6.8543,6.90397,6.95364,7.00331,7.05298,7.10265,7.15232,7.20199,7.25166,7.30132,7.35099,7.40066,7.45033,7.5,7.54967,7.59934,7.64901,7.69868,7.74834,7.79801,7.84768,7.89735,7.94702,7.99669,8.04636,8.09603,8.1457,8.19536,8.24503,8.2947,8.34437,8.39404,8.44371,8.49338,8.54305,8.59272,8.64238,8.69205,8.74172,8.79139,8.84106,8.89073,8.9404,8.99007,9.03974,9.0894,9.13907,9.18874,9.23841,9.28808,9.33775,9.38742,9.43709,9.48675,9.53642,9.58609,9.63576,9.68543,9.7351,9.78477,9.83444,9.88411,9.93377,9.98344,10.0331,10.0828,10.1325,10.1821,10.2318,10.2815,10.3311,10.3808,10.4305,10.4801,10.5298,10.5795,10.6291,10.6788,10.7285,10.7781,10.8278,10.8775,10.9272,10.9768,11.0265,11.0762,11.1258,11.1755,11.2252,11.2748,11.3245,11.3742,11.4238,11.4735,11.5232,11.5728,11.6225,11.6722,11.7219,11.7715,11.8212,11.8709,11.9205,11.9702,12.0199,12.0695,12.1192,12.1689,12.2185,12.2682,12.3179,12.3675,12.4172,12.4669,12.5166,12.5662,12.6159,12.6656,12.7152,12.7649,12.8146,12.8642,12.9139,12.9636,13.0132,13.0629,13.1126,13.1623,13.2119,13.2616,13.3113,13.3609,13.4106,13.4603,13.5099,13.5596,13.6093,13.6589,13.7086,13.7583,13.8079,13.8576,13.9073,13.957,14.0066,14.0563,14.106,14.1556,14.2053,14.255,14.3046,14.3543,14.404,14.4536,14.5033,14.553,14.6026,14.6523,14.702,14.7517,14.8013,14.851,14.9007,14.9503,15,15.0497,15.0993,15.149,15.1987,15.2483,15.298,15.3477,15.3974,15.447,15.4967,15.5464,15.596,15.6457,15.6954,15.745,15.7947,15.8444,15.894,15.9437,15.9934,16.043,16.0927,16.1424,16.1921,16.2417,16.2914,16.3411,16.3907,16.4404,16.4901,16.5397,16.5894,16.6391,16.6887,16.7384,16.7881,16.8377,16.8874,16.9371,16.9868,17.0364,17.0861,17.1358,17.1854,17.2351,17.2848,17.3344,17.3841,17.4338,17.4834,17.5331,17.5828,17.6325,17.6821,17.7318,17.7815,17.8311,17.8808,17.9305,17.9801,18.0298,18.0795,18.1291,18.1788,18.2285,18.2781,18.3278,18.3775,18.4272,18.4768,18.5265,18.5762,18.6258,18.6755,18.7252,18.7748,18.8245,18.8742,18.9238,18.9735,19.0232,19.0728,19.1225,19.1722,19.2219,19.2715,19.3212,19.3709,19.4205,19.4702,19.5199,19.5695,19.6192,19.6689,19.7185,19.7682,19.8179,19.8675,19.9172,19.9669,20.0166,20.0662,20.1159,20.1656,20.2152,20.2649,20.3146,20.3642,20.4139,20.4636,20.5132,20.5629,20.6126,20.6623,20.7119,20.7616,20.8113,20.8609,20.9106,20.9603,21.0099,21.0596,21.1093,21.1589,21.2086,21.2583,21.3079,21.3576,21.4073,21.457,21.5066,21.5563,21.606,21.6556,21.7053,21.755,21.8046,21.8543,21.904,21.9536,22.0033,22.053,22.1026,22.1523,22.202,22.2517,22.3013,22.351,22.4007,22.4503,22.5,22.5497,22.5993,22.649,22.6987,22.7483,22.798,22.8477,22.8974,22.947,22.9967,23.0464,23.096,23.1457,23.1954,23.245,23.2947,23.3444,23.394,23.4437,23.4934,23.543,23.5927,23.6424,23.6921,23.7417,23.7914,23.8411,23.8907,23.9404,23.9901,24.0397,24.0894,24.1391,24.1887,24.2384,24.2881,24.3377,24.3874,24.4371,24.4868,24.5364,24.5861,24.6358,24.6854,24.7351,24.7848,24.8344,24.8841,24.9338,24.9834,25.0331,25.0828,25.1325,25.1821,25.2318,25.2815,25.3311,25.3808,25.4305,25.4801,25.5298,25.5795,25.6291,25.6788,25.7285,25.7781,25.8278,25.8775,25.9272,25.9768,26.0265,26.0762,26.1258,26.1755,26.2252,26.2748,26.3245,26.3742,26.4238,26.4735,26.5232,26.5728,26.6225,26.6722,26.7219,26.7715,26.8212,26.8709,26.9205,26.9702,27.0199,27.0695,27.1192,27.1689,27.2185,27.2682,27.3179,27.3675,27.4172,27.4669,27.5166,27.5662,27.6159,27.6656,27.7152,27.7649,27.8146,27.8642,27.9139,27.9636,28.0132,28.0629,28.1126,28.1623,28.2119,28.2616,28.3113,28.3609,28.4106,28.4603,28.5099,28.5596,28.6093,28.6589,28.7086,28.7583,28.8079,28.8576,28.9073,28.957,29.0066,29.0563,29.106,29.1556,29.2053,29.255,29.3046,29.3543,29.404,29.4536,29.5033,29.553,29.6026,29.6523,29.702,29.7517,29.8013,29.851,29.9007,29.9503,30] + +def as_status_callback(msg:Int16): + global AS_status, start_time + AS_status = msg.data + if (AS_status == 2 and start_time == 0): + integral = 0 + start_time=time.time() + last_time = time.time() + +def motor_speed_callback(msg: Float32): + global speed + if msg.data < 3: + speed = msg.data + +def wheel_speed_callback(msg: Float32): + global speed + if msg.data >= 3: + speed = msg.data + +def timer_callback(event): + global start_time,braking, speed + + if not braking and AS_status == 2: + + control_msg = Controls() + + control_msg.steering = 0 + + + control_msg.accelerator = feed_forward(speed) + + control_publisher.publish(control_msg) + #rospy.logerr(control_msg) + + +def feed_forward(current: float): + global start_time,braking,last_time, integral + + + t = time.time()-start_time + + if t>profile_t[-1]: + start_time = time.time() + t=0 + + i = 0 + while t > profile_t[i] and i start_index) & (df['speed'] < 1)].index[0] + + # Calculate deceleration + start_time = df.loc[start_index, 'time'] + end_time = df.loc[end_index, 'time'] + start_speed = df.loc[start_index, 'speed'] + end_speed = df.loc[end_index, 'speed'] + deceleration = (start_speed - end_speed) / (end_time - start_time) + + +def main(bag_path): + # Read and process data from each bag + print("Leyendo y procesando datos del archivo .bag...") + acc_df = plot_linear_acc(bag_path) + # gps_df = plot_gps(bag_path) + car_state_df = plot_car_state(bag_path) + AS_df = plot_AS_status(bag_path) + steering_df = plot_steering(bag_path) + + + + # Create a figure with 2x2 subplots + plt.figure(figsize=(15, 10)) + + + + # Plot linear acceleration in X + plt.subplot(2,2,1) + plt.plot(np.array(acc_df)[:,0], np.array(acc_df)[:,1], marker='.', linestyle='-', color='pink', markersize='0.1') + plt.xlabel('Time') + plt.ylabel('Linear Acceleration') + plt.title('Linear acceleration in X') + plt.grid(True) + + + # # Plot GPS data + # plt.subplot(2, 2, 1) + # plt.plot(gps_df['longitude'], gps_df['latitude'], marker='.', linestyle='-', color='b') + # plt.xlabel('Longitude') + # plt.ylabel('Latitude') + # plt.title('GPS Data (Latitude and Longitude)') + # plt.grid(True) + + # Plot position (X, Y) colored by velocity (vx) + plt.subplot(2, 2, 2) + sc = plt.scatter(np.array(car_state_df)[:,1], np.array(car_state_df)[:,2], c=np.array(car_state_df)[:,3], cmap='viridis', marker='o') + plt.xlabel('X') + plt.ylabel('Y') + plt.colorbar(sc, label='Velocity (vx)') + plt.title('Position (X, Y) colored by Velocity (vx)') + plt.grid(True) + + # Plot car state: motor speed (vx) + plt.subplot(2, 2, 3) + plt.plot(np.array(car_state_df)[:,0], np.array(car_state_df)[:,3], label= 'Car State', marker='.', linestyle='-', color='b', markersize='0.1') + plt.plot(np.array(AS_df)[:,0], np.array(AS_df)[:,1], label='AS Status', marker='.', linestyle='-', color='r', markersize='0.1') + plt.xlabel('Time (s)') + # plt.ylabel('Speed (m/s)') + plt.title('Car State: Motor Speed (vx) & AS Status') + plt.grid(True) + + # Plot steering: actual vs. target steering + plt.subplot(2, 2, 4) + plt.plot(np.array(steering_df)[:,0], np.array(steering_df)[:,1], label='Actual Steering', marker='.', linestyle='-', color='r', markersize='1') + plt.plot(np.array(steering_df)[:,0], np.array(steering_df)[:,2], label='Target Steering', marker='.', linestyle='-', color='g', markersize='1') + plt.xlabel('Time (s)') + plt.ylabel('Steer Angle (rad)') + plt.title('Steering: Actual vs Target Steering') + plt.legend() + plt.grid(True) + + # Tighten layout and adjust spacing between subplots + plt.tight_layout() + plt.subplots_adjust(left=0.08, right=0.92, top=0.92, bottom=0.08) + + # Show the combined plot + plt.show() + + +if __name__ == "__main__": + if len(sys.argv) != 2: + print("Usage: python grafiquitas.py ") + sys.exit(1) + + bag_path = sys.argv[1] + print(f"Archivo .bag proporcionado: {bag_path}") + main(bag_path) diff --git a/src/common/tests/src/holgura_finder.py b/src/common/tests/src/holgura_finder.py new file mode 100755 index 00000000..fb69d8f6 --- /dev/null +++ b/src/common/tests/src/holgura_finder.py @@ -0,0 +1,33 @@ +#!/usr/bin/env python3 +import rospy +from common_msgs.msg import Controls, CarState +from std_msgs.msg import Int16, Bool +import math +import time + + +def send_command(delta): + msg = Controls() + msg.steering = delta + control_publisher.publish(msg) + +if __name__ == '__main__': + rospy.init_node('holgura_finder') + + control_publisher = rospy.Publisher('/controls', Controls, queue_size=1) + rate = rospy.Rate(2) + + ini = 0.1 + paso = 0.1 + i=0 + while not rospy.is_shutdown(): + rospy.loginfo("GIRANDO "+str(ini+i*paso)+" grados") + for _ in range(5): + send_command(ini+i*paso) + rate.sleep() + send_command(-ini-i*paso) + rate.sleep() + i+=1 + + + diff --git a/src/common/tests/src/inspection_control.py b/src/common/tests/src/inspection_control.py new file mode 100755 index 00000000..f11ad4fe --- /dev/null +++ b/src/common/tests/src/inspection_control.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python3 +import rospy +from common_msgs.msg import Controls, CarState +from std_msgs.msg import Int16, Bool +import math +import time + + +PUSHING = False +DURATION = 27 #s + + +AMPLITUDE = 20 #degrees +FREQUENCY = 0.2 #s +KP=0.1 + +TARGET_SPEED = 1 #m/s + +def as_status_callback(msg:Int16): + global AS_status, start_time + AS_status = msg.data + if (AS_status == 2 and start_time == 0): + start_time=time.time() +def speed_callback(msg: CarState): + global start_time,braking,actual_speed,last_speed_update + + if not braking: + + v = math.hypot(msg.vx,msg.vy) + control_msg = Controls() + + control_msg.steering = generate_sinusoidal_steering(time.time()-start_time) + + if PUSHING: + control_msg.accelerator = 0 + else: + control_msg.accelerator = accelerator_control(v, TARGET_SPEED) + + control_publisher.publish(control_msg) + #rospy.logerr(control_msg) + +def generate_sinusoidal_steering(time): + steering_angle = AMPLITUDE * math.sin(2*math.pi*FREQUENCY *time) +# steering_angle = AMPLITUDE * math.sin(FREQUENCY * time*time) + return steering_angle + +def accelerator_control(current: float, target: float): + global start_time,braking + + error = target - current + cmd = KP*error + + if (time.time()-start_time > DURATION and start_time != 0): + braking = True + braking_msg = Bool() + braking_msg.data = True + braking_publisher.publish(braking_msg) + rospy.logerr("Frenando") + + return max(min(cmd, 1),-1) + +if __name__ == '__main__': + rospy.init_node('sinusoidal_control_node') + + start_time = 0 + AS_status = 0 + + braking = False + + control_publisher = rospy.Publisher('/controls_pp', Controls, queue_size=1) + braking_publisher = rospy.Publisher('/braking', Bool, queue_size=10) + rospy.Subscriber('/car_state/state', CarState, speed_callback,queue_size=1) + rospy.Subscriber('/can/AS_status',Int16, as_status_callback, queue_size=1) + rospy.spin() diff --git a/src/common/tests/src/slam2fssim.py b/src/common/tests/src/slam2fssim.py new file mode 100755 index 00000000..089643e7 --- /dev/null +++ b/src/common/tests/src/slam2fssim.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python3 +import rospy +from sensor_msgs.msg import PointCloud2 +from sensor_msgs import point_cloud2 +import ros_numpy +from matplotlib import pyplot as plt +import numpy as np +import sys +import rospkg + +rospack = rospkg.RosPack() +fssim_path = rospack.get_path('fssim_gazebo')+"/models/track/" + +def pcl_callback(msg: PointCloud2): + cones = point_cloud2.read_points(msg, field_names=("x", "y", "z","color", "score"), skip_nans=True) + cones = np.array([[c[0],c[1]] for c in cones]) + cones_left = [] + cones_right = [] + for c in cones: + if not rospy.is_shutdown(): + plt.scatter(-np.array(cones)[:,1],np.array(cones)[:,0]) + plt.scatter(-c[1],c[0]) + plt.axis("equal") + plt.show(block=False) + + color = input("y: yellow, b: blue, else: not cone ") + if color == "y": + cones_right.append(c) + elif color == "b": + cones_left.append(c) + plt.close("all") + + if not rospy.is_shutdown(): + generate_files(cones_left,cones_right) + + +def generate_files(cones_left,cones_right): + track_name = input("Track name: ") + with open(fssim_path+track_name+".sdf","x") as file: + file.write('\n\n') + for i,c in enumerate(cones_left): + file.write("\nmodel://fssim_gazebo/models/cone_blue\n"+str(c[0])+" "+str(c[1])+" 0 0 0 0\ncone_left"+str(i)+"\n\n") + for i,c in enumerate(cones_right): + file.write("\nmodel://fssim_gazebo/models/cone_yellow\n"+str(c[0])+" "+str(c[1])+" 0 0 0 0\ncone_right"+str(i)+"\n\n") + file.write("\nmodel://fssim_gazebo/models/time_keeping\n6.0 3.0 0 0 0 0\ntk_device_0\n\n\nmodel://fssim_gazebo/models/time_keeping\n6.0 -3.0 0 0 0 0\ntk_device_1\n") + file.write('\n') + + + with open(fssim_path+"tracks_yaml/"+track_name+".yaml","x") as file: + file.write("cones_left:\n") + for c in cones_left: + file.write("- - "+str(c[0])+"\n - "+str(c[1])+"\n") + file.write("cones_orange: []\ncones_orange_big: []\n") + file.write("cones_right:\n") + for c in cones_right: + file.write("- - "+str(c[0])+"\n - "+str(c[1])+"\n") + + file.write("starting_pose_front_wing:\n- 0.0\n- 0.0\n- 0.0\ntk_device:\n- - 6.0\n - 3.0\n- - 6.0\n - -3.0") + + + + +if __name__ == '__main__': + rospy.init_node('track_generator', anonymous=True) + r = rospy.Rate(0.5) + msg = rospy.wait_for_message('/global_map', PointCloud2) + pcl_callback(msg) \ No newline at end of file diff --git a/src/common/visualization/CMakeLists.txt b/src/common/visualization/CMakeLists.txt new file mode 100644 index 00000000..aee590c6 --- /dev/null +++ b/src/common/visualization/CMakeLists.txt @@ -0,0 +1,204 @@ +cmake_minimum_required(VERSION 3.0.2) +project(visualization) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES visualization +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/visualization.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/visualization_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_visualization.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/common/visualization/config/interface.yaml b/src/common/visualization/config/interface.yaml new file mode 100644 index 00000000..f90f883e --- /dev/null +++ b/src/common/visualization/config/interface.yaml @@ -0,0 +1,8 @@ +# Topics +topic_route: "route" +topic_map: "perception_map" +topic_pursuit: "pursuit_point" +topic_state: "state" +topic_delaunay: "/delaunay_detector/simplices" +topic_accel: "/accel_control/recta" +frame: 'fssim/vehicle/cog' diff --git a/src/common/visualization/launch/visualization.launch b/src/common/visualization/launch/visualization.launch new file mode 100644 index 00000000..b15d139a --- /dev/null +++ b/src/common/visualization/launch/visualization.launch @@ -0,0 +1,11 @@ + + + + + + + + + + diff --git a/src/common/visualization/package.xml b/src/common/visualization/package.xml new file mode 100644 index 00000000..c78738c6 --- /dev/null +++ b/src/common/visualization/package.xml @@ -0,0 +1,62 @@ + + + visualization + 0.0.0 + The visualization package + + + + + mariano + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + rospy + rospy + + + + + + + + diff --git a/src/common/visualization/rviz/interface.rviz b/src/common/visualization/rviz/interface.rviz new file mode 100644 index 00000000..9aa043b1 --- /dev/null +++ b/src/common/visualization/rviz/interface.rviz @@ -0,0 +1,222 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 512 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10000 + Reference Frame: + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /visualization_cones + Name: Detected cones + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/Camera + Enabled: false + Image Rendering: background and overlay + Image Topic: /visualization_camera + Name: Camera 1 + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + Visibility: + Camera 2: true + Detected cones: true + Grid: true + Imu: true + Orientation: true + Path: true + Pursuit point: true + Value: true + Zoom Factor: 1 + - Class: rviz/Camera + Enabled: true + Image Rendering: background and overlay + Image Topic: "" + Name: Camera 2 + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + Visibility: + Camera 1: true + Detected cones: true + Grid: true + Imu: true + Orientation: true + Path: true + Pursuit point: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: false + History Length: 1 + Name: Imu + Queue Size: 10 + Topic: "" + Unreliable: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 0 + Enabled: true + Head Diameter: 0.10000000149011612 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 0; 0; 0 + Pose Style: Arrows + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /visualization_path + Unreliable: false + Value: false + - Class: rviz/Marker + Enabled: false + Marker Topic: /visualization_pursuit + Name: Pursuit point + Namespaces: + {} + Queue Size: 100 + Value: false + - Alpha: 1 + Class: rviz/Axes + Enabled: false + Length: 1 + Name: Orientation + Radius: 0.10000000149011612 + Reference Frame: global_map + Show Trail: false + Value: false + Enabled: true + Global Options: + Background Color: 248; 248; 248 + Default Light: true + Fixed Frame: local_map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 11.380142211914062 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5103985667228699 + Target Frame: + Yaw: 3.2004010677337646 + Saved: ~ +Window Geometry: + Camera 1: + collapsed: false + Camera 2: + collapsed: false + Displays: + collapsed: false + Height: 731 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001560000023dfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000023d000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001000430061006d0065007200610020003200000001c8000000b20000001600fffffffb0000001000430061006d0065007200610020003100000001ad000000b20000001600ffffff000000010000010f0000023dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000023d000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005500000003efc0100000002fb0000000800540069006d0065010000000000000550000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000002df0000023d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1360 + X: 0 + Y: 0 diff --git a/src/common/visualization/src/car_broadcaster.py b/src/common/visualization/src/car_broadcaster.py new file mode 100755 index 00000000..68af55b5 --- /dev/null +++ b/src/common/visualization/src/car_broadcaster.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python3 +"""Script to initialize tree tf + +@author: Mariano del Río +@date: 20221104 +""" + +import rospy +from car_broadcaster_handle import CarBroadcasterHandle + + +def main(): + + rospy.init_node('car_broadcaster', anonymous=True) + CarBroadcasterHandle() + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/common/visualization/src/car_broadcaster_handle.py b/src/common/visualization/src/car_broadcaster_handle.py new file mode 100644 index 00000000..31d500ea --- /dev/null +++ b/src/common/visualization/src/car_broadcaster_handle.py @@ -0,0 +1,44 @@ +"""Script to add car reference system to tree tf + +@author: Mariano del Río +@date: 20220804 +""" + +from common_msgs.msg import CarState +import geometry_msgs.msg + +import rospy +import tf2_ros +import tf_conversions + + +class CarBroadcasterHandle(): + + def __init__(self): + + self.br = tf2_ros.TransformBroadcaster() + self.t = geometry_msgs.msg.TransformStamped() + self.t.header.frame_id = "global_map" + self.t.child_frame_id = "local_map" + + self.subscribeToTopics() + + def subscribeToTopics(self): + topic_state = rospy.get_param("/interface/topic_state") + rospy.Subscriber(topic_state, CarState, self.transformState) + + def transformState(self, msg): + + # Position is zero due to local system + self.t.header.stamp = rospy.Time.now() + self.t.transform.translation.x = 0 + self.t.transform.translation.y = 0 + self.t.transform.translation.z = 0 + + q = tf_conversions.transformations.quaternion_from_euler(0.0, 0.0, msg.yaw) + self.t.transform.rotation.x = q[0] + self.t.transform.rotation.y = q[1] + self.t.transform.rotation.z = q[2] + self.t.transform.rotation.w = q[3] + + self.br.sendTransform(self.t) # Send transformation diff --git a/src/common/visualization/src/interface_handle.py b/src/common/visualization/src/interface_handle.py new file mode 100644 index 00000000..c69f5296 --- /dev/null +++ b/src/common/visualization/src/interface_handle.py @@ -0,0 +1,195 @@ +"""Script to send data to RVIZ Interface + +@author: Mariano del Río +@date: 20221019 +""" +from itertools import combinations + +from common_msgs.msg import Trajectory, Triangulation +from geometry_msgs.msg import PoseStamped +from visualization_msgs.msg import Marker, MarkerArray +from nav_msgs.msg import Path +from geometry_msgs.msg import Point + +import rospy + + +class InterfaceHandle(): + + def __init__(self): + self.pub = None + self.pub2 = None + self.pub3 = None + self.cones = [] + self.frame = rospy.get_param("/interface/frame") + self.publish_topics() + self.subscribe_topics() + + def subscribe_topics(self): + # map_topic = rospy.get_param("/interface/topic_map") + # rospy.Subscriber(map_topic, Map, self.read_map) + + topic_route = rospy.get_param("/interface/topic_route") + rospy.Subscriber(topic_route, Trajectory, self.read_route) + + topic_pursuit = rospy.get_param("/interface/topic_pursuit") + rospy.Subscriber(topic_pursuit, Point, self.read_pursuit_point) + + topic_delaunay = rospy.get_param("/interface/topic_delaunay") + rospy.Subscriber(topic_delaunay, Triangulation, self.delaunay_callback) + + topic_accel = rospy.get_param("/interface/topic_accel") + rospy.Subscriber(topic_accel,Point,callback=self.accel_callback,queue_size=10) + + def publish_topics(self): + # self.pub = rospy.Publisher("visualization_cones", MarkerArray, queue_size=1) + self.pub2 = rospy.Publisher("visualization_path", Marker, queue_size=1) + self.pub3 = rospy.Publisher("visualization_pursuit", Marker, queue_size=1) + self.delaunay_pub = rospy.Publisher("visualization_delaunay", Marker, queue_size=1) + self.pub_accel = rospy.Publisher('visualization_accel',Marker,queue_size=10) + + + + def accel_callback(self, msg: Point): + a = msg.x + b = msg.y + ruta = [[0,b],[150,150*a+b]] + + + marker = Marker() + marker.header.frame_id = self.frame + marker.header.stamp = rospy.Time().now() + marker.id = 102 + marker.type = Marker.LINE_STRIP + marker.action = Marker.ADD + marker.scale.x = 0.2 + marker.color.r = 1 + marker.color.a = 1.0 + marker.points = [Point(p[0], p[1], 0.0) for p in ruta] + self.pub_accel.publish(marker) + + def create_marker(self, px, py, c, i): + marker = Marker() + marker.header.frame_id = self.frame + marker.header.stamp = rospy.Time().now() + + marker.ns = "cone" + marker.id = i + marker.type = Marker.CYLINDER + marker.action = Marker.MODIFY + + marker.pose.position.x = px + marker.pose.position.y = py + marker.pose.position.z = 0 + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = 0.0 + marker.pose.orientation.w = 1.0 + marker.scale.x = 0.3 + marker.scale.y = 0.3 + marker.scale.z = 0.3 + + if c == 'b': + marker.color.r = 0.0 + marker.color.g = 0.0 + marker.color.b = 255 + marker.color.a = 1.0 + elif c == 'y': + marker.color.r = 255 + marker.color.g = 255 + marker.color.b = 0.0 + marker.color.a = 1.0 + elif c == 'o': + marker.color.r = 180 + marker.color.g = 180 + marker.color.b = 0.0 + marker.color.a = 1.0 + + marker.lifetime = rospy.Duration() + return marker + + + + def read_route(self, msg): + data = msg.trajectory # List of points + points = [[p.x, p.y] for p in data] + self.send_route(points) + + def send_route(self, points): + path_marker = Marker() + path_marker.header.frame_id = self.frame + path_marker.ns = 'delaunay' + path_marker.header.stamp = rospy.Time.now() + + path_marker.id = 1 + path_marker.type = Marker.LINE_STRIP + path_marker.action = Marker.MODIFY + path_marker.scale.x = 0.1 + path_marker.color.a = 1.0 + path_marker.color.r = 1.0 + + path_marker.points = list() + for p in points: + point = Point() + point.x = p[0] + point.y = p[1] + path_marker.points.append(point) + + self.pub2.publish(path_marker) + + + + def read_pursuit_point(self, msg): + marker = Marker() + marker.header.frame_id = self.frame + marker.header.stamp = rospy.Time().now() + + marker.ns = "pursuit" + marker.id = 0 + marker.type = Marker.SPHERE + marker.action = Marker.MODIFY + + marker.pose.position.x = msg.x + marker.pose.position.y = msg.y + marker.pose.position.z = 0 + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = 0.0 + marker.pose.orientation.w = 1.0 + marker.scale.x = 0.3 + marker.scale.y = 0.3 + marker.scale.z = 0.3 + + marker.color.r = 255 + marker.color.g = 0.0 + marker.color.b = 0.0 + marker.color.a = 1.0 + + marker.lifetime = rospy.Duration() + self.pub3.publish(marker) + + + + def delaunay_callback(self, triang): + marker = Marker() + marker.header.frame_id = self.frame + marker.header.stamp = rospy.Time.now() + marker.ns = 'delaunay' + marker.id = 0 + marker.type = Marker.LINE_LIST + marker.action = Marker.MODIFY + marker.scale.x = 0.1 + marker.color.a = 1.0 + marker.color.g = 1.0 + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = 0.0 + marker.pose.orientation.w = 1.0 + + marker.points = list() + for s in triang.simplices: + for p, q in combinations(s.simplex, 2): + marker.points.append(p) + marker.points.append(q) + + self.delaunay_pub.publish(marker) diff --git a/src/common/visualization/src/main_interface.py b/src/common/visualization/src/main_interface.py new file mode 100755 index 00000000..9c10d4f3 --- /dev/null +++ b/src/common/visualization/src/main_interface.py @@ -0,0 +1,22 @@ +#!/usr/bin/env python3 +"""Script to initialize interface node + +@author: Mariano del Río +@date: 20221019 +""" +import rospy +from interface_handle import InterfaceHandle + + +def main(): + + rospy.init_node('interface', anonymous=True) + InterfaceHandle() + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/control/accel_control/CMakeLists.txt b/src/control/accel_control/CMakeLists.txt new file mode 100644 index 00000000..84001d9a --- /dev/null +++ b/src/control/accel_control/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(accel_control) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy +) +catkin_package( + DEPENDS common_msgs +) +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES planning +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/planning.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/planning_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_planning.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/control/accel_control/config/accel_control.yaml b/src/control/accel_control/config/accel_control.yaml new file mode 100644 index 00000000..842dd896 --- /dev/null +++ b/src/control/accel_control/config/accel_control.yaml @@ -0,0 +1,17 @@ +KP: 43.87 +KI: 1.29 +KD: 0.0 +target: 10 +pendiente: 4.0 +track_length: 75 + +lqr_dist: 1.0 +lqr_yaw: 25.0 +lqr_beta: 0.0 +lqr_r: 3.0 + +perception_topic: "/perception_map" +global_frame: "ini" +car_frame: "body" +slam: "marrano" + diff --git a/src/control/accel_control/launch/accel_control.launch b/src/control/accel_control/launch/accel_control.launch new file mode 100644 index 00000000..72a2bf53 --- /dev/null +++ b/src/control/accel_control/launch/accel_control.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/control/accel_control/package.xml b/src/control/accel_control/package.xml new file mode 100644 index 00000000..64e50fc3 --- /dev/null +++ b/src/control/accel_control/package.xml @@ -0,0 +1,44 @@ + + + accel_control + 0.0.0 + Acceleration Localization package + + ignacio + + + TODO + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + rospy + rospy + + + + + + + + diff --git a/src/control/accel_control/src/NO_USAR_ebs_test_control.py b/src/control/accel_control/src/NO_USAR_ebs_test_control.py new file mode 100644 index 00000000..12db93ac --- /dev/null +++ b/src/control/accel_control/src/NO_USAR_ebs_test_control.py @@ -0,0 +1,165 @@ +""" +Script to perform acceleration control based on Álvaro's localization + +@Author: Ignacio Sánchez Isidro +@Date: 20220524 +""" + +# Python libs +import numpy as np +import rospy +import math +import time +import tf2_ros +import tf.transformations as tf + +# ROS msgs +from common_msgs.msg import Controls, CarState +from visualization_msgs.msg import Marker +from sensor_msgs.msg import PointCloud2 +from std_msgs.msg import Float32,Bool,Int16 +from geometry_msgs.msg import Point + +from accel_localization import AccelLocalization + +KP = rospy.get_param('/accel_control/KP') +KI = rospy.get_param('/accel_control/KI') +KD = rospy.get_param('/accel_control/KD') +TARGET = rospy.get_param('/accel_control/target') +TRACK_LENGTH = rospy.get_param('/accel_control/track_length') +PENDIENTE = rospy.get_param('/accel_control/pendiente') +LQR_PARAMS = np.array([rospy.get_param('/accel_control/lqr_dist'), + rospy.get_param('/accel_control/lqr_yaw'), + rospy.get_param('/accel_control/lqr_beta'), + rospy.get_param('/accel_control/lqr_r')],np.float64) +perception_topic = rospy.get_param('/accel_control/perception_topic') + + +class EBSTestControl(): + + def __init__(self): + + self.accel_localizator = AccelLocalization() + + ### Inicializaciones ### + self.start_time = 0 + self.steer = 0 + self.acc = 0 + self.speed = 0 + self.avg_speed = 0.0001 + self.i = 0 + self.braking = False + self.a_media = 0 + self.b_media = 0 + self.integral = 0 + self.prev_t = time.time() + self.prev_err = 0 + self.r = 0 + self.ebs_opened = False + + ### Publicadores y suscriptores ### + self.cmd_publisher = rospy.Publisher('/controls_pp', Controls, queue_size=1) + self.braking_publisher = rospy.Publisher('/braking', Bool, queue_size=10) + self.pub_AS_status = rospy.Publisher('can/AS_status', Int16, queue_size=10) + self.recta_publisher = rospy.Publisher("/accel_control/recta", Point, queue_size=10) + rospy.Subscriber(perception_topic, PointCloud2, self.update_route, queue_size=10) + rospy.Subscriber('/car_state/state', CarState, self.update_state, queue_size=1) + + + def update_state(self, msg: CarState): + if self.ebs_opened: + emergency_msg = Int16() + emergency_msg.data = 4 + self.pub_AS_status.publish(emergency_msg) + + return + + self.speed = math.hypot(msg.vx,msg.vy) + + # if self.speed > TARGET: + # emergency_msg = Int16() + # emergency_msg.data = 4 + # self.pub_AS_status.publish(emergency_msg) + # self.ebs_opened=True + # self.acc = 0 + # self.publish_cmd() + + if self.start_time == 0 and self.speed > 0.1: + self.start_time = time.time() + self.avg_speed = 0.0001 + self.i=0 + + self.i += 1 + self.avg_speed = (self.avg_speed*(self.i-1) + self.speed)/self.i + + if self.start_time!=0 and (self.braking or (time.time()-self.start_time > TRACK_LENGTH/self.avg_speed)): + self.braking = True + braking_msg = Bool() + braking_msg.data = True + self.braking_publisher.publish(braking_msg) + self.acc=0 + self.publish_cmd() + else: + self.acc = self.get_acc() + self.publish_cmd() + + + #def update_route(self, msg: PointCloud2): + # self.steer = 0 + + + def get_acc(self): + error = self.get_target() - self.speed + + dt=time.time()-self.prev_t + if self.speed > 0.1: + self.integral += error*dt + derivative = (error-self.prev_err)/dt + + self.prev_t = time.time() + self.prev_err = error + + cmd = KP*error + KI*self.integral + KD*derivative + + # escalate to max torque + return max(min(cmd/230, 1),-1) + + + def publish_cmd(self): + controls = Controls() + controls.steering = self.steer + controls.accelerator = self.acc + self.cmd_publisher.publish(controls) + + def get_target(self): + t = time.time() - self.start_time + return min(t*PENDIENTE+TARGET/10, TARGET) + + + def update_route(self, msg: PointCloud2): + try: + a,b = self.accel_localizator.get_route(msg) + if abs(a) < 0.5 and abs(b) < 2: + self.a_media = self.a_media*0.7 + a*0.3 + self.b_media = self.b_media*0.7 + b*0.3 + else: + a,b = self.a_media, self.b_media + except Exception as e: + a,b = self.a_media, self.b_media + rospy.logwarn(e) + + self.steer = self.get_steer(a, b) + msg = Point() + msg.x = a + msg.y = b + self.recta_publisher.publish(msg) + + def get_steer(self, a, b): + dist = -b/np.sqrt(a**2 + 1) # Distancia del coche a la trayectoria + yaw = - math.atan(a) # Ángulo entre la trayectoria y el coche + beta = 0 + + w = np.array([dist, yaw, beta, self.r], np.float64) + steer = -np.dot(LQR_PARAMS, w) # u = -K*w + + return max(min(steer, 20),-20) diff --git a/src/control/accel_control/src/accel_control.py b/src/control/accel_control/src/accel_control.py new file mode 100644 index 00000000..1da146b9 --- /dev/null +++ b/src/control/accel_control/src/accel_control.py @@ -0,0 +1,161 @@ +""" +Script to perform acceleration control based on Álvaro's localization + +@Author: Ignacio Sánchez Isidro +@Date: 20220524 +""" + +# Python libs +import numpy as np +import rospy +import math +import time +import tf2_ros +import tf.transformations as tf + +# ROS msgs +from common_msgs.msg import Controls, CarState +from visualization_msgs.msg import Marker +from sensor_msgs.msg import PointCloud2 +from std_msgs.msg import Float32,Bool,Int16, Float32MultiArray +from geometry_msgs.msg import Point + +from accel_localization import AccelLocalization + +KP = rospy.get_param('/accel_control/KP') +KI = rospy.get_param('/accel_control/KI') +KD = rospy.get_param('/accel_control/KD') +TARGET = rospy.get_param('/accel_control/target') +PENDIENTE = rospy.get_param('/accel_control/pendiente') +TRACK_LENGTH = rospy.get_param('/accel_control/track_length') +LQR_PARAMS = np.array([rospy.get_param('/accel_control/lqr_dist'), + rospy.get_param('/accel_control/lqr_yaw'), + rospy.get_param('/accel_control/lqr_beta'), + rospy.get_param('/accel_control/lqr_r')],np.float64) +perception_topic = rospy.get_param('/accel_control/perception_topic') + + +class AccelControl(): + + def __init__(self): + + self.accel_localizator = AccelLocalization() + + ### Inicializaciones ### + self.start_time = 0 + self.steer = 0 + self.acc = 0 + self.speed = 0 + self.yaw_car = 0 + self.avg_speed = 0.0001 + self.i = 0 + self.braking = False + self.a_media = 0 + self.b_media = 0 + self.prev_t = time.time() + self.prev_err = 0 + self.integral = 0 + self.r = 0 + + ### Publicadores y suscriptores ### + self.cmd_publisher = rospy.Publisher('/controls_pp', Controls, queue_size=1) + self.braking_publisher = rospy.Publisher('/braking', Bool, queue_size=10) + self.recta_publisher = rospy.Publisher("/accel_control/recta", Point, queue_size=10) + self.target_speed_pub = rospy.Publisher('/target_speed', Float32, queue_size=10) + rospy.Subscriber(perception_topic, PointCloud2, self.update_route, queue_size=10) + rospy.Subscriber('/car_state/state', CarState, self.update_state, queue_size=1) + self.phi_dist_pub = rospy.Publisher('/phi_dist', Float32MultiArray, queue_size=1) + + def update_state(self, msg: CarState): + self.speed = math.hypot(msg.vx,msg.vy) + self.yaw_car = msg.yaw + self.r = msg.r + + if self.start_time == 0 and self.speed > 0.1: + self.start_time = time.time() + self.avg_speed = 0.0001 + self.i=0 + + self.i += 1 + self.avg_speed = (self.avg_speed*(self.i-1) + self.speed)/self.i + + if self.start_time!=0 and (self.braking or (time.time()-self.start_time > TRACK_LENGTH/self.avg_speed)): + self.braking = True + braking_msg = Bool() + braking_msg.data = True + self.braking_publisher.publish(braking_msg) + self.acc=0 + self.publish_cmd() + else: + self.acc = self.get_acc() + self.publish_cmd() + + + def update_route(self, msg: PointCloud2): + try: + a,b = self.accel_localizator.get_route(msg) + if abs(a) < 0.5 and abs(b) < 2: + self.a_media = self.a_media*0.7 + a*0.3 + self.b_media = self.b_media*0.7 + b*0.3 + else: + a,b = self.a_media, self.b_media + except Exception as e: + a,b = self.a_media, self.b_media + rospy.logwarn(e) + + self.steer = self.get_steer(a, b) + msg = Point() + msg.x = a + msg.y = b + self.recta_publisher.publish(msg) + + + def get_steer(self, a, b): + dist = -b/np.sqrt(a**2 + 1) # Distancia del coche a la trayectoria + yaw = - math.atan(a) # Ángulo entre la trayectoria y el coche + beta = 0 + + phi_dist_msg = Float32MultiArray() + phi_dist_msg.data.append(yaw) + phi_dist_msg.data.append(dist) + self.phi_dist_pub.publish(phi_dist_msg) + + w = np.array([dist, yaw, beta, self.r], np.float64) + steer = -np.dot(LQR_PARAMS, w) # u = -K*w + + return max(min(steer, 20),-20) + + + def get_acc(self): + error = self.get_target() - self.speed + + dt=time.time()-self.prev_t + if self.speed>0.1: + self.integral += error*dt + derivative = (error-self.prev_err)/dt + + self.prev_t = time.time() + self.prev_err = error + + cmd = KP*error + KI*self.integral + KD*derivative + + return max(min(cmd/230, 1),-1) + + + def publish_cmd(self): + controls = Controls() + controls.steering = self.steer + controls.accelerator = self.acc + self.cmd_publisher.publish(controls) + + + def get_target(self): + t = time.time() - self.start_time + target_speed = min(t*PENDIENTE+TARGET/10, TARGET) + + if(self.start_time>0 and not self.braking): + target_msg = Float32() + target_msg.data = target_speed + self.target_speed_pub.publish(target_msg) + + return target_speed diff --git a/src/control/accel_control/src/accel_localization.py b/src/control/accel_control/src/accel_localization.py new file mode 100644 index 00000000..f6c286e6 --- /dev/null +++ b/src/control/accel_control/src/accel_localization.py @@ -0,0 +1,73 @@ +#!/usr/bin/env python3 + +import rospy +import numpy as np +from sensor_msgs import point_cloud2 +import itertools +from sensor_msgs.msg import PointCloud2 +import random +import tf2_ros +import tf2_sensor_msgs.tf2_sensor_msgs as tf2_sensor_msgs + + +global_frame = rospy.get_param('/accel_control/global_frame') +car_frame = rospy.get_param('/accel_control/car_frame') +slam = rospy.get_param('/accel_control/slam') + +class AccelLocalization(): + + def __init__(self): + self.ransac_threshold = 0.2 + self.max_iterations = 500 + self.tf_buffer = tf2_ros.Buffer() + self.listener = tf2_ros.TransformListener(self.tf_buffer) + + def get_route(self, msg: PointCloud2): + if(slam!="none"): + trans=self.tf_buffer.lookup_transform(car_frame, global_frame, rospy.Time(0)) + trans_msg = tf2_sensor_msgs.do_transform_cloud(msg,transform=trans) + cones_all = point_cloud2.read_points(trans_msg, field_names=("x", "y", "z","color", "score"), skip_nans=True) + cones = [[c[0],c[1]] for c in cones_all if c[0]>-5] + else: + cones_all = point_cloud2.read_points(msg, field_names=("x", "y", "z","color", "score"), skip_nans=True) + cones = [[c[0],c[1]] for c in cones_all] + + + if len(cones)<2: + raise ValueError("1 cono") + elif len(cones)==2: + raise ValueError("2 conos") + + max_inliers = 0 + best_coef = None + + for _ in range(self.max_iterations): + i,j,k = random.choices(range(len(cones)),k=3) + c1=cones[i] + c2=cones[j] + c3=cones[k] + + if abs(c1[0]-c2[0])<0.1: # checkea que los conos estén en x distintas + continue + + if abs(c1[1]-c3[1])<0.1 and abs(c2[1]-c3[1])<0.1: # checkea que los conos no sean colineales + continue + else: + a = (c2[1]-c1[1])/(c2[0]-c1[0]) + b = c1[1] - c1[0]*a + b2 = c3[1]-a*c3[0] + + inliers=0 + for c in cones: + #la distacia es la menor entre la distancia a ambas rectas + d1 = np.abs(a*c[0] + b - c[1])/np.sqrt(a**2 + 1) + d2 = np.abs(a*c[0] + b2 - c[1])/np.sqrt(a**2 + 1) + if min(d1,d2)max_inliers and abs(a) + + + + diff --git a/src/control/control_meta/missions/autox.launch b/src/control/control_meta/missions/autox.launch new file mode 100644 index 00000000..8dae0e91 --- /dev/null +++ b/src/control/control_meta/missions/autox.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/control/control_meta/missions/ebs_test.launch b/src/control/control_meta/missions/ebs_test.launch new file mode 100644 index 00000000..8dae0e91 --- /dev/null +++ b/src/control/control_meta/missions/ebs_test.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/control/control_meta/missions/scruti.launch b/src/control/control_meta/missions/scruti.launch new file mode 100644 index 00000000..8dae0e91 --- /dev/null +++ b/src/control/control_meta/missions/scruti.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/control/control_meta/missions/sim_acceleration.launch b/src/control/control_meta/missions/sim_acceleration.launch new file mode 100644 index 00000000..8dae0e91 --- /dev/null +++ b/src/control/control_meta/missions/sim_acceleration.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/control/control_meta/missions/sim_autox.launch b/src/control/control_meta/missions/sim_autox.launch new file mode 100644 index 00000000..8dae0e91 --- /dev/null +++ b/src/control/control_meta/missions/sim_autox.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/control/control_meta/missions/sim_skidpad.launch b/src/control/control_meta/missions/sim_skidpad.launch new file mode 100644 index 00000000..8dae0e91 --- /dev/null +++ b/src/control/control_meta/missions/sim_skidpad.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/control/control_meta/missions/sim_trackdrive.launch b/src/control/control_meta/missions/sim_trackdrive.launch new file mode 100644 index 00000000..8dae0e91 --- /dev/null +++ b/src/control/control_meta/missions/sim_trackdrive.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/control/control_meta/missions/skidpad.launch b/src/control/control_meta/missions/skidpad.launch new file mode 100644 index 00000000..8dae0e91 --- /dev/null +++ b/src/control/control_meta/missions/skidpad.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/control/control_meta/missions/trackdrive.launch b/src/control/control_meta/missions/trackdrive.launch new file mode 100644 index 00000000..8dae0e91 --- /dev/null +++ b/src/control/control_meta/missions/trackdrive.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/control/control_meta/package.xml b/src/control/control_meta/package.xml new file mode 100644 index 00000000..b26c3bb6 --- /dev/null +++ b/src/control/control_meta/package.xml @@ -0,0 +1,19 @@ + + + control_meta + 0.0.0 + Package with all missions defined + + + Mariano + TODO + Mariano + + + catkin + rospy + rospy + rospy + + + diff --git a/src/control/controller/CMakeLists.txt b/src/control/controller/CMakeLists.txt new file mode 100644 index 00000000..81157971 --- /dev/null +++ b/src/control/controller/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(controller) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES controller +# CATKIN_DEPENDS geometry_msgs rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/controller.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/controller_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_controller.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/control/controller/config/controller.yaml b/src/control/controller/config/controller.yaml new file mode 100644 index 00000000..cdd3c551 --- /dev/null +++ b/src/control/controller/config/controller.yaml @@ -0,0 +1,19 @@ +# Topics names of controller node +topic_controller_control: '/controls' +topic_pp_control: 'controls_pp' +topic_mpc_control: 'controls_mpc' +topic_stanley_control: 'controls_stanley' + +# Type of control: 'PP' or 'PP-STANLEY' +controller_mode: 'PP' + +# for braking +braking_kp: 0.5 +deceleration: 5 +min_braking_cmd: -0.2 + +# for accelerating +max_cmd: 1 +min_cmd: 0 +min_vel: 0.5 +amplitude: 20 \ No newline at end of file diff --git a/src/control/controller/launch/controller.launch b/src/control/controller/launch/controller.launch new file mode 100644 index 00000000..e9a902e5 --- /dev/null +++ b/src/control/controller/launch/controller.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/control/controller/package.xml b/src/control/controller/package.xml new file mode 100644 index 00000000..c4860caa --- /dev/null +++ b/src/control/controller/package.xml @@ -0,0 +1,68 @@ + + + controller + 0.0.0 + The controller package + + + + + alvaro + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + rospy + std_msgs + geometry_msgs + rospy + std_msgs + geometry_msgs + rospy + std_msgs + + + + + + + + diff --git a/src/control/controller/src/controller.py b/src/control/controller/src/controller.py new file mode 100755 index 00000000..117b33ec --- /dev/null +++ b/src/control/controller/src/controller.py @@ -0,0 +1,153 @@ +#!/usr/bin/env python3 + +import rospy +from common_msgs.msg import Controls, CarState +from std_msgs.msg import Int16, Float32, Bool +import numpy as np +import time +import math + + +# for braking +BRAKING_KP = rospy.get_param('/controller/braking_kp') +DECELERATION = rospy.get_param('/controller/deceleration') +MIN_BRAKING_CMD = rospy.get_param('/controller/min_braking_cmd') + +# for accelerating +MAX_CMD = rospy.get_param('/controller/max_cmd') +MIN_CMD = rospy.get_param('/controller/min_cmd') +MIN_VEL = rospy.get_param('/controller/min_vel') +AMPLITUDE = rospy.get_param('/controller/amplitude') + + + +class Controller(): + + def __init__(self): + + self.controller_mode = rospy.get_param('/controller/controller_mode') + topic_controller_control = rospy.get_param('/controller/topic_controller_control') + topic_pp_control = rospy.get_param('/controller/topic_pp_control') + topic_stanley_control = rospy.get_param('/controller/topic_stanley_control') + + + self.braking_target = -1 + self.braking_ini = 0 + self.AS_status = 0 + self.v = 0 + self.lap_count = 0 + self.brake_light = False + + self.pub_cmd = rospy.Publisher(topic_controller_control, Controls, queue_size=1) + self.pub_AS_status = rospy.Publisher('can/AS_status', Int16, queue_size=10) + self.brake_light_pub = rospy.Publisher('/brake_light', Int16, queue_size=10) + self.target_speed_pub = rospy.Publisher('/target_speed', Float32, queue_size=10) + + rospy.Subscriber('/can/AS_status', Int16, self.update_AS_status, queue_size=1) + rospy.Subscriber('/car_state/state', CarState, self.state_callback,queue_size=1) + rospy.Subscriber(topic_pp_control, Controls, self.send_controllers_pp, queue_size=1) + rospy.Subscriber(topic_stanley_control, Controls, self.send_controllers_stanley, queue_size=1) + rospy.Subscriber('/braking',Bool, self.start_braking, queue_size=10) + rospy.Subscriber('/lap_counter', Int16, self.update_lap, queue_size=10) + + def update_AS_status(self, msg: Int16): + self.AS_status = msg.data + + def update_lap(self, msg: Int16): + self.lap_count = msg.data + + def send_controllers_pp(self, msg: Controls): + self.steer = msg.steering + if self.AS_status == 0x02 and (self.controller_mode=='PP' or (self.lap_count==0 and self.controller_mode=='PP-STANLEY')): + #limit command + msg.accelerator = min(max(msg.accelerator,MIN_CMD),MAX_CMD) + + if self.v < MIN_VEL: + msg.steering = 0 + else: + msg.steering = min(max(msg.steering,-AMPLITUDE),AMPLITUDE) + + # rospy.logerr("PURE PURSUIT") + self.pub_cmd.publish(msg) + + if msg.accelerator < -0.05 and self.brake_light == False: + brake_light_msg = Int16() + brake_light_msg.data = 1 + self.brake_light = True + self.brake_light_pub.publish(brake_light_msg) + elif msg.accelerator > -0.05 and self.brake_light == True: + brake_light_msg = Int16() + brake_light_msg.data = 0 + self.brake_light = False + self.brake_light_pub.publish(brake_light_msg) + + + def send_controllers_stanley(self, msg): + self.steer = msg.steering + if self.AS_status == 0x02 and (self.controller_mode=='PP-STANLEY' and self.lap_count>0): + # limit command + msg.accelerator = min(max(msg.accelerator,MIN_CMD),MAX_CMD) + + if self.v < MIN_VEL: + msg.steering = 0 + else: + msg.steering = min(max(msg.steering,-AMPLITUDE),AMPLITUDE) + + # rospy.logwarn("STANLEY") + self.pub_cmd.publish(msg) + + def start_braking(self, msg: Bool): + if msg.data and self.controller_mode!='BRAKING': + self.controller_mode = 'BRAKING' + self.braking_time = time.time() + + def state_callback(self, msg:CarState): + self.v = math.hypot(msg.vx,msg.vy) + + if self.controller_mode == 'BRAKING': + if self.braking_target == -1: + self.braking_target = self.v + + elif self.braking_target > 0.5 or self.v > 0.5: + + self.braking_target = max(self.braking_target - DECELERATION*(time.time()-self.braking_time),0) + self.braking_time = time.time() + + error = self.braking_target - self.v + cmd = BRAKING_KP*error + + control_msg = Controls() + control_msg.accelerator = min(max(cmd,MIN_BRAKING_CMD),0) + control_msg.steering = self.steer + + self.pub_cmd.publish(control_msg) + + if control_msg.accelerator < -0.05 and self.brake_light == False: + brake_light_msg = Int16() + brake_light_msg.data = 1 + self.brake_light = True + self.brake_light_pub.publish(brake_light_msg) + elif control_msg.accelerator > -0.05 and self.brake_light == True: + brake_light_msg = Int16() + brake_light_msg.data = 0 + self.brake_light = False + self.brake_light_pub.publish(brake_light_msg) + + target_msg = Float32() + target_msg.data = self.braking_target + self.target_speed_pub.publish(target_msg) + + else: + control_msg = Controls() + control_msg.accelerator = 0 + control_msg.steering = self.steer + + self.pub_cmd.publish(control_msg) + + self.AS_status = 3 + + finished_msg = Int16() + finished_msg.data = 3 + self.pub_AS_status.publish(finished_msg) + + diff --git a/src/control/controller/src/global_route_handle.py b/src/control/controller/src/global_route_handle.py new file mode 100644 index 00000000..a281a307 --- /dev/null +++ b/src/control/controller/src/global_route_handle.py @@ -0,0 +1,137 @@ +import rospy +from geometry_msgs.msg import Point +from common_msgs.msg import Trajectory, CarState +from visualization_msgs.msg import Marker,MarkerArray +from std_msgs.msg import Float32MultiArray +import numpy as np +from scipy.interpolate import splprep, splev +import time +import math + + +class GlobalRouteHandler(): + + def __init__(self): + + self.i = 0 + self.N = 1000 + + self.FIRST_LAP = True + self.t_first_lap = 0 + + self.sk_pub = rospy.Publisher('/controller/sk',Trajectory,queue_size=1) + self.i_phi_dist_msg = rospy.Publisher('/i_phi_dist', Float32MultiArray, queue_size=1) + self.pub_curva = rospy.Publisher('/mpc/curva', MarkerArray, queue_size=1) + + rospy.Subscriber('/delaunay/global_route',Trajectory,self.set_mpc_route,queue_size=1) + rospy.Subscriber('/car_state/state', CarState, self.update_state, queue_size=1) + + + + def update_state(self, msg:CarState): + if (not self.FIRST_LAP): + + rot = np.array([[math.cos(-msg.yaw),-math.sin(-msg.yaw)],[math.sin(-msg.yaw),math.cos(-msg.yaw)]]) + local_route = (self.route-np.array([msg.x,msg.y])) @ rot.T + + if self.i+self.N/10 < len(local_route): + # se halla el punto más cercano al eje delantero + dist = np.linalg.norm(local_route[self.i:self.i+int(self.N/10),:]-np.array([0.94,0]),axis=1) + self.i+=np.argmin(dist) + self.i = self.i%self.N + else: + dist1 = np.linalg.norm(local_route[self.i:,:]-np.array([0.94,0]),axis=1) + dist2 = np.linalg.norm(local_route[:int(self.N/10)-self.i,:]-np.array([0.94,0]),axis=1) + dist = np.hstack([dist1,dist2]) + self.i+=np.argmin(dist) + self.i = self.i%self.N + signo_d = -np.sign(local_route[self.i,1]) + + d_min=np.min(dist)*signo_d + dist = d_min+0.0001 + + phi = -np.arctan2(local_route[self.i+1,1]-local_route[self.i,1],local_route[self.i+1,0]-local_route[self.i,0]) + + i_phi_dist_msg = Float32MultiArray() + i_phi_dist_msg.data.append(self.i) + i_phi_dist_msg.data.append(phi) + i_phi_dist_msg.data.append(dist) + self.i_phi_dist_msg.publish(i_phi_dist_msg) + + + + + def set_mpc_route(self, msg:Trajectory): + if self.FIRST_LAP: + + r = np.array([[msg.trajectory[i].x,msg.trajectory[i].y] for i in range(0,len(msg.trajectory),2)]) + + tck, u = splprep(r.T, s=3, per=True) + u_new = np.linspace(u.min(), u.max(), self.N) + puntos_curva = np.array(splev(u_new, tck)) + + self.route = puntos_curva.T + + acum=0 + s=[] + s.append(0) + xp = [] + yp = [] + for i in range(len(puntos_curva[0])-1): + p1=puntos_curva[:,i] + p2=puntos_curva[:,i+1] + xp.append(p2[0]-p1[0]) + yp.append(p2[1]-p1[1]) + acum+=np.sqrt((p1[0]-p2[0])**2+(p1[1]-p2[1])**2) + s.append(acum) + xp.append(xp[-1]) + yp.append(yp[-1]) + + + xpp=[] + ypp=[] + for i in range(len(xp)-1): + xpp.append(xp[i+1]-xp[i]) + ypp.append(yp[i+1]-yp[i]) + xpp.append(xpp[-1]) + ypp.append(xpp[-1]) + + k=[] + for i in range(len(xpp)): + if xp[i]!=yp[i]: + k.append((xp[i]*ypp[i] - xpp[i]*yp[i])/(xp[i]**2+yp[i]**2)**1.5) + else: + k.append(0) + + + + sk_msg = Trajectory() + sk_msg.trajectory = [Point(s[i],k[i],0) for i in range(len(s))] + + # self.subscribe_topics() + self.FIRST_LAP=False + self.t_first_lap = time.time() + + self.sk_pub.publish(sk_msg) + + curvas = MarkerArray() + curva = Marker() + curva.header.frame_id = "map" + curva.ns = 'mpc' + curva.id = 0 + curva.action = Marker.ADD + curva.type = Marker.LINE_STRIP + curva.points = [Point(p[0],p[1],0) for p in puntos_curva.T] + curva.color.r = 1 + curva.color.g = 0.5 + curva.color.a = 1 + curva.scale.x = 0.1 + curva.pose.orientation.x = 0.0 + curva.pose.orientation.y = 0.0 + curva.pose.orientation.z = 0.0 + curva.pose.orientation.w = 1.0 + curvas.markers.append(curva) + + self.pub_curva.publish(curvas) + + diff --git a/src/control/controller/src/main.py b/src/control/controller/src/main.py new file mode 100755 index 00000000..f2f9e592 --- /dev/null +++ b/src/control/controller/src/main.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python3 +"""Script to initialize interface node + +@author: Mariano del Río +@date: 20221019 +""" +import rospy +from controller import Controller +from global_route_handle import GlobalRouteHandler + + +def main(): + + rospy.init_node('controller', anonymous=True) + Controller() + GlobalRouteHandler() + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/control/mpc_control/CMakeLists.txt b/src/control/mpc_control/CMakeLists.txt new file mode 100644 index 00000000..ae7530aa --- /dev/null +++ b/src/control/mpc_control/CMakeLists.txt @@ -0,0 +1,71 @@ + +cmake_minimum_required(VERSION 2.8.3) +project(mpc_control) + +find_package(catkin_simple REQUIRED) + +catkin_simple() + +# activate c++ 11 +IF(CMAKE_COMPILER_IS_GNUCC) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") +ELSE() + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +ENDIF() + +# ARM NEON flags +if("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "armv7l") + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=armv7-a -mfpu=neon -mfloat-abi=hard -funsafe-math-optimizations") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=armv7-a -mfpu=neon -mfloat-abi=hard -funsafe-math-optimizations") + message("enabling ARM neon optimizations") +endif() + +# flags for speed (should already be enabled by default) +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra") +set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -g") +set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -fopenmp -O3") + +catkin_package( + DEPENDS common_msgs, fssim_common +) + +cs_add_library(utrilla_solver + externals/qpoases/SRC/Bounds.cpp + externals/qpoases/SRC/Constraints.cpp + externals/qpoases/SRC/CyclingManager.cpp + externals/qpoases/SRC/Indexlist.cpp + externals/qpoases/SRC/MessageHandling.cpp + externals/qpoases/SRC/QProblem.cpp + externals/qpoases/SRC/QProblemB.cpp + externals/qpoases/SRC/SubjectTo.cpp + externals/qpoases/SRC/Utils.cpp + externals/qpoases/SRC/EXTRAS/SolutionAnalysis.cpp + model/prueba_kin_export/acado_qpoases_interface.cpp + model/prueba_kin_export/acado_integrator.c + model/prueba_kin_export/acado_solver.c + model/prueba_kin_export/acado_auxiliary_functions.c) + +target_include_directories(utrilla_solver PUBLIC + model/prueba_kin_export/ + externals/qpoases + externals/qpoases/INCLUDE + externals/qpoases/SRC) + +cs_add_library(utrilla_wrapper + src/utrilla_wrapper.cpp) + +target_link_libraries(utrilla_wrapper + utrilla_solver) + +cs_add_executable(utrilla_node + src/utrilla_node.cpp) +target_link_libraries(utrilla_node + utrilla_wrapper + utrilla_solver) + + +# make an executable +cs_install() +cs_export() + + diff --git a/src/control/mpc_control/externals/qpoases/EXAMPLES/example1.cpp b/src/control/mpc_control/externals/qpoases/EXAMPLES/example1.cpp new file mode 100644 index 00000000..92b47fc9 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/EXAMPLES/example1.cpp @@ -0,0 +1,74 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file EXAMPLES/example1.cpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Very simple example for testing qpOASES (using QProblem class). + */ + + +#include + + +/** Example for qpOASES main function using the QProblem class. */ +int main( ) +{ + /* Setup data of first QP. */ + real_t H[2*2] = { 1.0, 0.0, 0.0, 0.5 }; + real_t A[1*2] = { 1.0, 1.0 }; + real_t g[2] = { 1.5, 1.0 }; + real_t lb[2] = { 0.5, -2.0 }; + real_t ub[2] = { 5.0, 2.0 }; + real_t lbA[1] = { -1.0 }; + real_t ubA[1] = { 2.0 }; + + /* Setup data of second QP. */ + real_t g_new[2] = { 1.0, 1.5 }; + real_t lb_new[2] = { 0.0, -1.0 }; + real_t ub_new[2] = { 5.0, -0.5 }; + real_t lbA_new[1] = { -2.0 }; + real_t ubA_new[1] = { 1.0 }; + + + /* Setting up QProblem object. */ + QProblem example( 2,1 ); + + /* Solve first QP. */ + int nWSR = 10; + example.init( H,g,A,lb,ub,lbA,ubA, nWSR,0 ); + + /* Solve second QP. */ + nWSR = 10; + example.hotstart( g_new,lb_new,ub_new,lbA_new,ubA_new, nWSR,0 ); + + return 0; +} + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/EXAMPLES/example1b.cpp b/src/control/mpc_control/externals/qpoases/EXAMPLES/example1b.cpp new file mode 100644 index 00000000..331f19d8 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/EXAMPLES/example1b.cpp @@ -0,0 +1,69 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file EXAMPLES/example1b.cpp + * \author Hans Joachim Ferreau + * \version 1.3 + * \date 2007-2008 + * + * Very simple example for testing qpOASES using the QProblemB class. + */ + + +#include + + +/** Example for qpOASES main function using the QProblemB class. */ +int main( ) +{ + /* Setup data of first QP. */ + real_t H[2*2] = { 1.0, 0.0, 0.0, 0.5 }; + real_t g[2] = { 1.5, 1.0 }; + real_t lb[2] = { 0.5, -2.0 }; + real_t ub[2] = { 5.0, 2.0 }; + + /* Setup data of second QP. */ + real_t g_new[2] = { 1.0, 1.5 }; + real_t lb_new[2] = { 0.0, -1.0 }; + real_t ub_new[2] = { 5.0, -0.5 }; + + + /* Setting up QProblemB object. */ + QProblemB example( 2 ); + + /* Solve first QP. */ + int nWSR = 10; + example.init( H,g,lb,ub, nWSR,0 ); + + /* Solve second QP. */ + nWSR = 10; + example.hotstart( g_new,lb_new,ub_new, nWSR,0 ); + + return 0; +} + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/INCLUDE/Bounds.hpp b/src/control/mpc_control/externals/qpoases/INCLUDE/Bounds.hpp new file mode 100644 index 00000000..1fbd28ab --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/INCLUDE/Bounds.hpp @@ -0,0 +1,189 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file INCLUDE/Bounds.hpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Declaration of the Bounds class designed to manage working sets of + * bounds within a QProblem. + */ + + +#ifndef QPOASES_BOUNDS_HPP +#define QPOASES_BOUNDS_HPP + + +#include + + + +/** This class manages working sets of bounds by storing + * index sets and other status information. + * + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + */ +class Bounds : public SubjectTo +{ + /* + * PUBLIC MEMBER FUNCTIONS + */ + public: + /** Default constructor. */ + Bounds( ); + + /** Copy constructor (deep copy). */ + Bounds( const Bounds& rhs /**< Rhs object. */ + ); + + /** Destructor. */ + ~Bounds( ); + + /** Assignment operator (deep copy). */ + Bounds& operator=( const Bounds& rhs /**< Rhs object. */ + ); + + + /** Pseudo-constructor takes the number of bounds. + * \return SUCCESSFUL_RETURN */ + returnValue init( int n /**< Number of bounds. */ + ); + + + /** Initially adds number of a new (i.e. not yet in the list) bound to + * given index set. + * \return SUCCESSFUL_RETURN \n + RET_SETUP_BOUND_FAILED \n + RET_INDEX_OUT_OF_BOUNDS \n + RET_INVALID_ARGUMENTS */ + returnValue setupBound( int _number, /**< Number of new bound. */ + SubjectToStatus _status /**< Status of new bound. */ + ); + + /** Initially adds all numbers of new (i.e. not yet in the list) bounds to + * to the index set of free bounds; the order depends on the SujectToType + * of each index. + * \return SUCCESSFUL_RETURN \n + RET_SETUP_BOUND_FAILED */ + returnValue setupAllFree( ); + + + /** Moves index of a bound from index list of fixed to that of free bounds. + * \return SUCCESSFUL_RETURN \n + RET_MOVING_BOUND_FAILED \n + RET_INDEX_OUT_OF_BOUNDS */ + returnValue moveFixedToFree( int _number /**< Number of bound to be freed. */ + ); + + /** Moves index of a bound from index list of free to that of fixed bounds. + * \return SUCCESSFUL_RETURN \n + RET_MOVING_BOUND_FAILED \n + RET_INDEX_OUT_OF_BOUNDS */ + returnValue moveFreeToFixed( int _number, /**< Number of bound to be fixed. */ + SubjectToStatus _status /**< Status of bound to be fixed. */ + ); + + /** Swaps the indices of two free bounds within the index set. + * \return SUCCESSFUL_RETURN \n + RET_SWAPINDEX_FAILED */ + returnValue swapFree( int number1, /**< Number of first constraint or bound. */ + int number2 /**< Number of second constraint or bound. */ + ); + + + /** Returns number of variables. + * \return Number of variables. */ + inline int getNV( ) const; + + /** Returns number of implicitly fixed variables. + * \return Number of implicitly fixed variables. */ + inline int getNFV( ) const; + + /** Returns number of bounded (but possibly free) variables. + * \return Number of bounded (but possibly free) variables. */ + inline int getNBV( ) const; + + /** Returns number of unbounded variables. + * \return Number of unbounded variables. */ + inline int getNUV( ) const; + + + /** Sets number of implicitly fixed variables. + * \return SUCCESSFUL_RETURN */ + inline returnValue setNFV( int n /**< Number of implicitly fixed variables. */ + ); + + /** Sets number of bounded (but possibly free) variables. + * \return SUCCESSFUL_RETURN */ + inline returnValue setNBV( int n /**< Number of bounded (but possibly free) variables. */ + ); + + /** Sets number of unbounded variables. + * \return SUCCESSFUL_RETURN */ + inline returnValue setNUV( int n /**< Number of unbounded variables */ + ); + + + /** Returns number of free variables. + * \return Number of free variables. */ + inline int getNFR( ); + + /** Returns number of fixed variables. + * \return Number of fixed variables. */ + inline int getNFX( ); + + + /** Returns a pointer to free variables index list. + * \return Pointer to free variables index list. */ + inline Indexlist* getFree( ); + + /** Returns a pointer to fixed variables index list. + * \return Pointer to fixed variables index list. */ + inline Indexlist* getFixed( ); + + + /* + * PROTECTED MEMBER VARIABLES + */ + protected: + int nV; /**< Number of variables (nV = nFV + nBV + nUV). */ + int nFV; /**< Number of implicitly fixed variables. */ + int nBV; /**< Number of bounded (but possibly free) variables. */ + int nUV; /**< Number of unbounded variables. */ + + Indexlist free; /**< Index list of free variables. */ + Indexlist fixed; /**< Index list of fixed variables. */ +}; + +#include + +#endif /* QPOASES_BOUNDS_HPP */ + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/INCLUDE/Constants.hpp b/src/control/mpc_control/externals/qpoases/INCLUDE/Constants.hpp new file mode 100644 index 00000000..8293fa51 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/INCLUDE/Constants.hpp @@ -0,0 +1,108 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file INCLUDE/Constants.hpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2008 + * + * Definition of all global constants. + */ + + +#ifndef QPOASES_CONSTANTS_HPP +#define QPOASES_CONSTANTS_HPP + +#ifndef QPOASES_CUSTOM_INTERFACE +#include "acado_qpoases_interface.hpp" +#else + #define XSTR(x) #x + #define STR(x) XSTR(x) + #include STR(QPOASES_CUSTOM_INTERFACE) +#endif + +/** Maximum number of variables within a QP formulation. + Note: this value has to be positive! */ +const int NVMAX = QPOASES_NVMAX; + +/** Maximum number of constraints within a QP formulation. + Note: this value has to be positive! */ +const int NCMAX = QPOASES_NCMAX; + +/** Redefinition of NCMAX used for memory allocation, to avoid zero sized arrays + and compiler errors. */ +const int NCMAX_ALLOC = (NCMAX == 0) ? 1 : NCMAX; + +/**< Maximum number of working set recalculations. + Note: this value has to be positive! */ +const int NWSRMAX = QPOASES_NWSRMAX; + +/** Desired KKT tolerance of QP solution; a warning RET_INACCURATE_SOLUTION is + * issued if this tolerance is not met. + * Note: this value has to be positive! */ +const real_t DESIREDACCURACY = (real_t) 1.0e-3; + +/** Critical KKT tolerance of QP solution; an error is issued if this + * tolerance is not met. + * Note: this value has to be positive! */ +const real_t CRITICALACCURACY = (real_t) 1.0e-2; + + + +/** Numerical value of machine precision (min eps, s.t. 1+eps > 1). + Note: this value has to be positive! */ +const real_t EPS = (real_t) QPOASES_EPS; + +/** Numerical value of zero (for situations in which it would be + * unreasonable to compare with 0.0). + * Note: this value has to be positive! */ +const real_t ZERO = (real_t) 1.0e-50; + +/** Numerical value of infinity (e.g. for non-existing bounds). + * Note: this value has to be positive! */ +const real_t INFTY = (real_t) 1.0e12; + + +/** Lower/upper (constraints') bound tolerance (an inequality constraint + * whose lower and upper bound differ by less than BOUNDTOL is regarded + * to be an equality constraint). + * Note: this value has to be positive! */ +const real_t BOUNDTOL = (real_t) 1.0e-10; + +/** Offset for relaxing (constraints') bounds at beginning of an initial homotopy. + * Note: this value has to be positive! */ +const real_t BOUNDRELAXATION = (real_t) 1.0e3; + + +/** Factor that determines physical lengths of index lists. + * Note: this value has to be greater than 1! */ +const int INDEXLISTFACTOR = 5; + + +#endif /* QPOASES_CONSTANTS_HPP */ + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/INCLUDE/Constraints.hpp b/src/control/mpc_control/externals/qpoases/INCLUDE/Constraints.hpp new file mode 100644 index 00000000..0b78747e --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/INCLUDE/Constraints.hpp @@ -0,0 +1,181 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file INCLUDE/Constraints.hpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Declaration of the Constraints class designed to manage working sets of + * constraints within a QProblem. + */ + + +#ifndef QPOASES_CONSTRAINTS_HPP +#define QPOASES_CONSTRAINTS_HPP + + +#include + + + +/** This class manages working sets of constraints by storing + * index sets and other status information. + * + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + */ +class Constraints : public SubjectTo +{ + /* + * PUBLIC MEMBER FUNCTIONS + */ + public: + /** Default constructor. */ + Constraints( ); + + /** Copy constructor (deep copy). */ + Constraints( const Constraints& rhs /**< Rhs object. */ + ); + + /** Destructor. */ + ~Constraints( ); + + /** Assignment operator (deep copy). */ + Constraints& operator=( const Constraints& rhs /**< Rhs object. */ + ); + + + /** Pseudo-constructor takes the number of constraints. + * \return SUCCESSFUL_RETURN */ + returnValue init( int n /**< Number of constraints. */ + ); + + + /** Initially adds number of a new (i.e. not yet in the list) constraint to + * a given index set. + * \return SUCCESSFUL_RETURN \n + RET_SETUP_CONSTRAINT_FAILED \n + RET_INDEX_OUT_OF_BOUNDS \n + RET_INVALID_ARGUMENTS */ + returnValue setupConstraint( int _number, /**< Number of new constraint. */ + SubjectToStatus _status /**< Status of new constraint. */ + ); + + /** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to + * to the index set of inactive constraints; the order depends on the SujectToType + * of each index. Only disabled constraints are added to index set of disabled constraints! + * \return SUCCESSFUL_RETURN \n + RET_SETUP_CONSTRAINT_FAILED */ + returnValue setupAllInactive( ); + + + /** Moves index of a constraint from index list of active to that of inactive constraints. + * \return SUCCESSFUL_RETURN \n + RET_MOVING_CONSTRAINT_FAILED */ + returnValue moveActiveToInactive( int _number /**< Number of constraint to become inactive. */ + ); + + /** Moves index of a constraint from index list of inactive to that of active constraints. + * \return SUCCESSFUL_RETURN \n + RET_MOVING_CONSTRAINT_FAILED */ + returnValue moveInactiveToActive( int _number, /**< Number of constraint to become active. */ + SubjectToStatus _status /**< Status of constraint to become active. */ + ); + + + /** Returns the number of constraints. + * \return Number of constraints. */ + inline int getNC( ) const; + + /** Returns the number of implicit equality constraints. + * \return Number of implicit equality constraints. */ + inline int getNEC( ) const; + + /** Returns the number of "real" inequality constraints. + * \return Number of "real" inequality constraints. */ + inline int getNIC( ) const; + + /** Returns the number of unbounded constraints (i.e. without any bounds). + * \return Number of unbounded constraints (i.e. without any bounds). */ + inline int getNUC( ) const; + + + /** Sets number of implicit equality constraints. + * \return SUCCESSFUL_RETURN */ + inline returnValue setNEC( int n /**< Number of implicit equality constraints. */ + ); + + /** Sets number of "real" inequality constraints. + * \return SUCCESSFUL_RETURN */ + inline returnValue setNIC( int n /**< Number of "real" inequality constraints. */ + ); + + /** Sets number of unbounded constraints (i.e. without any bounds). + * \return SUCCESSFUL_RETURN */ + inline returnValue setNUC( int n /**< Number of unbounded constraints (i.e. without any bounds). */ + ); + + + /** Returns the number of active constraints. + * \return Number of constraints. */ + inline int getNAC( ); + + /** Returns the number of inactive constraints. + * \return Number of constraints. */ + inline int getNIAC( ); + + + /** Returns a pointer to active constraints index list. + * \return Pointer to active constraints index list. */ + inline Indexlist* getActive( ); + + /** Returns a pointer to inactive constraints index list. + * \return Pointer to inactive constraints index list. */ + inline Indexlist* getInactive( ); + + + /* + * PROTECTED MEMBER VARIABLES + */ + protected: + int nC; /**< Number of constraints (nC = nEC + nIC + nUC). */ + int nEC; /**< Number of implicit equality constraints. */ + int nIC; /**< Number of "real" inequality constraints. */ + int nUC; /**< Number of unbounded constraints (i.e. without any bounds). */ + + Indexlist active; /**< Index list of active constraints. */ + Indexlist inactive; /**< Index list of inactive constraints. */ +}; + + +#include + +#endif /* QPOASES_CONSTRAINTS_HPP */ + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/INCLUDE/CyclingManager.hpp b/src/control/mpc_control/externals/qpoases/INCLUDE/CyclingManager.hpp new file mode 100644 index 00000000..9b5c064a --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/INCLUDE/CyclingManager.hpp @@ -0,0 +1,126 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file INCLUDE/CyclingManager.hpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Declaration of the CyclingManager class designed to detect + * and handle possible cycling during QP iterations. + */ + + +#ifndef QPOASES_CYCLINGMANAGER_HPP +#define QPOASES_CYCLINGMANAGER_HPP + + +#include + + + +/** This class is intended to detect and handle possible cycling during QP iterations. + * As cycling seems to occur quite rarely, this class is NOT FULLY IMPLEMENTED YET! + * + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + */ +class CyclingManager +{ + /* + * PUBLIC MEMBER FUNCTIONS + */ + public: + /** Default constructor. */ + CyclingManager( ); + + /** Copy constructor (deep copy). */ + CyclingManager( const CyclingManager& rhs /**< Rhs object. */ + ); + + /** Destructor. */ + ~CyclingManager( ); + + /** Copy asingment operator (deep copy). */ + CyclingManager& operator=( const CyclingManager& rhs /**< Rhs object. */ + ); + + + /** Pseudo-constructor which takes the number of bounds/constraints. + * \return SUCCESSFUL_RETURN */ + returnValue init( int _nV, /**< Number of bounds to be managed. */ + int _nC /**< Number of constraints to be managed. */ + ); + + + /** Stores index of a bound/constraint that might cause cycling. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + returnValue setCyclingStatus( int number, /**< Number of bound/constraint. */ + BooleanType isBound, /**< Flag that indicates if given number corresponds to a + * bound (BT_TRUE) or a constraint (BT_FALSE). */ + CyclingStatus _status /**< Cycling status of bound/constraint. */ + ); + + /** Returns if bound/constraint might cause cycling. + * \return BT_TRUE: bound/constraint might cause cycling \n + BT_FALSE: otherwise */ + CyclingStatus getCyclingStatus( int number, /**< Number of bound/constraint. */ + BooleanType isBound /**< Flag that indicates if given number corresponds to + * a bound (BT_TRUE) or a constraint (BT_FALSE). */ + ) const; + + + /** Clears all previous cycling information. + * \return SUCCESSFUL_RETURN */ + returnValue clearCyclingData( ); + + + /** Returns if cycling was detected. + * \return BT_TRUE iff cycling was detected. */ + inline BooleanType isCyclingDetected( ) const; + + + /* + * PROTECTED MEMBER VARIABLES + */ + protected: + int nV; /**< Number of managed bounds. */ + int nC; /**< Number of managed constraints. */ + + CyclingStatus status[NVMAX+NCMAX]; /**< Array to store cycling status of all bounds/constraints. */ + + BooleanType cyclingDetected; /**< Flag if cycling was detected. */ +}; + + +#include + +#endif /* QPOASES_CYCLINGMANAGER_HPP */ + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp b/src/control/mpc_control/externals/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp new file mode 100644 index 00000000..056bb26f --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/INCLUDE/EXTRAS/SolutionAnalysis.hpp @@ -0,0 +1,107 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file INCLUDE/EXTRAS/SolutionAnalysis.hpp + * \author Milan Vukov, Boris Houska, Hans Joachim Ferreau + * \version 1.3embedded + * \date 2012 + * + * Solution analysis class, based on a class in the standard version of the qpOASES + */ + + +// + +#ifndef QPOASES_SOLUTIONANALYSIS_HPP +#define QPOASES_SOLUTIONANALYSIS_HPP + +#include + +/** Enables the computation of variance as is in the standard version of qpOASES */ +#define QPOASES_USE_OLD_VERSION 0 + +#if QPOASES_USE_OLD_VERSION +#define KKT_DIM (2 * NVMAX + NCMAX) +#endif + +class SolutionAnalysis +{ +public: + + /** Default constructor. */ + SolutionAnalysis( ); + + /** Copy constructor (deep copy). */ + SolutionAnalysis( const SolutionAnalysis& rhs /**< Rhs object. */ + ); + + /** Destructor. */ + ~SolutionAnalysis( ); + + /** Copy asingment operator (deep copy). */ + SolutionAnalysis& operator=( const SolutionAnalysis& rhs /**< Rhs object. */ + ); + + /** A routine for computation of inverse of the Hessian matrix. */ + returnValue getHessianInverse( + QProblem* qp, /** QP */ + real_t* hessianInverse /** Inverse of the Hessian matrix*/ + ); + + /** A routine for computation of inverse of the Hessian matrix. */ + returnValue getHessianInverse( QProblemB* qp, /** QP */ + real_t* hessianInverse /** Inverse of the Hessian matrix*/ + ); + +#if QPOASES_USE_OLD_VERSION + returnValue getVarianceCovariance( + QProblem* qp, + real_t* g_b_bA_VAR, + real_t* Primal_Dual_VAR + ); +#endif + +private: + + real_t delta_g_cov[ NVMAX ]; /** A covariance-vector of g */ + real_t delta_lb_cov[ NVMAX ]; /** A covariance-vector of lb */ + real_t delta_ub_cov[ NVMAX ]; /** A covariance-vector of ub */ + real_t delta_lbA_cov[ NCMAX_ALLOC ]; /** A covariance-vector of lbA */ + real_t delta_ubA_cov[ NCMAX_ALLOC ]; /** A covariance-vector of ubA */ + +#if QPOASES_USE_OLD_VERSION + real_t K[KKT_DIM * KKT_DIM]; /** A matrix to store an intermediate result */ +#endif + + int FR_idx[ NVMAX ]; /** Index array for free variables */ + int FX_idx[ NVMAX ]; /** Index array for fixed variables */ + int AC_idx[ NCMAX_ALLOC ]; /** Index array for active constraints */ + + real_t delta_xFR[ NVMAX ]; /** QP reaction, primal, w.r.t. free */ + real_t delta_xFX[ NVMAX ]; /** QP reaction, primal, w.r.t. fixed */ + real_t delta_yAC[ NVMAX ]; /** QP reaction, dual, w.r.t. active */ + real_t delta_yFX[ NVMAX ]; /** QP reaction, dual, w.r.t. fixed*/ +}; + +#endif // QPOASES_SOLUTIONANALYSIS_HPP diff --git a/src/control/mpc_control/externals/qpoases/INCLUDE/Indexlist.hpp b/src/control/mpc_control/externals/qpoases/INCLUDE/Indexlist.hpp new file mode 100644 index 00000000..18e3494e --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/INCLUDE/Indexlist.hpp @@ -0,0 +1,154 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file INCLUDE/Indexlist.hpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Declaration of the Indexlist class designed to manage index lists of + * constraints and bounds within a SubjectTo object. + */ + + +#ifndef QPOASES_INDEXLIST_HPP +#define QPOASES_INDEXLIST_HPP + + +#include + + +/** This class manages index lists. + * + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + */ +class Indexlist +{ + /* + * PUBLIC MEMBER FUNCTIONS + */ + public: + /** Default constructor. */ + Indexlist( ); + + /** Copy constructor (deep copy). */ + Indexlist( const Indexlist& rhs /**< Rhs object. */ + ); + + /** Destructor. */ + ~Indexlist( ); + + /** Assingment operator (deep copy). */ + Indexlist& operator=( const Indexlist& rhs /**< Rhs object. */ + ); + + /** Pseudo-constructor. + * \return SUCCESSFUL_RETURN */ + returnValue init( ); + + + /** Creates an array of all numbers within the index set in correct order. + * \return SUCCESSFUL_RETURN \n + RET_INDEXLIST_CORRUPTED */ + returnValue getNumberArray( int* const numberarray /**< Output: Array of numbers (NULL on error). */ + ) const; + + + /** Determines the index within the index list at with a given number is stored. + * \return >= 0: Index of given number. \n + -1: Number not found. */ + int getIndex( int givennumber /**< Number whose index shall be determined. */ + ) const; + + /** Determines the physical index within the index list at with a given number is stored. + * \return >= 0: Index of given number. \n + -1: Number not found. */ + int getPhysicalIndex( int givennumber /**< Number whose physical index shall be determined. */ + ) const; + + /** Returns the number stored at a given physical index. + * \return >= 0: Number stored at given physical index. \n + -RET_INDEXLIST_OUTOFBOUNDS */ + int getNumber( int physicalindex /**< Physical index of the number to be returned. */ + ) const; + + + /** Returns the current length of the index list. + * \return Current length of the index list. */ + inline int getLength( ); + + /** Returns last number within the index list. + * \return Last number within the index list. */ + inline int getLastNumber( ) const; + + + /** Adds number to index list. + * \return SUCCESSFUL_RETURN \n + RET_INDEXLIST_MUST_BE_REORDERD \n + RET_INDEXLIST_EXCEEDS_MAX_LENGTH */ + returnValue addNumber( int addnumber /**< Number to be added. */ + ); + + /** Removes number from index list. + * \return SUCCESSFUL_RETURN */ + returnValue removeNumber( int removenumber /**< Number to be removed. */ + ); + + /** Swaps two numbers within index list. + * \return SUCCESSFUL_RETURN */ + returnValue swapNumbers( int number1,/**< First number for swapping. */ + int number2 /**< Second number for swapping. */ + ); + + /** Determines if a given number is contained in the index set. + * \return BT_TRUE iff number is contain in the index set */ + inline BooleanType isMember( int _number /**< Number to be tested for membership. */ + ) const; + + + /* + * PROTECTED MEMBER VARIABLES + */ + protected: + int number[INDEXLISTFACTOR*(NVMAX+NCMAX)]; /**< Array to store numbers of constraints or bounds. */ + int next[INDEXLISTFACTOR*(NVMAX+NCMAX)]; /**< Array to store physical index of successor. */ + int previous[INDEXLISTFACTOR*(NVMAX+NCMAX)]; /**< Array to store physical index of predecossor. */ + int length; /**< Length of index list. */ + int first; /**< Physical index of first element. */ + int last; /**< Physical index of last element. */ + int lastusedindex; /**< Physical index of last entry in index list. */ + int physicallength; /**< Physical length of index list. */ +}; + + +#include + +#endif /* QPOASES_INDEXLIST_HPP */ + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/INCLUDE/MessageHandling.hpp b/src/control/mpc_control/externals/qpoases/INCLUDE/MessageHandling.hpp new file mode 100644 index 00000000..f0b0c79a --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/INCLUDE/MessageHandling.hpp @@ -0,0 +1,415 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file INCLUDE/MessageHandling.hpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Declaration of the MessageHandling class including global return values. + */ + + +#ifndef QPOASES_MESSAGEHANDLING_HPP +#define QPOASES_MESSAGEHANDLING_HPP + +// #define PC_DEBUG + +#ifdef PC_DEBUG + #include + + /** Defines an alias for FILE from stdio.h. */ + #define myFILE FILE + /** Defines an alias for stderr from stdio.h. */ + #define myStderr stderr + /** Defines an alias for stdout from stdio.h. */ + #define myStdout stdout +#else + /** Defines an alias for FILE from stdio.h. */ + #define myFILE int + /** Defines an alias for stderr from stdio.h. */ + #define myStderr 0 + /** Defines an alias for stdout from stdio.h. */ + #define myStdout 0 +#endif + + +#include +#include + + +/** Defines symbols for global return values. \n + * Important: All return values are assumed to be nonnegative! */ +enum returnValue +{ +TERMINAL_LIST_ELEMENT = -1, /**< Terminal list element, internal usage only! */ +/* miscellaneous */ +SUCCESSFUL_RETURN = 0, /**< Successful return. */ +RET_DIV_BY_ZERO, /**< Division by zero. */ +RET_INDEX_OUT_OF_BOUNDS, /**< Index out of bounds. */ +RET_INVALID_ARGUMENTS, /**< At least one of the arguments is invalid. */ +RET_ERROR_UNDEFINED, /**< Error number undefined. */ +RET_WARNING_UNDEFINED, /**< Warning number undefined. */ +RET_INFO_UNDEFINED, /**< Info number undefined. */ +RET_EWI_UNDEFINED, /**< Error/warning/info number undefined. */ +RET_AVAILABLE_WITH_LINUX_ONLY, /**< This function is available under Linux only. */ +RET_UNKNOWN_BUG, /**< The error occured is not yet known. */ +RET_PRINTLEVEL_CHANGED, /**< 10 Print level changed. */ +RET_NOT_YET_IMPLEMENTED, /**< Requested function is not yet implemented in this version of qpOASES. */ +/* Indexlist */ +RET_INDEXLIST_MUST_BE_REORDERD, /**< Index list has to be reordered. */ +RET_INDEXLIST_EXCEEDS_MAX_LENGTH, /**< Index list exceeds its maximal physical length. */ +RET_INDEXLIST_CORRUPTED, /**< Index list corrupted. */ +RET_INDEXLIST_OUTOFBOUNDS, /**< Physical index is out of bounds. */ +RET_INDEXLIST_ADD_FAILED, /**< Adding indices from another index set failed. */ +RET_INDEXLIST_INTERSECT_FAILED, /**< Intersection with another index set failed. */ +/* SubjectTo / Bounds / Constraints */ +RET_INDEX_ALREADY_OF_DESIRED_STATUS, /**< Index is already of desired status. */ +RET_ADDINDEX_FAILED, /**< Cannot swap between different indexsets. */ +RET_SWAPINDEX_FAILED, /**< 20 Adding index to index set failed. */ +RET_NOTHING_TO_DO, /**< Nothing to do. */ +RET_SETUP_BOUND_FAILED, /**< Setting up bound index failed. */ +RET_SETUP_CONSTRAINT_FAILED, /**< Setting up constraint index failed. */ +RET_MOVING_BOUND_FAILED, /**< Moving bound between index sets failed. */ +RET_MOVING_CONSTRAINT_FAILED, /**< Moving constraint between index sets failed. */ +/* QProblem */ +RET_QP_ALREADY_INITIALISED, /**< QProblem has already been initialised. */ +RET_NO_INIT_WITH_STANDARD_SOLVER, /**< Initialisation via extern QP solver is not yet implemented. */ +RET_RESET_FAILED, /**< Reset failed. */ +RET_INIT_FAILED, /**< Initialisation failed. */ +RET_INIT_FAILED_TQ, /**< 30 Initialisation failed due to TQ factorisation. */ +RET_INIT_FAILED_CHOLESKY, /**< Initialisation failed due to Cholesky decomposition. */ +RET_INIT_FAILED_HOTSTART, /**< Initialisation failed! QP could not be solved! */ +RET_INIT_FAILED_INFEASIBILITY, /**< Initial QP could not be solved due to infeasibility! */ +RET_INIT_FAILED_UNBOUNDEDNESS, /**< Initial QP could not be solved due to unboundedness! */ +RET_INIT_SUCCESSFUL, /**< Initialisation done. */ +RET_OBTAINING_WORKINGSET_FAILED, /**< Failed to obtain working set for auxiliary QP. */ +RET_SETUP_WORKINGSET_FAILED, /**< Failed to setup working set for auxiliary QP. */ +RET_SETUP_AUXILIARYQP_FAILED, /**< Failed to setup auxiliary QP for initialised homotopy. */ +RET_NO_EXTERN_SOLVER, /**< No extern QP solver available. */ +RET_QP_UNBOUNDED, /**< 40 QP is unbounded. */ +RET_QP_INFEASIBLE, /**< QP is infeasible. */ +RET_QP_NOT_SOLVED, /**< Problems occured while solving QP with standard solver. */ +RET_QP_SOLVED, /**< QP successfully solved. */ +RET_UNABLE_TO_SOLVE_QP, /**< Problems occured while solving QP. */ +RET_INITIALISATION_STARTED, /**< Starting problem initialisation. */ +RET_HOTSTART_FAILED, /**< Unable to perform homotopy due to internal error. */ +RET_HOTSTART_FAILED_TO_INIT, /**< Unable to initialise problem. */ +RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED, /**< Unable to perform homotopy as previous QP is not solved. */ +RET_ITERATION_STARTED, /**< Iteration... */ +RET_SHIFT_DETERMINATION_FAILED, /**< 50 Determination of shift of the QP data failed. */ +RET_STEPDIRECTION_DETERMINATION_FAILED, /**< Determination of step direction failed. */ +RET_STEPLENGTH_DETERMINATION_FAILED, /**< Determination of step direction failed. */ +RET_OPTIMAL_SOLUTION_FOUND, /**< Optimal solution of neighbouring QP found. */ +RET_HOMOTOPY_STEP_FAILED, /**< Unable to perform homotopy step. */ +RET_HOTSTART_STOPPED_INFEASIBILITY, /**< Premature homotopy termination because QP is infeasible. */ +RET_HOTSTART_STOPPED_UNBOUNDEDNESS, /**< Premature homotopy termination because QP is unbounded. */ +RET_WORKINGSET_UPDATE_FAILED, /**< Unable to update working sets according to initial guesses. */ +RET_MAX_NWSR_REACHED, /**< Maximum number of working set recalculations performed. */ +RET_CONSTRAINTS_NOT_SPECIFIED, /**< Problem does comprise constraints! You also have to specify new constraints' bounds. */ +RET_INVALID_FACTORISATION_FLAG, /**< 60 Invalid factorisation flag. */ +RET_UNABLE_TO_SAVE_QPDATA, /**< Unable to save QP data. */ +RET_STEPDIRECTION_FAILED_TQ, /**< Abnormal termination due to TQ factorisation. */ +RET_STEPDIRECTION_FAILED_CHOLESKY, /**< Abnormal termination due to Cholesky factorisation. */ +RET_CYCLING_DETECTED, /**< Cycling detected. */ +RET_CYCLING_NOT_RESOLVED, /**< Cycling cannot be resolved, QP probably infeasible. */ +RET_CYCLING_RESOLVED, /**< Cycling probably resolved. */ +RET_STEPSIZE, /**< For displaying performed stepsize. */ +RET_STEPSIZE_NONPOSITIVE, /**< For displaying non-positive stepsize. */ +RET_SETUPSUBJECTTOTYPE_FAILED, /**< Setup of SubjectToTypes failed. */ +RET_ADDCONSTRAINT_FAILED, /**< 70 Addition of constraint to working set failed. */ +RET_ADDCONSTRAINT_FAILED_INFEASIBILITY, /**< Addition of constraint to working set failed (due to QP infeasibility). */ +RET_ADDBOUND_FAILED, /**< Addition of bound to working set failed. */ +RET_ADDBOUND_FAILED_INFEASIBILITY, /**< Addition of bound to working set failed (due to QP infeasibility). */ +RET_REMOVECONSTRAINT_FAILED, /**< Removal of constraint from working set failed. */ +RET_REMOVEBOUND_FAILED, /**< Removal of bound from working set failed. */ +RET_REMOVE_FROM_ACTIVESET, /**< Removing from active set... */ +RET_ADD_TO_ACTIVESET, /**< Adding to active set... */ +RET_REMOVE_FROM_ACTIVESET_FAILED, /**< Removing from active set failed. */ +RET_ADD_TO_ACTIVESET_FAILED, /**< Adding to active set failed. */ +RET_CONSTRAINT_ALREADY_ACTIVE, /**< 80 Constraint is already active. */ +RET_ALL_CONSTRAINTS_ACTIVE, /**< All constraints are active, no further constraint can be added. */ +RET_LINEARLY_DEPENDENT, /**< New bound/constraint is linearly dependent. */ +RET_LINEARLY_INDEPENDENT, /**< New bound/constraint is linearly independent. */ +RET_LI_RESOLVED, /**< Linear independence of active contraint matrix successfully resolved. */ +RET_ENSURELI_FAILED, /**< Failed to ensure linear indepence of active contraint matrix. */ +RET_ENSURELI_FAILED_TQ, /**< Abnormal termination due to TQ factorisation. */ +RET_ENSURELI_FAILED_NOINDEX, /**< No index found, QP probably infeasible. */ +RET_ENSURELI_FAILED_CYCLING, /**< Cycling detected, QP probably infeasible. */ +RET_BOUND_ALREADY_ACTIVE, /**< Bound is already active. */ +RET_ALL_BOUNDS_ACTIVE, /**< 90 All bounds are active, no further bound can be added. */ +RET_CONSTRAINT_NOT_ACTIVE, /**< Constraint is not active. */ +RET_BOUND_NOT_ACTIVE, /**< Bound is not active. */ +RET_HESSIAN_NOT_SPD, /**< Projected Hessian matrix not positive definite. */ +RET_MATRIX_SHIFT_FAILED, /**< Unable to update matrices or to transform vectors. */ +RET_MATRIX_FACTORISATION_FAILED, /**< Unable to calculate new matrix factorisations. */ +RET_PRINT_ITERATION_FAILED, /**< Unable to print information on current iteration. */ +RET_NO_GLOBAL_MESSAGE_OUTPUTFILE, /**< No global message output file initialised. */ +/* Utils */ +RET_UNABLE_TO_OPEN_FILE, /**< Unable to open file. */ +RET_UNABLE_TO_WRITE_FILE, /**< Unable to write into file. */ +RET_UNABLE_TO_READ_FILE, /**< 100 Unable to read from file. */ +RET_FILEDATA_INCONSISTENT, /**< File contains inconsistent data. */ +/* SolutionAnalysis */ +RET_NO_SOLUTION, /**< QP solution does not satisfy KKT optimality conditions. */ +RET_INACCURATE_SOLUTION /**< KKT optimality conditions not satisfied to sufficient accuracy. */ +}; + + + +/** This class handles all kinds of messages (errors, warnings, infos) initiated + * by qpOASES modules and stores the correspoding global preferences. + * + * \author Hans Joachim Ferreau (special thanks to Leonard Wirsching) + * \version 1.3embedded + * \date 2007-2008 + */ +class MessageHandling +{ + /* + * INTERNAL DATA STRUCTURES + */ + public: + /** Data structure for entries in global message list. */ + typedef struct { + returnValue key; /**< Global return value. */ + const char* data; /**< Corresponding message. */ + VisibilityStatus globalVisibilityStatus; /**< Determines if message can be printed. + * If this value is set to VS_HIDDEN, no message is printed! */ + } ReturnValueList; + + + /* + * PUBLIC MEMBER FUNCTIONS + */ + public: + /** Default constructor. */ + MessageHandling( ); + + /** Constructor which takes the desired output file. */ + MessageHandling( myFILE* _outputFile /**< Output file. */ + ); + + /** Constructor which takes the desired visibility states. */ + MessageHandling( VisibilityStatus _errorVisibility, /**< Visibility status for error messages. */ + VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */ + VisibilityStatus _infoVisibility /**< Visibility status for info messages. */ + ); + + /** Constructor which takes the desired output file and desired visibility states. */ + MessageHandling( myFILE* _outputFile, /**< Output file. */ + VisibilityStatus _errorVisibility, /**< Visibility status for error messages. */ + VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */ + VisibilityStatus _infoVisibility /**< Visibility status for info messages. */ + ); + + /** Copy constructor (deep copy). */ + MessageHandling( const MessageHandling& rhs /**< Rhs object. */ + ); + + /** Destructor. */ + ~MessageHandling( ); + + /** Assignment operator (deep copy). */ + MessageHandling& operator=( const MessageHandling& rhs /**< Rhs object. */ + ); + + + /** Prints an error message(a simplified macro THROWERROR is also provided). \n + * Errors are definied as abnormal events which cause an immediate termination of the current (sub) function. + * Errors of a sub function should be commented by the calling function by means of a warning message + * (if this error does not cause an error of the calling function, either)! + * \return Error number returned by sub function call + */ + returnValue throwError( + returnValue Enumber, /**< Error number returned by sub function call. */ + const char* additionaltext, /**< Additional error text (0, if none). */ + const char* functionname, /**< Name of function which caused the error. */ + const char* filename, /**< Name of file which caused the error. */ + const unsigned long linenumber, /**< Number of line which caused the error.incompatible binary file */ + VisibilityStatus localVisibilityStatus /**< Determines (locally) if error message can be printed to myStderr. + * If GLOBAL visibility status of the message is set to VS_HIDDEN, + * no message is printed, anyway! */ + ); + + /** Prints a warning message (a simplified macro THROWWARNING is also provided). + * Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function. + * \return Warning number returned by sub function call + */ + returnValue throwWarning( + returnValue Wnumber, /**< Warning number returned by sub function call. */ + const char* additionaltext, /**< Additional warning text (0, if none). */ + const char* functionname, /**< Name of function which caused the warning. */ + const char* filename, /**< Name of file which caused the warning. */ + const unsigned long linenumber, /**< Number of line which caused the warning. */ + VisibilityStatus localVisibilityStatus /**< Determines (locally) if warning message can be printed to myStderr. + * If GLOBAL visibility status of the message is set to VS_HIDDEN, + * no message is printed, anyway! */ + ); + + /** Prints a info message (a simplified macro THROWINFO is also provided). + * \return Info number returned by sub function call + */ + returnValue throwInfo( + returnValue Inumber, /**< Info number returned by sub function call. */ + const char* additionaltext, /**< Additional warning text (0, if none). */ + const char* functionname, /**< Name of function which submitted the info. */ + const char* filename, /**< Name of file which submitted the info. */ + const unsigned long linenumber, /**< Number of line which submitted the info. */ + VisibilityStatus localVisibilityStatus /**< Determines (locally) if info message can be printed to myStderr. + * If GLOBAL visibility status of the message is set to VS_HIDDEN, + * no message is printed, anyway! */ + ); + + + /** Resets all preferences to default values. + * \return SUCCESSFUL_RETURN */ + returnValue reset( ); + + + /** Prints a complete list of all messages to output file. + * \return SUCCESSFUL_RETURN */ + returnValue listAllMessages( ); + + + /** Returns visibility status for error messages. + * \return Visibility status for error messages. */ + inline VisibilityStatus getErrorVisibilityStatus( ) const; + + /** Returns visibility status for warning messages. + * \return Visibility status for warning messages. */ + inline VisibilityStatus getWarningVisibilityStatus( ) const; + + /** Returns visibility status for info messages. + * \return Visibility status for info messages. */ + inline VisibilityStatus getInfoVisibilityStatus( ) const; + + /** Returns pointer to output file. + * \return Pointer to output file. */ + inline myFILE* getOutputFile( ) const; + + /** Returns error count value. + * \return Error count value. */ + inline int getErrorCount( ) const; + + + /** Changes visibility status for error messages. */ + inline void setErrorVisibilityStatus( VisibilityStatus _errorVisibility /**< New visibility status for error messages. */ + ); + + /** Changes visibility status for warning messages. */ + inline void setWarningVisibilityStatus( VisibilityStatus _warningVisibility /**< New visibility status for warning messages. */ + ); + + /** Changes visibility status for info messages. */ + inline void setInfoVisibilityStatus( VisibilityStatus _infoVisibility /**< New visibility status for info messages. */ + ); + + /** Changes output file for messages. */ + inline void setOutputFile( myFILE* _outputFile /**< New output file for messages. */ + ); + + /** Changes error count. + * \return SUCCESSFUL_RETURN \n + * RET_INVALID_ARGUMENT */ + inline returnValue setErrorCount( int _errorCount /**< New error count value. */ + ); + + /** Return the error code string. */ + static const char* getErrorString(int error); + + /* + * PROTECTED MEMBER FUNCTIONS + */ + protected: + /** Prints a info message to myStderr (auxiliary function). + * \return Error/warning/info number returned by sub function call + */ + returnValue throwMessage( + returnValue RETnumber, /**< Error/warning/info number returned by sub function call. */ + const char* additionaltext, /**< Additional warning text (0, if none). */ + const char* functionname, /**< Name of function which caused the error/warning/info. */ + const char* filename, /**< Name of file which caused the error/warning/info. */ + const unsigned long linenumber, /**< Number of line which caused the error/warning/info. */ + VisibilityStatus localVisibilityStatus, /**< Determines (locally) if info message can be printed to myStderr. + * If GLOBAL visibility status of the message is set to VS_HIDDEN, + * no message is printed, anyway! */ + const char* RETstring /**< Leading string of error/warning/info message. */ + ); + + + /* + * PROTECTED MEMBER VARIABLES + */ + protected: + VisibilityStatus errorVisibility; /**< Error messages visible? */ + VisibilityStatus warningVisibility; /**< Warning messages visible? */ + VisibilityStatus infoVisibility; /**< Info messages visible? */ + + myFILE* outputFile; /**< Output file for messages. */ + + int errorCount; /**< Counts number of errors (for nicer output only). */ +}; + + +#ifndef __FUNCTION__ + /** Ensures that __FUNCTION__ macro is defined. */ + #define __FUNCTION__ 0 +#endif + +#ifndef __FILE__ + /** Ensures that __FILE__ macro is defined. */ + #define __FILE__ 0 +#endif + +#ifndef __LINE__ + /** Ensures that __LINE__ macro is defined. */ + #define __LINE__ 0 +#endif + + +/** Short version of throwError with default values, only returnValue is needed */ +#define THROWERROR(retval) ( getGlobalMessageHandler( )->throwError((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) ) + +/** Short version of throwWarning with default values, only returnValue is needed */ +#define THROWWARNING(retval) ( getGlobalMessageHandler( )->throwWarning((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) ) + +/** Short version of throwInfo with default values, only returnValue is needed */ +#define THROWINFO(retval) ( getGlobalMessageHandler( )->throwInfo((retval),0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE) ) + + +/** Returns a pointer to global message handler. + * \return Pointer to global message handler. + */ +MessageHandling* getGlobalMessageHandler( ); + + +#include + +#endif /* QPOASES_MESSAGEHANDLING_HPP */ + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/INCLUDE/QProblem.hpp b/src/control/mpc_control/externals/qpoases/INCLUDE/QProblem.hpp new file mode 100644 index 00000000..68fc1af9 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/INCLUDE/QProblem.hpp @@ -0,0 +1,666 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file INCLUDE/QProblem.hpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Declaration of the QProblem class which is able to use the newly + * developed online active set strategy for parametric quadratic programming. + */ + + + +#ifndef QPOASES_QPROBLEM_HPP +#define QPOASES_QPROBLEM_HPP + + +#include +#include +#include + + +/** A class for setting up and solving quadratic programs. The main feature is + * the possibily to use the newly developed online active set strategy for + * parametric quadratic programming. + * + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + */ +class QProblem : public QProblemB +{ + /* allow SolutionAnalysis class to access private members */ + friend class SolutionAnalysis; + + /* + * PUBLIC MEMBER FUNCTIONS + */ + public: + /** Default constructor. */ + QProblem( ); + + /** Constructor which takes the QP dimensions only. */ + QProblem( int _nV, /**< Number of variables. */ + int _nC /**< Number of constraints. */ + ); + + /** Copy constructor (deep copy). */ + QProblem( const QProblem& rhs /**< Rhs object. */ + ); + + /** Destructor. */ + ~QProblem( ); + + /** Assignment operator (deep copy). */ + QProblem& operator=( const QProblem& rhs /**< Rhs object. */ + ); + + + /** Clears all data structures of QProblemB except for QP data. + * \return SUCCESSFUL_RETURN \n + RET_RESET_FAILED */ + returnValue reset( ); + + + /** Initialises a QProblem with given QP data and solves it + * using an initial homotopy with empty working set (at most nWSR iterations). + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_TQ \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_INVALID_ARGUMENTS \n + RET_INACCURATE_SOLUTION \n + RET_NO_SOLUTION */ + returnValue init( const real_t* const _H, /**< Hessian matrix. */ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _A, /**< Constraint matrix. */ + const real_t* const _lb, /**< Lower bound vector (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bound vector (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const _lbA, /**< Lower constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const _ubA, /**< Upper constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + int& nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. + Output: Number of performed working set recalculations. */ + const real_t* const yOpt = 0, /**< Initial guess for dual solution vector. */ + real_t* const cputime = 0 /**< Output: CPU time required to initialise QP. */ + ); + + + /** Initialises a QProblem with given QP data and solves it + * using an initial homotopy with empty working set (at most nWSR iterations). + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_TQ \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_INVALID_ARGUMENTS \n + RET_INACCURATE_SOLUTION \n + RET_NO_SOLUTION */ + returnValue init( const real_t* const _H, /**< Hessian matrix. */ + const real_t* const _R, /**< Cholesky factorization of the Hessian matrix. */ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _A, /**< Constraint matrix. */ + const real_t* const _lb, /**< Lower bound vector (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bound vector (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const _lbA, /**< Lower constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const _ubA, /**< Upper constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + int& nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. + Output: Number of performed working set recalculations. */ + const real_t* const yOpt = 0, /**< Initial guess for dual solution vector. */ + real_t* const cputime = 0 /**< Output: CPU time required to initialise QP. */ + ); + + + /** Solves QProblem using online active set strategy. + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n + RET_INACCURATE_SOLUTION \n + RET_NO_SOLUTION */ + returnValue hotstart( const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ + const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const lbA_new, /**< Lower constraints' bounds of neighbouring QP to be solved. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const ubA_new, /**< Upper constraints' bounds of neighbouring QP to be solved. \n + If no upper constraints' bounds exist, a NULL pointer can be passed. */ + int& nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Output: CPU time required to solve QP (or to perform nWSR iterations). */ + ); + + + /** Returns constraint matrix of the QP (deep copy). + * \return SUCCESSFUL_RETURN */ + inline returnValue getA( real_t* const _A /**< Array of appropriate dimension for copying constraint matrix.*/ + ) const; + + /** Returns a single row of constraint matrix of the QP (deep copy). + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + inline returnValue getA( int number, /**< Number of entry to be returned. */ + real_t* const row /**< Array of appropriate dimension for copying (number)th constraint. */ + ) const; + + /** Returns lower constraints' bound vector of the QP (deep copy). + * \return SUCCESSFUL_RETURN */ + inline returnValue getLBA( real_t* const _lbA /**< Array of appropriate dimension for copying lower constraints' bound vector.*/ + ) const; + + /** Returns single entry of lower constraints' bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + inline returnValue getLBA( int number, /**< Number of entry to be returned. */ + real_t& value /**< Output: lbA[number].*/ + ) const; + + /** Returns upper constraints' bound vector of the QP (deep copy). + * \return SUCCESSFUL_RETURN */ + inline returnValue getUBA( real_t* const _ubA /**< Array of appropriate dimension for copying upper constraints' bound vector.*/ + ) const; + + /** Returns single entry of upper constraints' bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + inline returnValue getUBA( int number, /**< Number of entry to be returned. */ + real_t& value /**< Output: ubA[number].*/ + ) const; + + + /** Returns current constraints object of the QP (deep copy). + * \return SUCCESSFUL_RETURN */ + inline returnValue getConstraints( Constraints* const _constraints /** Output: Constraints object. */ + ) const; + + + /** Returns the number of constraints. + * \return Number of constraints. */ + inline int getNC( ) const; + + /** Returns the number of (implicitly defined) equality constraints. + * \return Number of (implicitly defined) equality constraints. */ + inline int getNEC( ) const; + + /** Returns the number of active constraints. + * \return Number of active constraints. */ + inline int getNAC( ); + + /** Returns the number of inactive constraints. + * \return Number of inactive constraints. */ + inline int getNIAC( ); + + /** Returns the dimension of null space. + * \return Dimension of null space. */ + int getNZ( ); + + + /** Returns the dual solution vector (deep copy). + * \return SUCCESSFUL_RETURN \n + RET_QP_NOT_SOLVED */ + returnValue getDualSolution( real_t* const yOpt /**< Output: Dual solution vector (if QP has been solved). */ + ) const; + + + /* + * PROTECTED MEMBER FUNCTIONS + */ + protected: + /** Determines type of constraints and bounds (i.e. implicitly fixed, unbounded etc.). + * \return SUCCESSFUL_RETURN \n + RET_SETUPSUBJECTTOTYPE_FAILED */ + returnValue setupSubjectToType( ); + + /** Computes the Cholesky decomposition R of the projected Hessian (i.e. R^T*R = Z^T*H*Z). + * \return SUCCESSFUL_RETURN \n + * RET_INDEXLIST_CORRUPTED */ + returnValue setupCholeskyDecompositionProjected( ); + + /** Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active. + * \return SUCCESSFUL_RETURN \n + RET_INDEXLIST_CORRUPTED */ + returnValue setupTQfactorisation( ); + + + /** Solves a QProblem whose QP data is assumed to be stored in the member variables. + * A guess for its primal/dual optimal solution vectors and the corresponding + * working sets of bounds and constraints can be provided. + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_TQ \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED */ + returnValue solveInitialQP( const real_t* const xOpt, /**< Optimal primal solution vector. + * A NULL pointer can be passed. */ + const real_t* const yOpt, /**< Optimal dual solution vector. + * A NULL pointer can be passed. */ + const Bounds* const guessedBounds, /**< Guessed working set of bounds for solution (xOpt,yOpt). + * A NULL pointer can be passed. */ + const Constraints* const guessedConstraints, /**< Optimal working set of constraints for solution (xOpt,yOpt). + * A NULL pointer can be passed. */ + int& nWSR, /**< Input: Maximum number of working set recalculations; \n + * Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Output: CPU time required to solve QP (or to perform nWSR iterations). */ + ); + + /** Obtains the desired working set for the auxiliary initial QP in + * accordance with the user specifications + * (assumes that member AX has already been initialised!) + * \return SUCCESSFUL_RETURN \n + RET_OBTAINING_WORKINGSET_FAILED \n + RET_INVALID_ARGUMENTS */ + returnValue obtainAuxiliaryWorkingSet( const real_t* const xOpt, /**< Optimal primal solution vector. + * If a NULL pointer is passed, all entries are assumed to be zero. */ + const real_t* const yOpt, /**< Optimal dual solution vector. + * If a NULL pointer is passed, all entries are assumed to be zero. */ + const Bounds* const guessedBounds, /**< Guessed working set of bounds for solution (xOpt,yOpt). */ + const Constraints* const guessedConstraints, /**< Guessed working set for solution (xOpt,yOpt). */ + Bounds* auxiliaryBounds, /**< Input: Allocated bound object. \n + * Ouput: Working set of constraints for auxiliary QP. */ + Constraints* auxiliaryConstraints /**< Input: Allocated bound object. \n + * Ouput: Working set for auxiliary QP. */ + ) const; + + /** Setups bound and constraints data structures according to auxiliaryBounds/Constraints. + * (If the working set shall be setup afresh, make sure that + * bounds and constraints data structure have been resetted + * and the TQ factorisation has been initialised!) + * \return SUCCESSFUL_RETURN \n + RET_SETUP_WORKINGSET_FAILED \n + RET_INVALID_ARGUMENTS \n + RET_UNKNOWN BUG */ + returnValue setupAuxiliaryWorkingSet( const Bounds* const auxiliaryBounds, /**< Working set of bounds for auxiliary QP. */ + const Constraints* const auxiliaryConstraints, /**< Working set of constraints for auxiliary QP. */ + BooleanType setupAfresh /**< Flag indicating if given working set shall be + * setup afresh or by updating the current one. */ + ); + + /** Setups the optimal primal/dual solution of the auxiliary initial QP. + * \return SUCCESSFUL_RETURN */ + returnValue setupAuxiliaryQPsolution( const real_t* const xOpt, /**< Optimal primal solution vector. + * If a NULL pointer is passed, all entries are set to zero. */ + const real_t* const yOpt /**< Optimal dual solution vector. + * If a NULL pointer is passed, all entries are set to zero. */ + ); + + /** Setups gradient of the auxiliary initial QP for given + * optimal primal/dual solution and given initial working set + * (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!). + * \return SUCCESSFUL_RETURN */ + returnValue setupAuxiliaryQPgradient( ); + + /** Setups (constraints') bounds of the auxiliary initial QP for given + * optimal primal/dual solution and given initial working set + * (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!). + * \return SUCCESSFUL_RETURN \n + RET_UNKNOWN BUG */ + returnValue setupAuxiliaryQPbounds( const Bounds* const auxiliaryBounds, /**< Working set of bounds for auxiliary QP. */ + const Constraints* const auxiliaryConstraints, /**< Working set of constraints for auxiliary QP. */ + BooleanType useRelaxation /**< Flag indicating if inactive (constraints') bounds shall be relaxed. */ + ); + + + /** Adds a constraint to active set. + * \return SUCCESSFUL_RETURN \n + RET_ADDCONSTRAINT_FAILED \n + RET_ADDCONSTRAINT_FAILED_INFEASIBILITY \n + RET_ENSURELI_FAILED */ + returnValue addConstraint( int number, /**< Number of constraint to be added to active set. */ + SubjectToStatus C_status, /**< Status of new active constraint. */ + BooleanType updateCholesky /**< Flag indicating if Cholesky decomposition shall be updated. */ + ); + + /** Checks if new active constraint to be added is linearly dependent from + * from row of the active constraints matrix. + * \return RET_LINEARLY_DEPENDENT \n + RET_LINEARLY_INDEPENDENT \n + RET_INDEXLIST_CORRUPTED */ + returnValue addConstraint_checkLI( int number /**< Number of constraint to be added to active set. */ + ); + + /** Ensures linear independence of constraint matrix when a new constraint is added. + * To this end a bound or constraint is removed simultaneously if necessary. + * \return SUCCESSFUL_RETURN \n + RET_LI_RESOLVED \n + RET_ENSURELI_FAILED \n + RET_ENSURELI_FAILED_TQ \n + RET_ENSURELI_FAILED_NOINDEX \n + RET_REMOVE_FROM_ACTIVESET */ + returnValue addConstraint_ensureLI( int number, /**< Number of constraint to be added to active set. */ + SubjectToStatus C_status /**< Status of new active bound. */ + ); + + /** Adds a bound to active set. + * \return SUCCESSFUL_RETURN \n + RET_ADDBOUND_FAILED \n + RET_ADDBOUND_FAILED_INFEASIBILITY \n + RET_ENSURELI_FAILED */ + returnValue addBound( int number, /**< Number of bound to be added to active set. */ + SubjectToStatus B_status, /**< Status of new active bound. */ + BooleanType updateCholesky /**< Flag indicating if Cholesky decomposition shall be updated. */ + ); + + /** Checks if new active bound to be added is linearly dependent from + * from row of the active constraints matrix. + * \return RET_LINEARLY_DEPENDENT \n + RET_LINEARLY_INDEPENDENT */ + returnValue addBound_checkLI( int number /**< Number of bound to be added to active set. */ + ); + + /** Ensures linear independence of constraint matrix when a new bound is added. + * To this end a bound or constraint is removed simultaneously if necessary. + * \return SUCCESSFUL_RETURN \n + RET_LI_RESOLVED \n + RET_ENSURELI_FAILED \n + RET_ENSURELI_FAILED_TQ \n + RET_ENSURELI_FAILED_NOINDEX \n + RET_REMOVE_FROM_ACTIVESET */ + returnValue addBound_ensureLI( int number, /**< Number of bound to be added to active set. */ + SubjectToStatus B_status /**< Status of new active bound. */ + ); + + /** Removes a constraint from active set. + * \return SUCCESSFUL_RETURN \n + RET_CONSTRAINT_NOT_ACTIVE \n + RET_REMOVECONSTRAINT_FAILED \n + RET_HESSIAN_NOT_SPD */ + returnValue removeConstraint( int number, /**< Number of constraint to be removed from active set. */ + BooleanType updateCholesky /**< Flag indicating if Cholesky decomposition shall be updated. */ + ); + + /** Removes a bounds from active set. + * \return SUCCESSFUL_RETURN \n + RET_BOUND_NOT_ACTIVE \n + RET_HESSIAN_NOT_SPD \n + RET_REMOVEBOUND_FAILED */ + returnValue removeBound( int number, /**< Number of bound to be removed from active set. */ + BooleanType updateCholesky /**< Flag indicating if Cholesky decomposition shall be updated. */ + ); + + + /** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. + * \return SUCCESSFUL_RETURN \n + RET_DIV_BY_ZERO */ + returnValue backsolveR( const real_t* const b, /**< Right hand side vector. */ + BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ + real_t* const a /**< Output: Solution vector */ + ); + + /** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n + * Special variant for the case that this function is called from within "removeBound()". + * \return SUCCESSFUL_RETURN \n + RET_DIV_BY_ZERO */ + returnValue backsolveR( const real_t* const b, /**< Right hand side vector. */ + BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ + BooleanType removingBound, /**< Indicates if function is called from "removeBound()". */ + real_t* const a /**< Output: Solution vector */ + ); + + + /** Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix. + * \return SUCCESSFUL_RETURN \n + RET_DIV_BY_ZERO */ + returnValue backsolveT( const real_t* const b, /**< Right hand side vector. */ + BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ + real_t* const a /**< Output: Solution vector */ + ); + + + /** Determines step direction of the shift of the QP data. + * \return SUCCESSFUL_RETURN */ + returnValue hotstart_determineDataShift(const int* const FX_idx, /**< Index array of fixed variables. */ + const int* const AC_idx, /**< Index array of active constraints. */ + const real_t* const g_new, /**< New gradient vector. */ + const real_t* const lbA_new,/**< New lower constraints' bounds. */ + const real_t* const ubA_new,/**< New upper constraints' bounds. */ + const real_t* const lb_new, /**< New lower bounds. */ + const real_t* const ub_new, /**< New upper bounds. */ + real_t* const delta_g, /**< Output: Step direction of gradient vector. */ + real_t* const delta_lbA, /**< Output: Step direction of lower constraints' bounds. */ + real_t* const delta_ubA, /**< Output: Step direction of upper constraints' bounds. */ + real_t* const delta_lb, /**< Output: Step direction of lower bounds. */ + real_t* const delta_ub, /**< Output: Step direction of upper bounds. */ + BooleanType& Delta_bC_isZero,/**< Output: Indicates if active constraints' bounds are to be shifted. */ + BooleanType& Delta_bB_isZero/**< Output: Indicates if active bounds are to be shifted. */ + ); + + /** Determines step direction of the homotopy path. + * \return SUCCESSFUL_RETURN \n + RET_STEPDIRECTION_FAILED_TQ \n + RET_STEPDIRECTION_FAILED_CHOLESKY */ + returnValue hotstart_determineStepDirection(const int* const FR_idx, /**< Index array of free variables. */ + const int* const FX_idx, /**< Index array of fixed variables. */ + const int* const AC_idx, /**< Index array of active constraints. */ + const real_t* const delta_g, /**< Step direction of gradient vector. */ + const real_t* const delta_lbA, /**< Step direction of lower constraints' bounds. */ + const real_t* const delta_ubA, /**< Step direction of upper constraints' bounds. */ + const real_t* const delta_lb, /**< Step direction of lower bounds. */ + const real_t* const delta_ub, /**< Step direction of upper bounds. */ + BooleanType Delta_bC_isZero, /**< Indicates if active constraints' bounds are to be shifted. */ + BooleanType Delta_bB_isZero, /**< Indicates if active bounds are to be shifted. */ + real_t* const delta_xFX, /**< Output: Primal homotopy step direction of fixed variables. */ + real_t* const delta_xFR, /**< Output: Primal homotopy step direction of free variables. */ + real_t* const delta_yAC, /**< Output: Dual homotopy step direction of active constraints' multiplier. */ + real_t* const delta_yFX /**< Output: Dual homotopy step direction of fixed variables' multiplier. */ + ); + + /** Determines the maximum possible step length along the homotopy path. + * \return SUCCESSFUL_RETURN */ + returnValue hotstart_determineStepLength( const int* const FR_idx, /**< Index array of free variables. */ + const int* const FX_idx, /**< Index array of fixed variables. */ + const int* const AC_idx, /**< Index array of active constraints. */ + const int* const IAC_idx, /**< Index array of inactive constraints. */ + const real_t* const delta_lbA, /**< Step direction of lower constraints' bounds. */ + const real_t* const delta_ubA, /**< Step direction of upper constraints' bounds. */ + const real_t* const delta_lb, /**< Step direction of lower bounds. */ + const real_t* const delta_ub, /**< Step direction of upper bounds. */ + const real_t* const delta_xFX, /**< Primal homotopy step direction of fixed variables. */ + const real_t* const delta_xFR, /**< Primal homotopy step direction of free variables. */ + const real_t* const delta_yAC, /**< Dual homotopy step direction of active constraints' multiplier. */ + const real_t* const delta_yFX, /**< Dual homotopy step direction of fixed variables' multiplier. */ + real_t* const delta_Ax, /**< Output: Step in vector Ax. */ + int& BC_idx, /**< Output: Index of blocking constraint. */ + SubjectToStatus& BC_status, /**< Output: Status of blocking constraint. */ + BooleanType& BC_isBound /**< Output: Indicates if blocking constraint is a bound. */ + ); + + /** Performs a step along the homotopy path (and updates active set). + * \return SUCCESSFUL_RETURN \n + RET_OPTIMAL_SOLUTION_FOUND \n + RET_REMOVE_FROM_ACTIVESET_FAILED \n + RET_ADD_TO_ACTIVESET_FAILED \n + RET_QP_INFEASIBLE */ + returnValue hotstart_performStep( const int* const FR_idx, /**< Index array of free variables. */ + const int* const FX_idx, /**< Index array of fixed variables. */ + const int* const AC_idx, /**< Index array of active constraints. */ + const int* const IAC_idx, /**< Index array of inactive constraints. */ + const real_t* const delta_g, /**< Step direction of gradient vector. */ + const real_t* const delta_lbA, /**< Step direction of lower constraints' bounds. */ + const real_t* const delta_ubA, /**< Step direction of upper constraints' bounds. */ + const real_t* const delta_lb, /**< Step direction of lower bounds. */ + const real_t* const delta_ub, /**< Step direction of upper bounds. */ + const real_t* const delta_xFX, /**< Primal homotopy step direction of fixed variables. */ + const real_t* const delta_xFR, /**< Primal homotopy step direction of free variables. */ + const real_t* const delta_yAC, /**< Dual homotopy step direction of active constraints' multiplier. */ + const real_t* const delta_yFX, /**< Dual homotopy step direction of fixed variables' multiplier. */ + const real_t* const delta_Ax, /**< Step in vector Ax. */ + int BC_idx, /**< Index of blocking constraint. */ + SubjectToStatus BC_status, /**< Status of blocking constraint. */ + BooleanType BC_isBound /**< Indicates if blocking constraint is a bound. */ + ); + + + /** Checks if lower/upper (constraints') bounds remain consistent + * (i.e. if lb <= ub and lbA <= ubA ) during the current step. + * \return BT_TRUE iff (constraints") bounds remain consistent + */ + BooleanType areBoundsConsistent( const real_t* const delta_lb, /**< Step direction of lower bounds. */ + const real_t* const delta_ub, /**< Step direction of upper bounds. */ + const real_t* const delta_lbA, /**< Step direction of lower constraints' bounds. */ + const real_t* const delta_ubA /**< Step direction of upper constraints' bounds. */ + ) const; + + + /** Setups internal QP data. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS */ + returnValue setupQPdata( const real_t* const _H, /**< Hessian matrix. */ + const real_t* const _R, /**< Cholesky factorization of the Hessian matrix. */ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _A, /**< Constraint matrix. */ + const real_t* const _lb, /**< Lower bound vector (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bound vector (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + const real_t* const _lbA, /**< Lower constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + const real_t* const _ubA /**< Upper constraints' bound vector. \n + If no lower constraints' bounds exist, a NULL pointer can be passed. */ + ); + + + #ifdef PC_DEBUG /* Define print functions only for debugging! */ + + /** Prints concise information on the current iteration. + * \return SUCCESSFUL_RETURN \n */ + returnValue printIteration( int iteration, /**< Number of current iteration. */ + int BC_idx, /**< Index of blocking constraint. */ + SubjectToStatus BC_status, /**< Status of blocking constraint. */ + BooleanType BC_isBound /**< Indicates if blocking constraint is a bound. */ + ); + + /** Prints concise information on the current iteration. + * NOTE: ONLY DEFINED FOR SUPPRESSING A COMPILER WARNING!! + * \return SUCCESSFUL_RETURN \n */ + returnValue printIteration( int iteration, /**< Number of current iteration. */ + int BC_idx, /**< Index of blocking bound. */ + SubjectToStatus BC_status /**< Status of blocking bound. */ + ); + + #endif /* PC_DEBUG */ + + + /** Determines the maximum violation of the KKT optimality conditions + * of the current iterate within the QProblem object. + * \return SUCCESSFUL_RETURN \n + * RET_INACCURATE_SOLUTION \n + * RET_NO_SOLUTION */ + returnValue checkKKTconditions( ); + + + /** Sets constraint matrix of the QP. \n + (Remark: Also internal vector Ax is recomputed!) + * \return SUCCESSFUL_RETURN */ + inline returnValue setA( const real_t* const A_new /**< New constraint matrix (with correct dimension!). */ + ); + + /** Changes single row of constraint matrix of the QP. \n + (Remark: Also correponding component of internal vector Ax is recomputed!) + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + inline returnValue setA( int number, /**< Number of row to be changed. */ + const real_t* const value /**< New (number)th constraint (with correct dimension!). */ + ); + + + /** Sets constraints' lower bound vector of the QP. + * \return SUCCESSFUL_RETURN */ + inline returnValue setLBA( const real_t* const lbA_new /**< New constraints' lower bound vector (with correct dimension!). */ + ); + + /** Changes single entry of lower constraints' bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + inline returnValue setLBA( int number, /**< Number of entry to be changed. */ + real_t value /**< New value for entry of lower constraints' bound vector (with correct dimension!). */ + ); + + /** Sets constraints' upper bound vector of the QP. + * \return SUCCESSFUL_RETURN */ + inline returnValue setUBA( const real_t* const ubA_new /**< New constraints' upper bound vector (with correct dimension!). */ + ); + + /** Changes single entry of upper constraints' bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + inline returnValue setUBA( int number, /**< Number of entry to be changed. */ + real_t value /**< New value for entry of upper constraints' bound vector (with correct dimension!). */ + ); + + + /* + * PROTECTED MEMBER VARIABLES + */ + protected: + real_t A[NCMAX_ALLOC*NVMAX]; /**< Constraint matrix. */ + real_t lbA[NCMAX_ALLOC]; /**< Lower constraints' bound vector. */ + real_t ubA[NCMAX_ALLOC]; /**< Upper constraints' bound vector. */ + + Constraints constraints; /**< Data structure for problem's constraints. */ + + real_t T[NVMAX*NVMAX]; /**< Reverse triangular matrix, A = [0 T]*Q'. */ + real_t Q[NVMAX*NVMAX]; /**< Orthonormal quadratic matrix, A = [0 T]*Q'. */ + int sizeT; /**< Matrix T is stored in a (sizeT x sizeT) array. */ + + real_t Ax[NCMAX_ALLOC]; /**< Stores the current product A*x (for increased efficiency only). */ + + CyclingManager cyclingManager; /**< Data structure for storing (possible) cycling information (NOT YET IMPLEMENTED!). */ +}; + + +#include + +#endif /* QPOASES_QPROBLEM_HPP */ + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/INCLUDE/QProblemB.hpp b/src/control/mpc_control/externals/qpoases/INCLUDE/QProblemB.hpp new file mode 100644 index 00000000..8b3acb82 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/INCLUDE/QProblemB.hpp @@ -0,0 +1,628 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file INCLUDE/QProblemB.hpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Declaration of the QProblemB class which is able to use the newly + * developed online active set strategy for parametric quadratic programming + * for problems with (simple) bounds only. + */ + + + +#ifndef QPOASES_QPROBLEMB_HPP +#define QPOASES_QPROBLEMB_HPP + + +#include + + + +class SolutionAnalysis; + +/** Class for setting up and solving quadratic programs with (simple) bounds only. + * The main feature is the possibily to use the newly developed online active set strategy + * for parametric quadratic programming. + * + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + */ +class QProblemB +{ + /* allow SolutionAnalysis class to access private members */ + friend class SolutionAnalysis; + + /* + * PUBLIC MEMBER FUNCTIONS + */ + public: + /** Default constructor. */ + QProblemB( ); + + /** Constructor which takes the QP dimension only. */ + QProblemB( int _nV /**< Number of variables. */ + ); + + /** Copy constructor (deep copy). */ + QProblemB( const QProblemB& rhs /**< Rhs object. */ + ); + + /** Destructor. */ + ~QProblemB( ); + + /** Assignment operator (deep copy). */ + QProblemB& operator=( const QProblemB& rhs /**< Rhs object. */ + ); + + + /** Clears all data structures of QProblemB except for QP data. + * \return SUCCESSFUL_RETURN \n + RET_RESET_FAILED */ + returnValue reset( ); + + + /** Initialises a QProblemB with given QP data and solves it + * using an initial homotopy with empty working set (at most nWSR iterations). + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_INVALID_ARGUMENTS \n + RET_INACCURATE_SOLUTION \n + RET_NO_SOLUTION */ + returnValue init( const real_t* const _H, /**< Hessian matrix. */ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _lb, /**< Lower bounds (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bounds (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + int& nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n + Output: Number of performed working set recalculations. */ + const real_t* const yOpt = 0, /**< Initial guess for dual solution vector. */ + real_t* const cputime = 0 /**< Output: CPU time required to initialise QP. */ + ); + + + /** Initialises a QProblemB with given QP data and solves it + * using an initial homotopy with empty working set (at most nWSR iterations). + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED \n + RET_INVALID_ARGUMENTS \n + RET_INACCURATE_SOLUTION \n + RET_NO_SOLUTION */ + returnValue init( const real_t* const _H, /**< Hessian matrix. */ + const real_t* const _R, /**< Cholesky factorization of the Hessian matrix. */ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _lb, /**< Lower bounds (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub, /**< Upper bounds (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + int& nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n + Output: Number of performed working set recalculations. */ + const real_t* const yOpt = 0, /**< Initial guess for dual solution vector. */ + real_t* const cputime = 0 /**< Output: CPU time required to initialise QP. */ + ); + + + /** Solves an initialised QProblemB using online active set strategy. + * \return SUCCESSFUL_RETURN \n + RET_MAX_NWSR_REACHED \n + RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n + RET_HOTSTART_FAILED \n + RET_SHIFT_DETERMINATION_FAILED \n + RET_STEPDIRECTION_DETERMINATION_FAILED \n + RET_STEPLENGTH_DETERMINATION_FAILED \n + RET_HOMOTOPY_STEP_FAILED \n + RET_HOTSTART_STOPPED_INFEASIBILITY \n + RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n + RET_INACCURATE_SOLUTION \n + RET_NO_SOLUTION */ + returnValue hotstart( const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ + const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n + If no upper bounds exist, a NULL pointer can be passed. */ + int& nWSR, /**< Input: Maximum number of working set recalculations; \n + Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Output: CPU time required to solve QP (or to perform nWSR iterations). */ + ); + + + /** Returns Hessian matrix of the QP (deep copy). + * \return SUCCESSFUL_RETURN */ + inline returnValue getH( real_t* const _H /**< Array of appropriate dimension for copying Hessian matrix.*/ + ) const; + + /** Returns gradient vector of the QP (deep copy). + * \return SUCCESSFUL_RETURN */ + inline returnValue getG( real_t* const _g /**< Array of appropriate dimension for copying gradient vector.*/ + ) const; + + /** Returns lower bound vector of the QP (deep copy). + * \return SUCCESSFUL_RETURN */ + inline returnValue getLB( real_t* const _lb /**< Array of appropriate dimension for copying lower bound vector.*/ + ) const; + + /** Returns single entry of lower bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + inline returnValue getLB( int number, /**< Number of entry to be returned. */ + real_t& value /**< Output: lb[number].*/ + ) const; + + /** Returns upper bound vector of the QP (deep copy). + * \return SUCCESSFUL_RETURN */ + inline returnValue getUB( real_t* const _ub /**< Array of appropriate dimension for copying upper bound vector.*/ + ) const; + + /** Returns single entry of upper bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + inline returnValue getUB( int number, /**< Number of entry to be returned. */ + real_t& value /**< Output: ub[number].*/ + ) const; + + + /** Returns current bounds object of the QP (deep copy). + * \return SUCCESSFUL_RETURN */ + inline returnValue getBounds( Bounds* const _bounds /** Output: Bounds object. */ + ) const; + + + /** Returns the number of variables. + * \return Number of variables. */ + inline int getNV( ) const; + + /** Returns the number of free variables. + * \return Number of free variables. */ + inline int getNFR( ); + + /** Returns the number of fixed variables. + * \return Number of fixed variables. */ + inline int getNFX( ); + + /** Returns the number of implicitly fixed variables. + * \return Number of implicitly fixed variables. */ + inline int getNFV( ) const; + + /** Returns the dimension of null space. + * \return Dimension of null space. */ + int getNZ( ); + + + /** Returns the optimal objective function value. + * \return finite value: Optimal objective function value (QP was solved) \n + +infinity: QP was not yet solved */ + real_t getObjVal( ) const; + + /** Returns the objective function value at an arbitrary point x. + * \return Objective function value at point x */ + real_t getObjVal( const real_t* const _x /**< Point at which the objective function shall be evaluated. */ + ) const; + + /** Returns the primal solution vector. + * \return SUCCESSFUL_RETURN \n + RET_QP_NOT_SOLVED */ + returnValue getPrimalSolution( real_t* const xOpt /**< Output: Primal solution vector (if QP has been solved). */ + ) const; + + /** Returns the dual solution vector. + * \return SUCCESSFUL_RETURN \n + RET_QP_NOT_SOLVED */ + returnValue getDualSolution( real_t* const yOpt /**< Output: Dual solution vector (if QP has been solved). */ + ) const; + + + /** Returns status of the solution process. + * \return Status of solution process. */ + inline QProblemStatus getStatus( ) const; + + + /** Returns if the QProblem object is initialised. + * \return BT_TRUE: QProblemB initialised \n + BT_FALSE: QProblemB not initialised */ + inline BooleanType isInitialised( ) const; + + /** Returns if the QP has been solved. + * \return BT_TRUE: QProblemB solved \n + BT_FALSE: QProblemB not solved */ + inline BooleanType isSolved( ) const; + + /** Returns if the QP is infeasible. + * \return BT_TRUE: QP infeasible \n + BT_FALSE: QP feasible (or not known to be infeasible!) */ + inline BooleanType isInfeasible( ) const; + + /** Returns if the QP is unbounded. + * \return BT_TRUE: QP unbounded \n + BT_FALSE: QP unbounded (or not known to be unbounded!) */ + inline BooleanType isUnbounded( ) const; + + + /** Returns the print level. + * \return Print level. */ + inline PrintLevel getPrintLevel( ) const; + + /** Changes the print level. + * \return SUCCESSFUL_RETURN */ + returnValue setPrintLevel( PrintLevel _printlevel /**< New print level. */ + ); + + + /** Returns Hessian type flag (type is not determined due to this call!). + * \return Hessian type. */ + inline HessianType getHessianType( ) const; + + /** Changes the print level. + * \return SUCCESSFUL_RETURN */ + inline returnValue setHessianType( HessianType _hessianType /**< New Hessian type. */ + ); + + + /* + * PROTECTED MEMBER FUNCTIONS + */ + protected: + /** Checks if Hessian happens to be the identity matrix, + * and sets corresponding status flag (otherwise the flag remains unaltered!). + * \return SUCCESSFUL_RETURN */ + returnValue checkForIdentityHessian( ); + + /** Determines type of constraints and bounds (i.e. implicitly fixed, unbounded etc.). + * \return SUCCESSFUL_RETURN \n + RET_SETUPSUBJECTTOTYPE_FAILED */ + returnValue setupSubjectToType( ); + + /** Computes the Cholesky decomposition R of the (simply projected) Hessian (i.e. R^T*R = Z^T*H*Z). + * It only works in the case where Z is a simple projection matrix! + * \return SUCCESSFUL_RETURN \n + * RET_INDEXLIST_CORRUPTED */ + returnValue setupCholeskyDecomposition( ); + + + /** Solves a QProblemB whose QP data is assumed to be stored in the member variables. + * A guess for its primal/dual optimal solution vectors and the corresponding + * optimal working set can be provided. + * \return SUCCESSFUL_RETURN \n + RET_INIT_FAILED \n + RET_INIT_FAILED_CHOLESKY \n + RET_INIT_FAILED_HOTSTART \n + RET_INIT_FAILED_INFEASIBILITY \n + RET_INIT_FAILED_UNBOUNDEDNESS \n + RET_MAX_NWSR_REACHED */ + returnValue solveInitialQP( const real_t* const xOpt, /**< Optimal primal solution vector. + * A NULL pointer can be passed. */ + const real_t* const yOpt, /**< Optimal dual solution vector. + * A NULL pointer can be passed. */ + const Bounds* const guessedBounds, /**< Guessed working set for solution (xOpt,yOpt). + * A NULL pointer can be passed. */ + int& nWSR, /**< Input: Maximum number of working set recalculations; \n + * Output: Number of performed working set recalculations. */ + real_t* const cputime /**< Output: CPU time required to solve QP (or to perform nWSR iterations). */ + ); + + + /** Obtains the desired working set for the auxiliary initial QP in + * accordance with the user specifications + * \return SUCCESSFUL_RETURN \n + RET_OBTAINING_WORKINGSET_FAILED \n + RET_INVALID_ARGUMENTS */ + returnValue obtainAuxiliaryWorkingSet( const real_t* const xOpt, /**< Optimal primal solution vector. + * If a NULL pointer is passed, all entries are assumed to be zero. */ + const real_t* const yOpt, /**< Optimal dual solution vector. + * If a NULL pointer is passed, all entries are assumed to be zero. */ + const Bounds* const guessedBounds, /**< Guessed working set for solution (xOpt,yOpt). */ + Bounds* auxiliaryBounds /**< Input: Allocated bound object. \n + * Ouput: Working set for auxiliary QP. */ + ) const; + + /** Setups bound data structure according to auxiliaryBounds. + * (If the working set shall be setup afresh, make sure that + * bounds data structure has been resetted!) + * \return SUCCESSFUL_RETURN \n + RET_SETUP_WORKINGSET_FAILED \n + RET_INVALID_ARGUMENTS \n + RET_UNKNOWN BUG */ + returnValue setupAuxiliaryWorkingSet( const Bounds* const auxiliaryBounds, /**< Working set for auxiliary QP. */ + BooleanType setupAfresh /**< Flag indicating if given working set shall be + * setup afresh or by updating the current one. */ + ); + + /** Setups the optimal primal/dual solution of the auxiliary initial QP. + * \return SUCCESSFUL_RETURN */ + returnValue setupAuxiliaryQPsolution( const real_t* const xOpt, /**< Optimal primal solution vector. + * If a NULL pointer is passed, all entries are set to zero. */ + const real_t* const yOpt /**< Optimal dual solution vector. + * If a NULL pointer is passed, all entries are set to zero. */ + ); + + /** Setups gradient of the auxiliary initial QP for given + * optimal primal/dual solution and given initial working set + * (assumes that members X, Y and BOUNDS have already been initialised!). + * \return SUCCESSFUL_RETURN */ + returnValue setupAuxiliaryQPgradient( ); + + /** Setups bounds of the auxiliary initial QP for given + * optimal primal/dual solution and given initial working set + * (assumes that members X, Y and BOUNDS have already been initialised!). + * \return SUCCESSFUL_RETURN \n + RET_UNKNOWN BUG */ + returnValue setupAuxiliaryQPbounds( BooleanType useRelaxation /**< Flag indicating if inactive bounds shall be relaxed. */ + ); + + + /** Adds a bound to active set (specialised version for the case where no constraints exist). + * \return SUCCESSFUL_RETURN \n + RET_ADDBOUND_FAILED */ + returnValue addBound( int number, /**< Number of bound to be added to active set. */ + SubjectToStatus B_status, /**< Status of new active bound. */ + BooleanType updateCholesky /**< Flag indicating if Cholesky decomposition shall be updated. */ + ); + + /** Removes a bounds from active set (specialised version for the case where no constraints exist). + * \return SUCCESSFUL_RETURN \n + RET_HESSIAN_NOT_SPD \n + RET_REMOVEBOUND_FAILED */ + returnValue removeBound( int number, /**< Number of bound to be removed from active set. */ + BooleanType updateCholesky /**< Flag indicating if Cholesky decomposition shall be updated. */ + ); + + + /** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. + * \return SUCCESSFUL_RETURN \n + RET_DIV_BY_ZERO */ + returnValue backsolveR( const real_t* const b, /**< Right hand side vector. */ + BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ + real_t* const a /**< Output: Solution vector */ + ); + + /** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n + * Special variant for the case that this function is called from within "removeBound()". + * \return SUCCESSFUL_RETURN \n + RET_DIV_BY_ZERO */ + returnValue backsolveR( const real_t* const b, /**< Right hand side vector. */ + BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ + BooleanType removingBound, /**< Indicates if function is called from "removeBound()". */ + real_t* const a /**< Output: Solution vector */ + ); + + + /** Determines step direction of the shift of the QP data. + * \return SUCCESSFUL_RETURN */ + returnValue hotstart_determineDataShift(const int* const FX_idx, /**< Index array of fixed variables. */ + const real_t* const g_new, /**< New gradient vector. */ + const real_t* const lb_new, /**< New lower bounds. */ + const real_t* const ub_new, /**< New upper bounds. */ + real_t* const delta_g, /**< Output: Step direction of gradient vector. */ + real_t* const delta_lb, /**< Output: Step direction of lower bounds. */ + real_t* const delta_ub, /**< Output: Step direction of upper bounds. */ + BooleanType& Delta_bB_isZero/**< Output: Indicates if active bounds are to be shifted. */ + ); + + + /** Checks if lower/upper bounds remain consistent + * (i.e. if lb <= ub) during the current step. + * \return BT_TRUE iff bounds remain consistent + */ + BooleanType areBoundsConsistent( const real_t* const delta_lb, /**< Step direction of lower bounds. */ + const real_t* const delta_ub /**< Step direction of upper bounds. */ + ) const; + + + /** Setups internal QP data. + * \return SUCCESSFUL_RETURN \n + RET_INVALID_ARGUMENTS */ + returnValue setupQPdata( const real_t* const _H, /**< Hessian matrix. */ + const real_t* const _R, /**< Cholesky factorization of the Hessian matrix. */ + const real_t* const _g, /**< Gradient vector. */ + const real_t* const _lb, /**< Lower bounds (on variables). \n + If no lower bounds exist, a NULL pointer can be passed. */ + const real_t* const _ub /**< Upper bounds (on variables). \n + If no upper bounds exist, a NULL pointer can be passed. */ + ); + + + /** Sets Hessian matrix of the QP. + * \return SUCCESSFUL_RETURN */ + inline returnValue setH( const real_t* const H_new /**< New Hessian matrix (with correct dimension!). */ + ); + + /** Changes gradient vector of the QP. + * \return SUCCESSFUL_RETURN */ + inline returnValue setG( const real_t* const g_new /**< New gradient vector (with correct dimension!). */ + ); + + /** Changes lower bound vector of the QP. + * \return SUCCESSFUL_RETURN */ + inline returnValue setLB( const real_t* const lb_new /**< New lower bound vector (with correct dimension!). */ + ); + + /** Changes single entry of lower bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + inline returnValue setLB( int number, /**< Number of entry to be changed. */ + real_t value /**< New value for entry of lower bound vector. */ + ); + + /** Changes upper bound vector of the QP. + * \return SUCCESSFUL_RETURN */ + inline returnValue setUB( const real_t* const ub_new /**< New upper bound vector (with correct dimension!). */ + ); + + /** Changes single entry of upper bound vector of the QP. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + inline returnValue setUB( int number, /**< Number of entry to be changed. */ + real_t value /**< New value for entry of upper bound vector. */ + ); + + + /** Computes parameters for the Givens matrix G for which [x,y]*G = [z,0] + * \return SUCCESSFUL_RETURN */ + inline void computeGivens( real_t xold, /**< Matrix entry to be normalised. */ + real_t yold, /**< Matrix entry to be annihilated. */ + real_t& xnew, /**< Output: Normalised matrix entry. */ + real_t& ynew, /**< Output: Annihilated matrix entry. */ + real_t& c, /**< Output: Cosine entry of Givens matrix. */ + real_t& s /**< Output: Sine entry of Givens matrix. */ + ) const; + + /** Applies Givens matrix determined by c and s (cf. computeGivens). + * \return SUCCESSFUL_RETURN */ + inline void applyGivens( real_t c, /**< Cosine entry of Givens matrix. */ + real_t s, /**< Sine entry of Givens matrix. */ + real_t xold, /**< Matrix entry to be transformed corresponding to + * the normalised entry of the original matrix. */ + real_t yold, /**< Matrix entry to be transformed corresponding to + * the annihilated entry of the original matrix. */ + real_t& xnew, /**< Output: Transformed matrix entry corresponding to + * the normalised entry of the original matrix. */ + real_t& ynew /**< Output: Transformed matrix entry corresponding to + * the annihilated entry of the original matrix. */ + ) const; + + + /* + * PRIVATE MEMBER FUNCTIONS + */ + private: + /** Determines step direction of the homotopy path. + * \return SUCCESSFUL_RETURN \n + RET_STEPDIRECTION_FAILED_CHOLESKY */ + returnValue hotstart_determineStepDirection(const int* const FR_idx, /**< Index array of free variables. */ + const int* const FX_idx, /**< Index array of fixed variables. */ + const real_t* const delta_g, /**< Step direction of gradient vector. */ + const real_t* const delta_lb, /**< Step direction of lower bounds. */ + const real_t* const delta_ub, /**< Step direction of upper bounds. */ + BooleanType Delta_bB_isZero, /**< Indicates if active bounds are to be shifted. */ + real_t* const delta_xFX, /**< Output: Primal homotopy step direction of fixed variables. */ + real_t* const delta_xFR, /**< Output: Primal homotopy step direction of free variables. */ + real_t* const delta_yFX /**< Output: Dual homotopy step direction of fixed variables' multiplier. */ + ); + + /** Determines the maximum possible step length along the homotopy path. + * \return SUCCESSFUL_RETURN */ + returnValue hotstart_determineStepLength( const int* const FR_idx, /**< Index array of free variables. */ + const int* const FX_idx, /**< Index array of fixed variables. */ + const real_t* const delta_lb, /**< Step direction of lower bounds. */ + const real_t* const delta_ub, /**< Step direction of upper bounds. */ + const real_t* const delta_xFR, /**< Primal homotopy step direction of free variables. */ + const real_t* const delta_yFX, /**< Dual homotopy step direction of fixed variables' multiplier. */ + int& BC_idx, /**< Output: Index of blocking constraint. */ + SubjectToStatus& BC_status /**< Output: Status of blocking constraint. */ + ); + + /** Performs a step along the homotopy path (and updates active set). + * \return SUCCESSFUL_RETURN \n + RET_OPTIMAL_SOLUTION_FOUND \n + RET_REMOVE_FROM_ACTIVESET_FAILED \n + RET_ADD_TO_ACTIVESET_FAILED \n + RET_QP_INFEASIBLE */ + returnValue hotstart_performStep( const int* const FR_idx, /**< Index array of free variables. */ + const int* const FX_idx, /**< Index array of fixed variables. */ + const real_t* const delta_g, /**< Step direction of gradient vector. */ + const real_t* const delta_lb, /**< Step direction of lower bounds. */ + const real_t* const delta_ub, /**< Step direction of upper bounds. */ + const real_t* const delta_xFX, /**< Primal homotopy step direction of fixed variables. */ + const real_t* const delta_xFR, /**< Primal homotopy step direction of free variables. */ + const real_t* const delta_yFX, /**< Dual homotopy step direction of fixed variables' multiplier. */ + int BC_idx, /**< Index of blocking constraint. */ + SubjectToStatus BC_status /**< Status of blocking constraint. */ + ); + + + #ifdef PC_DEBUG /* Define print functions only for debugging! */ + + /** Prints concise information on the current iteration. + * \return SUCCESSFUL_RETURN \n */ + returnValue printIteration( int iteration, /**< Number of current iteration. */ + int BC_idx, /**< Index of blocking bound. */ + SubjectToStatus BC_status /**< Status of blocking bound. */ + ); + + #endif /* PC_DEBUG */ + + + /** Determines the maximum violation of the KKT optimality conditions + * of the current iterate within the QProblemB object. + * \return SUCCESSFUL_RETURN \n + * RET_INACCURATE_SOLUTION \n + * RET_NO_SOLUTION */ + returnValue checkKKTconditions( ); + + + /* + * PROTECTED MEMBER VARIABLES + */ + protected: + real_t H[NVMAX*NVMAX]; /**< Hessian matrix. */ + BooleanType hasHessian; /**< Flag indicating whether H contains Hessian or corresponding Cholesky factor R; \sa init. */ + + real_t g[NVMAX]; /**< Gradient. */ + real_t lb[NVMAX]; /**< Lower bound vector (on variables). */ + real_t ub[NVMAX]; /**< Upper bound vector (on variables). */ + + Bounds bounds; /**< Data structure for problem's bounds. */ + + real_t R[NVMAX*NVMAX]; /**< Cholesky decomposition of H (i.e. H = R^T*R). */ + BooleanType hasCholesky; /**< Flag indicating whether Cholesky decomposition has already been setup. */ + + real_t x[NVMAX]; /**< Primal solution vector. */ + real_t y[NVMAX+NCMAX]; /**< Dual solution vector. */ + + real_t tau; /**< Last homotopy step length. */ + + QProblemStatus status; /**< Current status of the solution process. */ + + BooleanType infeasible; /**< QP infeasible? */ + BooleanType unbounded; /**< QP unbounded? */ + + HessianType hessianType; /**< Type of Hessian matrix. */ + + PrintLevel printlevel; /**< Print level. */ + + int count; /**< Counts the number of hotstart function calls (internal usage only!). */ +}; + + +#include + +#endif /* QPOASES_QPROBLEMB_HPP */ + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/INCLUDE/SubjectTo.hpp b/src/control/mpc_control/externals/qpoases/INCLUDE/SubjectTo.hpp new file mode 100644 index 00000000..a014843c --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/INCLUDE/SubjectTo.hpp @@ -0,0 +1,178 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file INCLUDE/SubjectTo.hpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Declaration of the SubjectTo class designed to manage working sets of + * constraints and bounds within a QProblem. + */ + + +#ifndef QPOASES_SUBJECTTO_HPP +#define QPOASES_SUBJECTTO_HPP + + +#include + + + +/** This class manages working sets of constraints and bounds by storing + * index sets and other status information. + * + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + */ +class SubjectTo +{ + /* + * PUBLIC MEMBER FUNCTIONS + */ + public: + /** Default constructor. */ + SubjectTo( ); + + /** Copy constructor (deep copy). */ + SubjectTo( const SubjectTo& rhs /**< Rhs object. */ + ); + + /** Destructor. */ + ~SubjectTo( ); + + /** Assignment operator (deep copy). */ + SubjectTo& operator=( const SubjectTo& rhs /**< Rhs object. */ + ); + + + /** Pseudo-constructor takes the number of constraints or bounds. + * \return SUCCESSFUL_RETURN */ + returnValue init( int n /**< Number of constraints or bounds. */ + ); + + + /** Returns type of (constraints') bound. + * \return Type of (constraints') bound \n + RET_INDEX_OUT_OF_BOUNDS */ + inline SubjectToType getType( int i /**< Number of (constraints') bound. */ + ) const ; + + /** Returns status of (constraints') bound. + * \return Status of (constraints') bound \n + ST_UNDEFINED */ + inline SubjectToStatus getStatus( int i /**< Number of (constraints') bound. */ + ) const; + + + /** Sets type of (constraints') bound. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + inline returnValue setType( int i, /**< Number of (constraints') bound. */ + SubjectToType value /**< Type of (constraints') bound. */ + ); + + /** Sets status of (constraints') bound. + * \return SUCCESSFUL_RETURN \n + RET_INDEX_OUT_OF_BOUNDS */ + inline returnValue setStatus( int i, /**< Number of (constraints') bound. */ + SubjectToStatus value /**< Status of (constraints') bound. */ + ); + + + /** Sets status of lower (constraints') bounds. */ + inline void setNoLower( BooleanType _status /**< Status of lower (constraints') bounds. */ + ); + + /** Sets status of upper (constraints') bounds. */ + inline void setNoUpper( BooleanType _status /**< Status of upper (constraints') bounds. */ + ); + + + /** Returns status of lower (constraints') bounds. + * \return BT_TRUE if there is no lower (constraints') bound on any variable. */ + inline BooleanType isNoLower( ) const; + + /** Returns status of upper bounds. + * \return BT_TRUE if there is no upper (constraints') bound on any variable. */ + inline BooleanType isNoUpper( ) const; + + + /* + * PROTECTED MEMBER FUNCTIONS + */ + protected: + /** Adds the index of a new constraint or bound to index set. + * \return SUCCESSFUL_RETURN \n + RET_ADDINDEX_FAILED */ + returnValue addIndex( Indexlist* const indexlist, /**< Index list to which the new index shall be added. */ + int newnumber, /**< Number of new constraint or bound. */ + SubjectToStatus newstatus /**< Status of new constraint or bound. */ + ); + + /** Removes the index of a constraint or bound from index set. + * \return SUCCESSFUL_RETURN \n + RET_UNKNOWN_BUG */ + returnValue removeIndex( Indexlist* const indexlist, /**< Index list from which the new index shall be removed. */ + int removenumber /**< Number of constraint or bound to be removed. */ + ); + + /** Swaps the indices of two constraints or bounds within the index set. + * \return SUCCESSFUL_RETURN \n + RET_SWAPINDEX_FAILED */ + returnValue swapIndex( Indexlist* const indexlist, /**< Index list in which the indices shold be swapped. */ + int number1, /**< Number of first constraint or bound. */ + int number2 /**< Number of second constraint or bound. */ + ); + + + /* + * PROTECTED MEMBER VARIABLES + */ + protected: + SubjectToType type[NVMAX+NCMAX]; /**< Type of constraints/bounds. */ + SubjectToStatus status[NVMAX+NCMAX]; /**< Status of constraints/bounds. */ + + BooleanType noLower; /**< This flag indicates if there is no lower bound on any variable. */ + BooleanType noUpper; /**< This flag indicates if there is no upper bound on any variable. */ + + + /* + * PRIVATE MEMBER VARIABLES + */ + private: + int size; +}; + + + +#include + +#endif /* QPOASES_SUBJECTTO_HPP */ + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/INCLUDE/Types.hpp b/src/control/mpc_control/externals/qpoases/INCLUDE/Types.hpp new file mode 100644 index 00000000..330f187c --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/INCLUDE/Types.hpp @@ -0,0 +1,131 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file INCLUDE/Types.hpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2008 + * + * Declaration of all non-built-in types (except for classes). + */ + + +#ifndef QPOASES_TYPES_HPP +#define QPOASES_TYPES_HPP + + + +/** Define real_t for facilitating switching between double and float. */ +// typedef double real_t; + + +/** Summarises all possible logical values. */ +enum BooleanType +{ + BT_FALSE, /**< Logical value for "false". */ + BT_TRUE /**< Logical value for "true". */ +}; + + +/** Summarises all possible print levels. Print levels are used to describe + * the desired amount of output during runtime of qpOASES. */ +enum PrintLevel +{ + PL_NONE, /**< No output. */ + PL_LOW, /**< Print error messages only. */ + PL_MEDIUM, /**< Print error and warning messages as well as concise info messages. */ + PL_HIGH /**< Print all messages with full details. */ +}; + + +/** Defines visibility status of a message. */ +enum VisibilityStatus +{ + VS_VISIBLE, /**< Message visible. */ + VS_HIDDEN /**< Message not visible. */ +}; + + +/** Summarises all possible states of the (S)QProblem(B) object during the +solution process of a QP sequence. */ +enum QProblemStatus +{ + QPS_NOTINITIALISED, /**< QProblem object is freshly instantiated or reset. */ + QPS_PREPARINGAUXILIARYQP, /**< An auxiliary problem is currently setup, either at the very beginning + * via an initial homotopy or after changing the QP matrices. */ + QPS_AUXILIARYQPSOLVED, /**< An auxilary problem was solved, either at the very beginning + * via an initial homotopy or after changing the QP matrices. */ + QPS_PERFORMINGHOMOTOPY, /**< A homotopy according to the main idea of the online active + * set strategy is performed. */ + QPS_HOMOTOPYQPSOLVED, /**< An intermediate QP along the homotopy path was solved. */ + QPS_SOLVED /**< The solution of the actual QP was found. */ +}; + + +/** Summarises all possible types of bounds and constraints. */ +enum SubjectToType +{ + ST_UNBOUNDED, /**< Bound/constraint is unbounded. */ + ST_BOUNDED, /**< Bound/constraint is bounded but not fixed. */ + ST_EQUALITY, /**< Bound/constraint is fixed (implicit equality bound/constraint). */ + ST_UNKNOWN /**< Type of bound/constraint unknown. */ +}; + + +/** Summarises all possible states of bounds and constraints. */ +enum SubjectToStatus +{ + ST_INACTIVE, /**< Bound/constraint is inactive. */ + ST_LOWER, /**< Bound/constraint is at its lower bound. */ + ST_UPPER, /**< Bound/constraint is at its upper bound. */ + ST_UNDEFINED /**< Status of bound/constraint undefined. */ +}; + + +/** Summarises all possible cycling states of bounds and constraints. */ +enum CyclingStatus +{ + CYC_NOT_INVOLVED, /**< Bound/constraint is not involved in current cycling. */ + CYC_PREV_ADDED, /**< Bound/constraint has previously been added during the current cycling. */ + CYC_PREV_REMOVED /**< Bound/constraint has previously been removed during the current cycling. */ +}; + + +/** Summarises all possible types of the QP's Hessian matrix. */ +enum HessianType +{ + HST_SEMIDEF, /**< Hessian is positive semi-definite. */ + HST_POSDEF_NULLSPACE, /**< Hessian is positive definite on null space of active bounds/constraints. */ + HST_POSDEF, /**< Hessian is (strictly) positive definite. */ + HST_IDENTITY /**< Hessian is identity matrix. */ +}; + + + +#endif /* QPOASES_TYPES_HPP */ + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/INCLUDE/Utils.hpp b/src/control/mpc_control/externals/qpoases/INCLUDE/Utils.hpp new file mode 100644 index 00000000..16546a99 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/INCLUDE/Utils.hpp @@ -0,0 +1,197 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file INCLUDE/Utils.hpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Declaration of global utility functions for working with qpOASES. + */ + + +#ifndef QPOASES_UTILS_HPP +#define QPOASES_UTILS_HPP + + +#include + + +#ifdef PC_DEBUG /* Define print functions only for debugging! */ + +/** Prints a vector. + * \return SUCCESSFUL_RETURN */ +returnValue print( const real_t* const v, /**< Vector to be printed. */ + int n /**< Length of vector. */ + ); + +/** Prints a permuted vector. + * \return SUCCESSFUL_RETURN */ +returnValue print( const real_t* const v, /**< Vector to be printed. */ + int n, /**< Length of vector. */ + const int* const V_idx /**< Pemutation vector. */ + ); + +/** Prints a named vector. + * \return SUCCESSFUL_RETURN */ +returnValue print( const real_t* const v, /**< Vector to be printed. */ + int n, /**< Length of vector. */ + const char* name /** Name of vector. */ + ); + +/** Prints a matrix. + * \return SUCCESSFUL_RETURN */ +returnValue print( const real_t* const M, /**< Matrix to be printed. */ + int nrow, /**< Row number of matrix. */ + int ncol /**< Column number of matrix. */ + ); + +/** Prints a permuted matrix. + * \return SUCCESSFUL_RETURN */ +returnValue print( const real_t* const M, /**< Matrix to be printed. */ + int nrow, /**< Row number of matrix. */ + int ncol , /**< Column number of matrix. */ + const int* const ROW_idx, /**< Row pemutation vector. */ + const int* const COL_idx /**< Column pemutation vector. */ + ); + +/** Prints a named matrix. + * \return SUCCESSFUL_RETURN */ +returnValue print( const real_t* const M, /**< Matrix to be printed. */ + int nrow, /**< Row number of matrix. */ + int ncol, /**< Column number of matrix. */ + const char* name /** Name of matrix. */ + ); + +/** Prints an index array. + * \return SUCCESSFUL_RETURN */ +returnValue print( const int* const index, /**< Index array to be printed. */ + int n /**< Length of index array. */ + ); + +/** Prints a named index array. + * \return SUCCESSFUL_RETURN */ +returnValue print( const int* const index, /**< Index array to be printed. */ + int n, /**< Length of index array. */ + const char* name /**< Name of index array. */ + ); + + +/** Prints a string to desired output target (useful also for MATLAB output!). + * \return SUCCESSFUL_RETURN */ +returnValue myPrintf( const char* s /**< String to be written. */ + ); + + +/** Prints qpOASES copyright notice. + * \return SUCCESSFUL_RETURN */ +returnValue printCopyrightNotice( ); + + +/** Reads a real_t matrix from file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE \n + RET_UNABLE_TO_READ_FILE */ +returnValue readFromFile( real_t* data, /**< Matrix to be read from file. */ + int nrow, /**< Row number of matrix. */ + int ncol, /**< Column number of matrix. */ + const char* datafilename /**< Data file name. */ + ); + +/** Reads a real_t vector from file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE \n + RET_UNABLE_TO_READ_FILE */ +returnValue readFromFile( real_t* data, /**< Vector to be read from file. */ + int n, /**< Length of vector. */ + const char* datafilename /**< Data file name. */ + ); + +/** Reads an integer (column) vector from file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE \n + RET_UNABLE_TO_READ_FILE */ +returnValue readFromFile( int* data, /**< Vector to be read from file. */ + int n, /**< Length of vector. */ + const char* datafilename /**< Data file name. */ + ); + + +/** Writes a real_t matrix into a file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE */ +returnValue writeIntoFile( const real_t* const data, /**< Matrix to be written into file. */ + int nrow, /**< Row number of matrix. */ + int ncol, /**< Column number of matrix. */ + const char* datafilename, /**< Data file name. */ + BooleanType append /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */ + ); + +/** Writes a real_t vector into a file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE */ +returnValue writeIntoFile( const real_t* const data, /**< Vector to be written into file. */ + int n, /**< Length of vector. */ + const char* datafilename, /**< Data file name. */ + BooleanType append /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */ + ); + +/** Writes an integer (column) vector into a file. + * \return SUCCESSFUL_RETURN \n + RET_UNABLE_TO_OPEN_FILE */ +returnValue writeIntoFile( const int* const integer, /**< Integer vector to be written into file. */ + int n, /**< Length of vector. */ + const char* datafilename, /**< Data file name. */ + BooleanType append /**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */ + ); + +#endif /* PC_DEBUG */ + + +/** Returns the current system time. + * \return current system time */ +real_t getCPUtime( ); + + +/** Returns the Euclidean norm of a vector. + * \return 0: successful */ +real_t getNorm( const real_t* const v, /**< Vector. */ + int n /**< Vector's dimension. */ + ); + +/** Returns the absolute value of a real_t. + * \return Absolute value of a real_t */ +inline real_t getAbs( real_t x /**< Input argument. */ + ); + + + +#include + +#endif /* QPOASES_UTILS_HPP */ + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/LICENSE.txt b/src/control/mpc_control/externals/qpoases/LICENSE.txt new file mode 100644 index 00000000..5faba9d4 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/LICENSE.txt @@ -0,0 +1,504 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 2.1, February 1999 + + Copyright (C) 1991, 1999 Free Software Foundation, Inc. + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + +[This is the first released version of the Lesser GPL. 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See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + +Also add information on how to contact you by electronic and paper mail. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the library, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the + library `Frob' (a library for tweaking knobs) written by James Random Hacker. + + , 1 April 1990 + Ty Coon, President of Vice + +That's all there is to it! + + diff --git a/src/control/mpc_control/externals/qpoases/README.txt b/src/control/mpc_control/externals/qpoases/README.txt new file mode 100644 index 00000000..37175d91 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/README.txt @@ -0,0 +1,92 @@ +## +## qpOASES -- An Implementation of the Online Active Set Strategy. +## Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. +## +## qpOASES is free software; you can redistribute it and/or +## modify it under the terms of the GNU Lesser General Public +## License as published by the Free Software Foundation; either +## version 2.1 of the License, or (at your option) any later version. +## +## qpOASES is distributed in the hope that it will be useful, +## but WITHOUT ANY WARRANTY; without even the implied warranty of +## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +## Lesser General Public License for more details. +## +## You should have received a copy of the GNU Lesser General Public +## License along with qpOASES; if not, write to the Free Software +## Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA +## + + + +INTRODUCTION +============= + +qpOASES is an open-source C++ implementation of the recently proposed +online active set strategy (see [1], [2]), which was inspired by important +observations from the field of parametric quadratic programming. It has +several theoretical features that make it particularly suited for model +predictive control (MPC) applications. + +The software package qpOASES implements these ideas and has already been +successfully used for closed-loop control of a real-world Diesel engine [3]. + + +References: + +[1] H.J. Ferreau. An Online Active Set Strategy for Fast Solution of +Parametric Quadratic Programs with Applications to Predictive Engine Control. +Diplom thesis, University of Heidelberg, 2006. + +[2] H.J. Ferreau, H.G. Bock, M. Diehl. An online active set strategy to +overcome the limitations of explicit MPC. International Journal of Robust +and Nonlinear Control, 18 (8), pp. 816-830, 2008. + +[3] H.J. Ferreau, P. Ortner, P. Langthaler, L. del Re, M. Diehl. Predictive +Control of a Real-World Diesel Engine using an Extended Online Active Set +Strategy. Annual Reviews in Control, 31 (2), pp. 293-301, 2007. + + + +GETTING STARTED +================ + +1. For installation, usage and additional information on this software package + see the qpOASES User's Manual located at ./DOC/manual.pdf! + + +2. The file ./LICENSE.txt contains a copy of the GNU Lesser General Public + License. Please read it carefully before using qpOASES! + + +3. The whole software package can be downloaded from + + http://homes.esat.kuleuven.be/~optec/software/qpOASES/ + + On this webpage you will also find a list of frequently asked questions. + + + +CONTACT THE AUTHORS +==================== + +If you have got questions, remarks or comments on qpOASES +please contact the main author: + + Hans Joachim Ferreau + Katholieke Universiteit Leuven + Department of Electrical Engineering (ESAT) + Kasteelpark Arenberg 10, bus 2446 + B-3001 Leuven-Heverlee, Belgium + + Phone: +32 16 32 03 63 + E-mail: joachim.ferreau@esat.kuleuven.be + qpOASES@esat.kuleuven.be + +Also bug reports and source code extensions are most welcome! + + + +## +## end of file +## diff --git a/src/control/mpc_control/externals/qpoases/SRC/Bounds.cpp b/src/control/mpc_control/externals/qpoases/SRC/Bounds.cpp new file mode 100644 index 00000000..236ab2f6 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/Bounds.cpp @@ -0,0 +1,252 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/Bounds.cpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of the Bounds class designed to manage working sets of + * bounds within a QProblem. + */ + + +#include + + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + + +/* + * B o u n d s + */ +Bounds::Bounds( ) : SubjectTo( ), + nV( 0 ), + nFV( 0 ), + nBV( 0 ), + nUV( 0 ) +{ +} + + +/* + * B o u n d s + */ +Bounds::Bounds( const Bounds& rhs ) : SubjectTo( rhs ), + nV( rhs.nV ), + nFV( rhs.nFV ), + nBV( rhs.nBV ), + nUV( rhs.nUV ) +{ + free = rhs.free; + fixed = rhs.fixed; +} + + +/* + * ~ B o u n d s + */ +Bounds::~Bounds( ) +{ +} + + +/* + * o p e r a t o r = + */ +Bounds& Bounds::operator=( const Bounds& rhs ) +{ + if ( this != &rhs ) + { + SubjectTo::operator=( rhs ); + + nV = rhs.nV; + nFV = rhs.nFV; + nBV = rhs.nBV; + nUV = rhs.nUV; + + free = rhs.free; + fixed = rhs.fixed; + } + + return *this; +} + + +/* + * i n i t + */ +returnValue Bounds::init( int n ) +{ + nV = n; + nFV = 0; + nBV = 0; + nUV = 0; + + free.init( ); + fixed.init( ); + + return SubjectTo::init( n ); +} + + +/* + * s e t u p B o u n d + */ +returnValue Bounds::setupBound( int _number, SubjectToStatus _status + ) +{ + /* consistency check */ + if ( ( _number < 0 ) || ( _number >= getNV( ) ) ) + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + + /* Add bound index to respective index list. */ + switch ( _status ) + { + case ST_INACTIVE: + if ( this->addIndex( this->getFree( ),_number,_status ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_BOUND_FAILED ); + break; + + case ST_LOWER: + if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_BOUND_FAILED ); + break; + + case ST_UPPER: + if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_BOUND_FAILED ); + break; + + default: + return THROWERROR( RET_INVALID_ARGUMENTS ); + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t u p A l l F r e e + */ +returnValue Bounds::setupAllFree( ) +{ + int i; + + /* 1) Place unbounded variables at the beginning of the index list of free variables. */ + for( i=0; i= getNV( ) ) ) + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + + /* Move index from indexlist of fixed variables to that of free ones. */ + if ( this->removeIndex( this->getFixed( ),_number ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_MOVING_BOUND_FAILED ); + + if ( this->addIndex( this->getFree( ),_number,ST_INACTIVE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_MOVING_BOUND_FAILED ); + + return SUCCESSFUL_RETURN; +} + + +/* + * m o v e F r e e T o F i x e d + */ +returnValue Bounds::moveFreeToFixed( int _number, SubjectToStatus _status + ) +{ + /* consistency check */ + if ( ( _number < 0 ) || ( _number >= getNV( ) ) ) + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + + /* Move index from indexlist of free variables to that of fixed ones. */ + if ( this->removeIndex( this->getFree( ),_number ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_MOVING_BOUND_FAILED ); + + if ( this->addIndex( this->getFixed( ),_number,_status ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_MOVING_BOUND_FAILED ); + + return SUCCESSFUL_RETURN; +} + + +/* + * s w a p F r e e + */ +returnValue Bounds::swapFree( int number1, int number2 + ) +{ + /* consistency check */ + if ( ( number1 < 0 ) || ( number1 >= getNV( ) ) || ( number2 < 0 ) || ( number2 >= getNV( ) ) ) + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + + /* Swap index within indexlist of free variables. */ + return this->swapIndex( this->getFree( ),number1,number2 ); +} + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/Bounds.ipp b/src/control/mpc_control/externals/qpoases/SRC/Bounds.ipp new file mode 100644 index 00000000..d0e7dbbf --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/Bounds.ipp @@ -0,0 +1,144 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/Bounds.ipp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of inlined member functions of the Bounds class designed + * to manage working sets of bounds within a QProblem. + */ + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + +/* + * g e t N V + */ +inline int Bounds::getNV( ) const +{ + return nV; +} + + +/* + * g e t N F X + */ +inline int Bounds::getNFV( ) const +{ + return nFV; +} + + +/* + * g e t N B V + */ +inline int Bounds::getNBV( ) const +{ + return nBV; +} + + +/* + * g e t N U V + */ +inline int Bounds::getNUV( ) const +{ + return nUV; +} + + + +/* + * s e t N F X + */ +inline returnValue Bounds::setNFV( int n ) +{ + nFV = n; + return SUCCESSFUL_RETURN; +} + + +/* + * s e t N B V + */ +inline returnValue Bounds::setNBV( int n ) +{ + nBV = n; + return SUCCESSFUL_RETURN; +} + + +/* + * s e t N U V + */ +inline returnValue Bounds::setNUV( int n ) +{ + nUV = n; + return SUCCESSFUL_RETURN; +} + + +/* + * g e t N F R + */ +inline int Bounds::getNFR( ) +{ + return free.getLength( ); +} + + +/* + * g e t N F X + */ +inline int Bounds::getNFX( ) +{ + return fixed.getLength( ); +} + + +/* + * g e t F r e e + */ +inline Indexlist* Bounds::getFree( ) +{ + return &free; +} + + +/* + * g e t F i x e d + */ +inline Indexlist* Bounds::getFixed( ) +{ + return &fixed; +} + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/Constraints.cpp b/src/control/mpc_control/externals/qpoases/SRC/Constraints.cpp new file mode 100644 index 00000000..81fc6ce8 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/Constraints.cpp @@ -0,0 +1,248 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/Constraints.cpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of the Constraints class designed to manage working sets of + * constraints within a QProblem. + */ + + +#include + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + + +/* + * C o n s t r a i n t s + */ +Constraints::Constraints( ) : SubjectTo( ), + nC( 0 ), + nEC( 0 ), + nIC( 0 ), + nUC( 0 ) +{ +} + + +/* + * C o n s t r a i n t s + */ +Constraints::Constraints( const Constraints& rhs ) : SubjectTo( rhs ), + nC( rhs.nC ), + nEC( rhs.nEC ), + nIC( rhs.nIC ), + nUC( rhs.nUC ) +{ + active = rhs.active; + inactive = rhs.inactive; +} + + +/* + * ~ C o n s t r a i n t s + */ +Constraints::~Constraints( ) +{ +} + + +/* + * o p e r a t o r = + */ +Constraints& Constraints::operator=( const Constraints& rhs ) +{ + if ( this != &rhs ) + { + SubjectTo::operator=( rhs ); + + nC = rhs.nC; + nEC = rhs.nEC; + nIC = rhs.nIC; + nUC = rhs.nUC; + + active = rhs.active; + inactive = rhs.inactive; + } + + return *this; +} + + +/* + * i n i t + */ +returnValue Constraints::init( int n ) +{ + nC = n; + nEC = 0; + nIC = 0; + nUC = 0; + + active.init( ); + inactive.init( ); + + return SubjectTo::init( n ); +} + + +/* + * s e t u p C o n s t r a i n t + */ +returnValue Constraints::setupConstraint( int _number, SubjectToStatus _status + ) +{ + /* consistency check */ + if ( ( _number < 0 ) || ( _number >= getNC( ) ) ) + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + + /* Add constraint index to respective index list. */ + switch ( _status ) + { + case ST_INACTIVE: + if ( this->addIndex( this->getInactive( ),_number,_status ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_CONSTRAINT_FAILED ); + break; + + case ST_LOWER: + if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_CONSTRAINT_FAILED ); + break; + + case ST_UPPER: + if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_CONSTRAINT_FAILED ); + break; + + default: + return THROWERROR( RET_INVALID_ARGUMENTS ); + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t u p A l l I n a c t i v e + */ +returnValue Constraints::setupAllInactive( ) +{ + int i; + + + /* 1) Place unbounded constraints at the beginning of the index list of inactive constraints. */ + for( i=0; i= getNC( ) ) ) + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + + /* Move index from indexlist of active constraints to that of inactive ones. */ + if ( this->removeIndex( this->getActive( ),_number ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_MOVING_BOUND_FAILED ); + + if ( this->addIndex( this->getInactive( ),_number,ST_INACTIVE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_MOVING_BOUND_FAILED ); + + return SUCCESSFUL_RETURN; +} + + +/* + * m o v e I n a c t i v e T o A c t i v e + */ +returnValue Constraints::moveInactiveToActive( int _number, SubjectToStatus _status + ) +{ + /* consistency check */ + if ( ( _number < 0 ) || ( _number >= getNC( ) ) ) + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + + /* Move index from indexlist of inactive constraints to that of active ones. */ + if ( this->removeIndex( this->getInactive( ),_number ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_MOVING_BOUND_FAILED ); + + if ( this->addIndex( this->getActive( ),_number,_status ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_MOVING_BOUND_FAILED ); + + return SUCCESSFUL_RETURN; +} + + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/Constraints.ipp b/src/control/mpc_control/externals/qpoases/SRC/Constraints.ipp new file mode 100644 index 00000000..67add204 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/Constraints.ipp @@ -0,0 +1,144 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/Constraints.ipp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Declaration of inlined member functions of the Constraints class designed + * to manage working sets of constraints within a QProblem. + */ + + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + +/* + * g e t N C + */ +inline int Constraints::getNC( ) const +{ + return nC; +} + + +/* + * g e t N E C + */ +inline int Constraints::getNEC( ) const +{ + return nEC; +} + + +/* + * g e t N I C + */ +inline int Constraints::getNIC( ) const +{ + return nIC; +} + + +/* + * g e t N U C + */ +inline int Constraints::getNUC( ) const +{ + return nUC; +} + + +/* + * s e t N E C + */ +inline returnValue Constraints::setNEC( int n ) +{ + nEC = n; + return SUCCESSFUL_RETURN; +} + + +/* + * s e t N I C + */ +inline returnValue Constraints::setNIC( int n ) +{ + nIC = n; + return SUCCESSFUL_RETURN; +} + + +/* + * s e t N U C + */ +inline returnValue Constraints::setNUC( int n ) +{ + nUC = n; + return SUCCESSFUL_RETURN; +} + + +/* + * g e t N A C + */ +inline int Constraints::getNAC( ) +{ + return active.getLength( ); +} + + +/* + * g e t N I A C + */ +inline int Constraints::getNIAC( ) +{ + return inactive.getLength( ); +} + + +/* + * g e t A c t i v e + */ +inline Indexlist* Constraints::getActive( ) +{ + return &active; +} + + +/* + * g e t I n a c t i v e + */ +inline Indexlist* Constraints::getInactive( ) +{ + return &inactive; +} + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/CyclingManager.cpp b/src/control/mpc_control/externals/qpoases/SRC/CyclingManager.cpp new file mode 100644 index 00000000..7bbccdac --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/CyclingManager.cpp @@ -0,0 +1,188 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/CyclingManager.cpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of the CyclingManager class designed to detect + * and handle possible cycling during QP iterations. + * + */ + + +#include + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + + +/* + * C y c l i n g M a n a g e r + */ +CyclingManager::CyclingManager( ) : nV( 0 ), + nC( 0 ) +{ + cyclingDetected = BT_FALSE; +} + + +/* + * C y c l i n g M a n a g e r + */ +CyclingManager::CyclingManager( const CyclingManager& rhs ) : nV( rhs.nV ), + nC( rhs.nC ), + cyclingDetected( rhs.cyclingDetected ) +{ + int i; + + for( i=0; i= 0 ) && ( number < nV ) ) + { + status[number] = _status; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + } + else + { + /* Set cycling status of a constraint. */ + if ( ( number >= 0 ) && ( number < nC ) ) + { + status[nV+number] = _status; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + } +} + + +/* + * g e t C y c l i n g S t a t u s + */ +CyclingStatus CyclingManager::getCyclingStatus( int number, BooleanType isBound ) const +{ + if ( isBound == BT_TRUE ) + { + /* Return cycling status of a bound. */ + if ( ( number >= 0 ) && ( number < nV ) ) + return status[number]; + } + else + { + /* Return cycling status of a constraint. */ + if ( ( number >= 0 ) && ( number < nC ) ) + return status[nV+number]; + } + + return CYC_NOT_INVOLVED; +} + + +/* + * c l e a r C y c l i n g D a t a + */ +returnValue CyclingManager::clearCyclingData( ) +{ + int i; + + /* Reset all status values ... */ + for( i=0; i + +/* + * S o l u t i o n A n a l y s i s + */ +SolutionAnalysis::SolutionAnalysis( ) +{ + +} + +/* + * S o l u t i o n A n a l y s i s + */ +SolutionAnalysis::SolutionAnalysis( const SolutionAnalysis& rhs ) +{ + +} + +/* + * ~ S o l u t i o n A n a l y s i s + */ +SolutionAnalysis::~SolutionAnalysis( ) +{ + +} + +/* + * o p e r a t o r = + */ +SolutionAnalysis& SolutionAnalysis::operator=( const SolutionAnalysis& rhs ) +{ + if ( this != &rhs ) + { + + } + + return *this; +} + +/* + * g e t H e s s i a n I n v e r s e + */ +returnValue SolutionAnalysis::getHessianInverse( QProblem* qp, real_t* hessianInverse ) +{ + returnValue returnvalue; /* the return value */ + BooleanType Delta_bC_isZero = BT_FALSE; /* (just use FALSE here) */ + BooleanType Delta_bB_isZero = BT_FALSE; /* (just use FALSE here) */ + + register int run1, run2, run3; + + register int nFR, nFX; + + /* Ask for the number of free and fixed variables, assumes that active set + * is constant for the covariance evaluation */ + nFR = qp->getNFR( ); + nFX = qp->getNFX( ); + + /* Ask for the corresponding index arrays: */ + if ( qp->bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + if ( qp->bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + if ( qp->constraints.getActive( )->getNumberArray( AC_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + /* Initialization: */ + for( run1 = 0; run1 < NVMAX; run1++ ) + delta_g_cov[ run1 ] = 0.0; + + for( run1 = 0; run1 < NVMAX; run1++ ) + delta_lb_cov[ run1 ] = 0.0; + + for( run1 = 0; run1 < NVMAX; run1++ ) + delta_ub_cov[ run1 ] = 0.0; + + for( run1 = 0; run1 < NCMAX; run1++ ) + delta_lbA_cov[ run1 ] = 0.0; + + for( run1 = 0; run1 < NCMAX; run1++ ) + delta_ubA_cov[ run1 ] = 0.0; + + /* The following loop solves the following: + * + * KKT * x = + * [delta_g_cov', delta_lbA_cov', delta_ubA_cov', delta_lb_cov', delta_ub_cov]' + * + * for the first NVMAX (negative) elementary vectors in order to get + * transposed inverse of the Hessian. Assuming that the Hessian is + * symmetric, the function will return transposed inverse, instead of the + * true inverse. + * + * Note, that we use negative elementary vectors due because internal + * implementation of the function hotstart_determineStepDirection requires + * so. + * + * */ + + for( run3 = 0; run3 < NVMAX; run3++ ) + { + /* Line wise loading of the corresponding (negative) elementary vector: */ + delta_g_cov[ run3 ] = -1.0; + + /* Evaluation of the step: */ + returnvalue = qp->hotstart_determineStepDirection( + FR_idx, FX_idx, AC_idx, + delta_g_cov, delta_lbA_cov, delta_ubA_cov, delta_lb_cov, delta_ub_cov, + Delta_bC_isZero, Delta_bB_isZero, + delta_xFX, delta_xFR, delta_yAC, delta_yFX + ); + if ( returnvalue != SUCCESSFUL_RETURN ) + { + return returnvalue; + } + + /* Line wise storage of the QP reaction: */ + for( run1 = 0; run1 < nFR; run1++ ) + { + run2 = FR_idx[ run1 ]; + + hessianInverse[run3 * NVMAX + run2] = delta_xFR[ run1 ]; + } + + for( run1 = 0; run1 < nFX; run1++ ) + { + run2 = FX_idx[ run1 ]; + + hessianInverse[run3 * NVMAX + run2] = delta_xFX[ run1 ]; + } + + /* Prepare for the next iteration */ + delta_g_cov[ run3 ] = 0.0; + } + + // TODO: Perform the transpose of the inverse of the Hessian matrix + + return SUCCESSFUL_RETURN; +} + +/* + * g e t H e s s i a n I n v e r s e + */ +returnValue SolutionAnalysis::getHessianInverse( QProblemB* qp, real_t* hessianInverse ) +{ + returnValue returnvalue; /* the return value */ + BooleanType Delta_bB_isZero = BT_FALSE; /* (just use FALSE here) */ + + register int run1, run2, run3; + + register int nFR, nFX; + + /* Ask for the number of free and fixed variables, assumes that active set + * is constant for the covariance evaluation */ + nFR = qp->getNFR( ); + nFX = qp->getNFX( ); + + /* Ask for the corresponding index arrays: */ + if ( qp->bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + if ( qp->bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + /* Initialization: */ + for( run1 = 0; run1 < NVMAX; run1++ ) + delta_g_cov[ run1 ] = 0.0; + + for( run1 = 0; run1 < NVMAX; run1++ ) + delta_lb_cov[ run1 ] = 0.0; + + for( run1 = 0; run1 < NVMAX; run1++ ) + delta_ub_cov[ run1 ] = 0.0; + + /* The following loop solves the following: + * + * KKT * x = + * [delta_g_cov', delta_lb_cov', delta_ub_cov']' + * + * for the first NVMAX (negative) elementary vectors in order to get + * transposed inverse of the Hessian. Assuming that the Hessian is + * symmetric, the function will return transposed inverse, instead of the + * true inverse. + * + * Note, that we use negative elementary vectors due because internal + * implementation of the function hotstart_determineStepDirection requires + * so. + * + * */ + + for( run3 = 0; run3 < NVMAX; run3++ ) + { + /* Line wise loading of the corresponding (negative) elementary vector: */ + delta_g_cov[ run3 ] = -1.0; + + /* Evaluation of the step: */ + returnvalue = qp->hotstart_determineStepDirection( + FR_idx, FX_idx, + delta_g_cov, delta_lb_cov, delta_ub_cov, + Delta_bB_isZero, + delta_xFX, delta_xFR, delta_yFX + ); + if ( returnvalue != SUCCESSFUL_RETURN ) + { + return returnvalue; + } + + /* Line wise storage of the QP reaction: */ + for( run1 = 0; run1 < nFR; run1++ ) + { + run2 = FR_idx[ run1 ]; + + hessianInverse[run3 * NVMAX + run2] = delta_xFR[ run1 ]; + } + + for( run1 = 0; run1 < nFX; run1++ ) + { + run2 = FX_idx[ run1 ]; + + hessianInverse[run3 * NVMAX + run2] = delta_xFX[ run1 ]; + } + + /* Prepare for the next iteration */ + delta_g_cov[ run3 ] = 0.0; + } + + // TODO: Perform the transpose of the inverse of the Hessian matrix + + return SUCCESSFUL_RETURN; +} + +/* + * g e t V a r i a n c e C o v a r i a n c e + */ + +#if QPOASES_USE_OLD_VERSION + +returnValue SolutionAnalysis::getVarianceCovariance( QProblem* qp, real_t* g_b_bA_VAR, real_t* Primal_Dual_VAR ) +{ + int run1, run2, run3; /* simple run variables (for loops). */ + + returnValue returnvalue; /* the return value */ + BooleanType Delta_bC_isZero = BT_FALSE; /* (just use FALSE here) */ + BooleanType Delta_bB_isZero = BT_FALSE; /* (just use FALSE here) */ + + /* ASK FOR THE NUMBER OF FREE AND FIXED VARIABLES: + * (ASSUMES THAT ACTIVE SET IS CONSTANT FOR THE + * VARIANCE-COVARIANCE EVALUATION) + * ----------------------------------------------- */ + int nFR, nFX, nAC; + + nFR = qp->getNFR( ); + nFX = qp->getNFX( ); + nAC = qp->getNAC( ); + + if ( qp->bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + if ( qp->bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + if ( qp->constraints.getActive( )->getNumberArray( AC_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + /* SOME INITIALIZATIONS: + * --------------------- */ + for( run1 = 0; run1 < KKT_DIM * KKT_DIM; run1++ ) + { + K [run1] = 0.0; + Primal_Dual_VAR[run1] = 0.0; + } + + /* ================================================================= */ + + /* FIRST MATRIX MULTIPLICATION (OBTAINS THE INTERMEDIATE RESULT + * K := [ ("ACTIVE" KKT-MATRIX OF THE QP)^(-1) * g_b_bA_VAR ]^T ) + * THE EVALUATION OF THE INVERSE OF THE KKT-MATRIX OF THE QP + * WITH RESPECT TO THE CURRENT ACTIVE SET + * USES THE EXISTING CHOLESKY AND TQ-DECOMPOSITIONS. FOR DETAILS + * cf. THE (protected) FUNCTION determineStepDirection. */ + + for( run3 = 0; run3 < KKT_DIM; run3++ ) + { + + for( run1 = 0; run1 < NVMAX; run1++ ) + { + delta_g_cov [run1] = g_b_bA_VAR[run3*KKT_DIM+run1]; + delta_lb_cov [run1] = g_b_bA_VAR[run3*KKT_DIM+NVMAX+run1]; /* LINE-WISE LOADING OF THE INPUT */ + delta_ub_cov [run1] = g_b_bA_VAR[run3*KKT_DIM+NVMAX+run1]; /* VARIANCE-COVARIANCE */ + } + for( run1 = 0; run1 < NCMAX; run1++ ) + { + delta_lbA_cov [run1] = g_b_bA_VAR[run3*KKT_DIM+2*NVMAX+run1]; + delta_ubA_cov [run1] = g_b_bA_VAR[run3*KKT_DIM+2*NVMAX+run1]; + } + + /* EVALUATION OF THE STEP: + * ------------------------------------------------------------------------------ */ + + returnvalue = qp->hotstart_determineStepDirection( + FR_idx, FX_idx, AC_idx, + delta_g_cov, delta_lbA_cov, delta_ubA_cov, delta_lb_cov, delta_ub_cov, + Delta_bC_isZero, Delta_bB_isZero, delta_xFX,delta_xFR, + delta_yAC,delta_yFX ); + + /* ------------------------------------------------------------------------------ */ + + /* STOP THE ALGORITHM IN THE CASE OF NO SUCCESFUL RETURN: + * ------------------------------------------------------ */ + if ( returnvalue != SUCCESSFUL_RETURN ) + { + return returnvalue; + } + + /* LINE WISE */ + /* STORAGE OF THE QP-REACTION */ + /* (uses the index list) */ + + for( run1=0; run1hotstart_determineStepDirection( + FR_idx, FX_idx, AC_idx, + delta_g_cov, delta_lbA_cov, delta_ubA_cov, delta_lb_cov, delta_ub_cov, + Delta_bC_isZero, Delta_bB_isZero, delta_xFX,delta_xFR, + delta_yAC,delta_yFX ); + + /* ------------------------------------------------------------------------------ */ + + /* STOP THE ALGORITHM IN THE CASE OF NO SUCCESFUL RETURN: + * ------------------------------------------------------ */ + if ( returnvalue != SUCCESSFUL_RETURN ) + { + return returnvalue; + } + + /* ROW-WISE STORAGE */ + /* OF THE RESULT. */ + + for( run1=0; run1 + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + + +/* + * I n d e x l i s t + */ +Indexlist::Indexlist( ) : length( 0 ), + first( -1 ), + last( -1 ), + lastusedindex( -1 ), + physicallength( INDEXLISTFACTOR*(NVMAX+NCMAX) ) +{ + int i; + + for( i=0; i= 0 ) && ( number[n] >= 0 ) ) + numberarray[i] = number[n]; + else + return THROWERROR( RET_INDEXLIST_CORRUPTED ); + + n = next[n]; + } + + return SUCCESSFUL_RETURN; +} + + +/* + * g e t I n d e x + */ +int Indexlist::getIndex( int givennumber ) const +{ + int i; + int n = first; + int index = -1; /* return -1 by default */ + + /* Run trough indexlist until number is found, if so return it index. */ + for ( i=0; i length ) ) + return -RET_INDEXLIST_OUTOFBOUNDS; + + return number[physicalindex]; +} + + +/* + * g e t L e n g t h + */ +inline int Indexlist::getLength( ) +{ + return length; +} + + +/* + * g e t L a s t N u m b e r + */ +inline int Indexlist::getLastNumber( ) const +{ + return number[last]; +} + + +/* + * g e t L a s t N u m b e r + */ +inline BooleanType Indexlist::isMember( int _number ) const +{ + if ( getIndex( _number ) >= 0 ) + return BT_TRUE; + else + return BT_FALSE; +} + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/MessageHandling.cpp b/src/control/mpc_control/externals/qpoases/SRC/MessageHandling.cpp new file mode 100644 index 00000000..6e68cd85 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/MessageHandling.cpp @@ -0,0 +1,529 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/MessageHandling.cpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of the MessageHandling class including global return values. + * + */ + + + +#include +#include + + + + +/** Defines pairs of global return values and messages. */ +MessageHandling::ReturnValueList returnValueList[] = +{ +/* miscellaneous */ +{ SUCCESSFUL_RETURN, "Successful return", VS_VISIBLE }, +{ RET_DIV_BY_ZERO, "Division by zero", VS_VISIBLE }, +{ RET_INDEX_OUT_OF_BOUNDS, "Index out of bounds", VS_VISIBLE }, +{ RET_INVALID_ARGUMENTS, "At least one of the arguments is invalid", VS_VISIBLE }, +{ RET_ERROR_UNDEFINED, "Error number undefined", VS_VISIBLE }, +{ RET_WARNING_UNDEFINED, "Warning number undefined", VS_VISIBLE }, +{ RET_INFO_UNDEFINED, "Info number undefined", VS_VISIBLE }, +{ RET_EWI_UNDEFINED, "Error/warning/info number undefined", VS_VISIBLE }, +{ RET_AVAILABLE_WITH_LINUX_ONLY, "This function is available under Linux only", VS_HIDDEN }, +{ RET_UNKNOWN_BUG, "The error occured is not yet known", VS_VISIBLE }, +{ RET_PRINTLEVEL_CHANGED, "Print level changed", VS_VISIBLE }, +{ RET_NOT_YET_IMPLEMENTED, "Requested function is not yet implemented.", VS_VISIBLE }, +/* Indexlist */ +{ RET_INDEXLIST_MUST_BE_REORDERD, "Index list has to be reordered", VS_VISIBLE }, +{ RET_INDEXLIST_EXCEEDS_MAX_LENGTH, "Index list exceeds its maximal physical length", VS_VISIBLE }, +{ RET_INDEXLIST_CORRUPTED, "Index list corrupted", VS_VISIBLE }, +{ RET_INDEXLIST_OUTOFBOUNDS, "Physical index is out of bounds", VS_VISIBLE }, +{ RET_INDEXLIST_ADD_FAILED, "Adding indices from another index set failed", VS_VISIBLE }, +{ RET_INDEXLIST_INTERSECT_FAILED, "Intersection with another index set failed", VS_VISIBLE }, +/* SubjectTo / Bounds / Constraints */ +{ RET_INDEX_ALREADY_OF_DESIRED_STATUS, "Index is already of desired status", VS_VISIBLE }, +{ RET_SWAPINDEX_FAILED, "Cannot swap between different indexsets", VS_VISIBLE }, +{ RET_ADDINDEX_FAILED, "Adding index to index set failed", VS_VISIBLE }, +{ RET_NOTHING_TO_DO, "Nothing to do", VS_VISIBLE }, +{ RET_SETUP_BOUND_FAILED, "Setting up bound index failed", VS_VISIBLE }, +{ RET_SETUP_CONSTRAINT_FAILED, "Setting up constraint index failed", VS_VISIBLE }, +{ RET_MOVING_BOUND_FAILED, "Moving bound between index sets failed", VS_VISIBLE }, +{ RET_MOVING_CONSTRAINT_FAILED, "Moving constraint between index sets failed", VS_VISIBLE }, +/* QProblem */ +{ RET_QP_ALREADY_INITIALISED, "QProblem has already been initialised", VS_VISIBLE }, +{ RET_NO_INIT_WITH_STANDARD_SOLVER, "Initialisation via extern QP solver is not yet implemented", VS_VISIBLE }, +{ RET_RESET_FAILED, "Reset failed", VS_VISIBLE }, +{ RET_INIT_FAILED, "Initialisation failed", VS_VISIBLE }, +{ RET_INIT_FAILED_TQ, "Initialisation failed due to TQ factorisation", VS_VISIBLE }, +{ RET_INIT_FAILED_CHOLESKY, "Initialisation failed due to Cholesky decomposition", VS_VISIBLE }, +{ RET_INIT_FAILED_HOTSTART, "Initialisation failed! QP could not be solved!", VS_VISIBLE }, +{ RET_INIT_FAILED_INFEASIBILITY, "Initial QP could not be solved due to infeasibility!", VS_VISIBLE }, +{ RET_INIT_FAILED_UNBOUNDEDNESS, "Initial QP could not be solved due to unboundedness!", VS_VISIBLE }, +{ RET_INIT_SUCCESSFUL, "Initialisation done", VS_VISIBLE }, +{ RET_OBTAINING_WORKINGSET_FAILED, "Failed to obtain working set for auxiliary QP", VS_VISIBLE }, +{ RET_SETUP_WORKINGSET_FAILED, "Failed to setup working set for auxiliary QP", VS_VISIBLE }, +{ RET_SETUP_AUXILIARYQP_FAILED, "Failed to setup auxiliary QP for initialised homotopy", VS_VISIBLE }, +{ RET_NO_EXTERN_SOLVER, "No extern QP solver available", VS_VISIBLE }, +{ RET_QP_UNBOUNDED, "QP is unbounded", VS_VISIBLE }, +{ RET_QP_INFEASIBLE, "QP is infeasible", VS_VISIBLE }, +{ RET_QP_NOT_SOLVED, "Problems occured while solving QP with standard solver", VS_VISIBLE }, +{ RET_QP_SOLVED, "QP successfully solved", VS_VISIBLE }, +{ RET_UNABLE_TO_SOLVE_QP, "Problems occured while solving QP", VS_VISIBLE }, +{ RET_INITIALISATION_STARTED, "Starting problem initialisation...", VS_VISIBLE }, +{ RET_HOTSTART_FAILED, "Unable to perform homotopy due to internal error", VS_VISIBLE }, +{ RET_HOTSTART_FAILED_TO_INIT, "Unable to initialise problem", VS_VISIBLE }, +{ RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED, "Unable to perform homotopy as previous QP is not solved", VS_VISIBLE }, +{ RET_ITERATION_STARTED, "Iteration", VS_VISIBLE }, +{ RET_SHIFT_DETERMINATION_FAILED, "Determination of shift of the QP data failed", VS_VISIBLE }, +{ RET_STEPDIRECTION_DETERMINATION_FAILED, "Determination of step direction failed", VS_VISIBLE }, +{ RET_STEPLENGTH_DETERMINATION_FAILED, "Determination of step direction failed", VS_VISIBLE }, +{ RET_OPTIMAL_SOLUTION_FOUND, "Optimal solution of neighbouring QP found", VS_VISIBLE }, +{ RET_HOMOTOPY_STEP_FAILED, "Unable to perform homotopy step", VS_VISIBLE }, +{ RET_HOTSTART_STOPPED_INFEASIBILITY, "Premature homotopy termination because QP is infeasible", VS_VISIBLE }, +{ RET_HOTSTART_STOPPED_UNBOUNDEDNESS, "Premature homotopy termination because QP is unbounded", VS_VISIBLE }, +{ RET_WORKINGSET_UPDATE_FAILED, "Unable to update working sets according to initial guesses", VS_VISIBLE }, +{ RET_MAX_NWSR_REACHED, "Maximum number of working set recalculations performed", VS_VISIBLE }, +{ RET_CONSTRAINTS_NOT_SPECIFIED, "Problem does comprise constraints! You have to specify new constraints' bounds", VS_VISIBLE }, +{ RET_INVALID_FACTORISATION_FLAG, "Invalid factorisation flag", VS_VISIBLE }, +{ RET_UNABLE_TO_SAVE_QPDATA, "Unable to save QP data", VS_VISIBLE }, +{ RET_STEPDIRECTION_FAILED_TQ, "Abnormal termination due to TQ factorisation", VS_VISIBLE }, +{ RET_STEPDIRECTION_FAILED_CHOLESKY, "Abnormal termination due to Cholesky factorisation", VS_VISIBLE }, +{ RET_CYCLING_DETECTED, "Cycling detected", VS_VISIBLE }, +{ RET_CYCLING_NOT_RESOLVED, "Cycling cannot be resolved, QP is probably infeasible", VS_VISIBLE }, +{ RET_CYCLING_RESOLVED, "Cycling probably resolved", VS_VISIBLE }, +{ RET_STEPSIZE, "", VS_VISIBLE }, +{ RET_STEPSIZE_NONPOSITIVE, "", VS_VISIBLE }, +{ RET_SETUPSUBJECTTOTYPE_FAILED, "Setup of SubjectToTypes failed", VS_VISIBLE }, +{ RET_ADDCONSTRAINT_FAILED, "Addition of constraint to working set failed", VS_VISIBLE }, +{ RET_ADDCONSTRAINT_FAILED_INFEASIBILITY, "Addition of constraint to working set failed", VS_VISIBLE }, +{ RET_ADDBOUND_FAILED, "Addition of bound to working set failed", VS_VISIBLE }, +{ RET_ADDBOUND_FAILED_INFEASIBILITY, "Addition of bound to working set failed", VS_VISIBLE }, +{ RET_REMOVECONSTRAINT_FAILED, "Removal of constraint from working set failed", VS_VISIBLE }, +{ RET_REMOVEBOUND_FAILED, "Removal of bound from working set failed", VS_VISIBLE }, +{ RET_REMOVE_FROM_ACTIVESET, "Removing from active set:", VS_VISIBLE }, +{ RET_ADD_TO_ACTIVESET, "Adding to active set:", VS_VISIBLE }, +{ RET_REMOVE_FROM_ACTIVESET_FAILED, "Removing from active set failed", VS_VISIBLE }, +{ RET_ADD_TO_ACTIVESET_FAILED, "Adding to active set failed", VS_VISIBLE }, +{ RET_CONSTRAINT_ALREADY_ACTIVE, "Constraint is already active", VS_VISIBLE }, +{ RET_ALL_CONSTRAINTS_ACTIVE, "All constraints are active, no further constraint can be added", VS_VISIBLE }, +{ RET_LINEARLY_DEPENDENT, "New bound/constraint is linearly dependent", VS_VISIBLE }, +{ RET_LINEARLY_INDEPENDENT, "New bound/constraint is linearly independent", VS_VISIBLE }, +{ RET_LI_RESOLVED, "Linear independence of active contraint matrix successfully resolved", VS_VISIBLE }, +{ RET_ENSURELI_FAILED, "Failed to ensure linear indepence of active contraint matrix", VS_VISIBLE }, +{ RET_ENSURELI_FAILED_TQ, "Abnormal termination due to TQ factorisation", VS_VISIBLE }, +{ RET_ENSURELI_FAILED_NOINDEX, "No index found, QP is probably infeasible", VS_VISIBLE }, +{ RET_ENSURELI_FAILED_CYCLING, "Cycling detected, QP is probably infeasible", VS_VISIBLE }, +{ RET_BOUND_ALREADY_ACTIVE, "Bound is already active", VS_VISIBLE }, +{ RET_ALL_BOUNDS_ACTIVE, "All bounds are active, no further bound can be added", VS_VISIBLE }, +{ RET_CONSTRAINT_NOT_ACTIVE, "Constraint is not active", VS_VISIBLE }, +{ RET_BOUND_NOT_ACTIVE, "Bound is not active", VS_VISIBLE }, +{ RET_HESSIAN_NOT_SPD, "Projected Hessian matrix not positive definite", VS_VISIBLE }, +{ RET_MATRIX_SHIFT_FAILED, "Unable to update matrices or to transform vectors", VS_VISIBLE }, +{ RET_MATRIX_FACTORISATION_FAILED, "Unable to calculate new matrix factorisations", VS_VISIBLE }, +{ RET_PRINT_ITERATION_FAILED, "Unable to print information on current iteration", VS_VISIBLE }, +{ RET_NO_GLOBAL_MESSAGE_OUTPUTFILE, "No global message output file initialised", VS_VISIBLE }, +/* Utils */ +{ RET_UNABLE_TO_OPEN_FILE, "Unable to open file", VS_VISIBLE }, +{ RET_UNABLE_TO_WRITE_FILE, "Unable to write into file", VS_VISIBLE }, +{ RET_UNABLE_TO_READ_FILE, "Unable to read from file", VS_VISIBLE }, +{ RET_FILEDATA_INCONSISTENT, "File contains inconsistent data", VS_VISIBLE }, +/* SolutionAnalysis */ +{ RET_NO_SOLUTION, "QP solution does not satisfy KKT optimality conditions", VS_VISIBLE }, +{ RET_INACCURATE_SOLUTION, "KKT optimality conditions not satisfied to sufficient accuracy", VS_VISIBLE }, +{ TERMINAL_LIST_ELEMENT, "", VS_HIDDEN } /* IMPORTANT: Terminal list element! */ +}; + + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + + +/* + * M e s s a g e H a n d l i n g + */ +MessageHandling::MessageHandling( ) : errorVisibility( VS_VISIBLE ), + warningVisibility( VS_VISIBLE ), + infoVisibility( VS_VISIBLE ), + outputFile( myStdout ), + errorCount( 0 ) +{ +} + +/* + * M e s s a g e H a n d l i n g + */ +MessageHandling::MessageHandling( myFILE* _outputFile ) : + errorVisibility( VS_VISIBLE ), + warningVisibility( VS_VISIBLE ), + infoVisibility( VS_VISIBLE ), + outputFile( _outputFile ), + errorCount( 0 ) +{ +} + +/* + * M e s s a g e H a n d l i n g + */ +MessageHandling::MessageHandling( VisibilityStatus _errorVisibility, + VisibilityStatus _warningVisibility, + VisibilityStatus _infoVisibility + ) : + errorVisibility( _errorVisibility ), + warningVisibility( _warningVisibility ), + infoVisibility( _infoVisibility ), + outputFile( myStderr ), + errorCount( 0 ) +{ +} + +/* + * M e s s a g e H a n d l i n g + */ +MessageHandling::MessageHandling( myFILE* _outputFile, + VisibilityStatus _errorVisibility, + VisibilityStatus _warningVisibility, + VisibilityStatus _infoVisibility + ) : + errorVisibility( _errorVisibility ), + warningVisibility( _warningVisibility ), + infoVisibility( _infoVisibility ), + outputFile( _outputFile ), + errorCount( 0 ) +{ +} + + + +/* + * M e s s a g e H a n d l i n g + */ +MessageHandling::MessageHandling( const MessageHandling& rhs ) : + errorVisibility( rhs.errorVisibility ), + warningVisibility( rhs.warningVisibility ), + infoVisibility( rhs.infoVisibility ), + outputFile( rhs.outputFile ), + errorCount( rhs.errorCount ) +{ +} + + +/* + * ~ M e s s a g e H a n d l i n g + */ +MessageHandling::~MessageHandling( ) +{ + #ifdef PC_DEBUG + if ( outputFile != 0 ) + fclose( outputFile ); + #endif +} + + +/* + * o p e r a t o r = + */ +MessageHandling& MessageHandling::operator=( const MessageHandling& rhs ) +{ + if ( this != &rhs ) + { + errorVisibility = rhs.errorVisibility; + warningVisibility = rhs.warningVisibility; + infoVisibility = rhs.infoVisibility; + outputFile = rhs.outputFile; + errorCount = rhs.errorCount; + } + + return *this; +} + + +/* + * t h r o w E r r o r + */ +returnValue MessageHandling::throwError( + returnValue Enumber, + const char* additionaltext, + const char* functionname, + const char* filename, + const unsigned long linenumber, + VisibilityStatus localVisibilityStatus + ) +{ + /* consistency check */ + if ( Enumber <= SUCCESSFUL_RETURN ) + return throwError( RET_ERROR_UNDEFINED,0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + + /* Call to common throwMessage function if error shall be displayed. */ + if ( errorVisibility == VS_VISIBLE ) + return throwMessage( Enumber,additionaltext,functionname,filename,linenumber,localVisibilityStatus,"ERROR" ); + else + return Enumber; +} + + +/* + * t h r o w W a r n i n g + */ +returnValue MessageHandling::throwWarning( + returnValue Wnumber, + const char* additionaltext, + const char* functionname, + const char* filename, + const unsigned long linenumber, + VisibilityStatus localVisibilityStatus + ) +{ + /* consistency check */ + if ( Wnumber <= SUCCESSFUL_RETURN ) + return throwError( RET_WARNING_UNDEFINED,0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + + /* Call to common throwMessage function if warning shall be displayed. */ + if ( warningVisibility == VS_VISIBLE ) + return throwMessage( Wnumber,additionaltext,functionname,filename,linenumber,localVisibilityStatus,"WARNING" ); + else + return Wnumber; +} + + +/* + * t h r o w I n f o + */ +returnValue MessageHandling::throwInfo( + returnValue Inumber, + const char* additionaltext, + const char* functionname, + const char* filename, + const unsigned long linenumber, + VisibilityStatus localVisibilityStatus + ) +{ + /* consistency check */ + if ( Inumber < SUCCESSFUL_RETURN ) + return throwError( RET_INFO_UNDEFINED,0,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + + /* Call to common throwMessage function if info shall be displayed. */ + if ( infoVisibility == VS_VISIBLE ) + return throwMessage( Inumber,additionaltext,functionname,filename,linenumber,localVisibilityStatus,"INFO" ); + else + return Inumber; +} + + +/* + * r e s e t + */ +returnValue MessageHandling::reset( ) +{ + setErrorVisibilityStatus( VS_VISIBLE ); + setWarningVisibilityStatus( VS_VISIBLE ); + setInfoVisibilityStatus( VS_VISIBLE ); + + setOutputFile( myStderr ); + setErrorCount( 0 ); + + return SUCCESSFUL_RETURN; +} + + +/* + * l i s t A l l M e s s a g e s + */ +returnValue MessageHandling::listAllMessages( ) +{ + #ifdef PC_DEBUG + int keypos = 0; + char myPrintfString[160]; + + /* Run through whole returnValueList and print each item. */ + while ( returnValueList[keypos].key != TERMINAL_LIST_ELEMENT ) + { + sprintf( myPrintfString," %d - %s \n",keypos,returnValueList[keypos].data ); + myPrintf( myPrintfString ); + + ++keypos; + } + #endif + + return SUCCESSFUL_RETURN; +} + + + +/***************************************************************************** + * P R O T E C T E D * + *****************************************************************************/ + + +#ifdef PC_DEBUG /* Re-define throwMessage function for embedded code! */ + +/* + * t h r o w M e s s a g e + */ +returnValue MessageHandling::throwMessage( + returnValue RETnumber, + const char* additionaltext, + const char* functionname, + const char* filename, + const unsigned long linenumber, + VisibilityStatus localVisibilityStatus, + const char* RETstring + ) +{ + int i; + + int keypos = 0; + char myPrintfString[160]; + + /* 1) Determine number of whitespace for output. */ + char whitespaces[41]; + int numberOfWhitespaces = (errorCount-1)*2; + + if ( numberOfWhitespaces < 0 ) + numberOfWhitespaces = 0; + + if ( numberOfWhitespaces > 40 ) + numberOfWhitespaces = 40; + + for( i=0; i 0 ) + { + sprintf( myPrintfString,"%s->", whitespaces ); + myPrintf( myPrintfString ); + } + + if ( additionaltext == 0 ) + { + sprintf( myPrintfString,"%s (%s, %s:%d): \t%s\n", + RETstring,functionname,filename,(int)linenumber,returnValueList[keypos].data + ); + myPrintf( myPrintfString ); + } + else + { + sprintf( myPrintfString,"%s (%s, %s:%d): \t%s %s\n", + RETstring,functionname,filename,(int)linenumber,returnValueList[keypos].data,additionaltext + ); + myPrintf( myPrintfString ); + } + + /* take care of proper indention for subsequent error messages */ + if ( RETstring[0] == 'E' ) + { + ++errorCount; + } + else + { + if ( errorCount > 0 ) + myPrintf( "\n" ); + errorCount = 0; + } + } + + return RETnumber; +} + +#else /* = PC_DEBUG not defined */ + +/* + * t h r o w M e s s a g e + */ +returnValue MessageHandling::throwMessage( + returnValue RETnumber, + const char* additionaltext, + const char* functionname, + const char* filename, + const unsigned long linenumber, + VisibilityStatus localVisibilityStatus, + const char* RETstring + ) +{ + /* DUMMY CODE FOR PRETENDING USE OF ARGUMENTS + * FOR SUPPRESSING COMPILER WARNINGS! */ + int i = 0; + if ( additionaltext == 0 ) i++; + if ( functionname == 0 ) i++; + if ( filename == 0 ) i++; + if ( linenumber == 0 ) i++; + if ( localVisibilityStatus == VS_VISIBLE ) i++; + if ( RETstring == 0 ) i++; + /* END OF DUMMY CODE */ + + return RETnumber; +} + +#endif /* PC_DEBUG */ + + + +/***************************************************************************** + * G L O B A L M E S S A G E H A N D L E R * + *****************************************************************************/ + + +/** Global message handler for all qpOASES modules.*/ +MessageHandling globalMessageHandler( myStderr,VS_VISIBLE,VS_VISIBLE,VS_VISIBLE ); + + +/* + * g e t G l o b a l M e s s a g e H a n d l e r + */ +MessageHandling* getGlobalMessageHandler( ) +{ + return &globalMessageHandler; +} + +const char* MessageHandling::getErrorString(int error) +{ + return returnValueList[ error ].data; +} + + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/MessageHandling.ipp b/src/control/mpc_control/externals/qpoases/SRC/MessageHandling.ipp new file mode 100644 index 00000000..ad9624b3 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/MessageHandling.ipp @@ -0,0 +1,137 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/MessageHandling.ipp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of inlined member functions of the MessageHandling class. + */ + + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + +/* + * g e t E r r o r V i s i b i l i t y S t a t u s + */ +inline VisibilityStatus MessageHandling::getErrorVisibilityStatus( ) const +{ + return errorVisibility; +} + + +/* + * g e t W a r n i n g V i s i b i l i t y S t a t u s + */ +inline VisibilityStatus MessageHandling::getWarningVisibilityStatus( ) const +{ + return warningVisibility; +} + + +/* + * g e t I n f o V i s i b i l i t y S t a t u s + */ +inline VisibilityStatus MessageHandling::getInfoVisibilityStatus( ) const +{ + return infoVisibility; +} + + +/* + * g e t O u t p u t F i l e + */ +inline myFILE* MessageHandling::getOutputFile( ) const +{ + return outputFile; +} + + +/* + * g e t E r r o r C o u n t + */ +inline int MessageHandling::getErrorCount( ) const +{ + return errorCount; +} + + +/* + * s e t E r r o r V i s i b i l i t y S t a t u s + */ +inline void MessageHandling::setErrorVisibilityStatus( VisibilityStatus _errorVisibility ) +{ + errorVisibility = _errorVisibility; +} + + +/* + * s e t W a r n i n g V i s i b i l i t y S t a t u s + */ +inline void MessageHandling::setWarningVisibilityStatus( VisibilityStatus _warningVisibility ) +{ + warningVisibility = _warningVisibility; +} + + +/* + * s e t I n f o V i s i b i l i t y S t a t u s + */ +inline void MessageHandling::setInfoVisibilityStatus( VisibilityStatus _infoVisibility ) +{ + infoVisibility = _infoVisibility; +} + + +/* + * s e t O u t p u t F i l e + */ +inline void MessageHandling::setOutputFile( myFILE* _outputFile ) +{ + outputFile = _outputFile; +} + + +/* + * s e t E r r o r C o u n t + */ +inline returnValue MessageHandling::setErrorCount( int _errorCount ) +{ + if ( _errorCount >= 0 ) + { + errorCount = _errorCount; + return SUCCESSFUL_RETURN; + } + else + return RET_INVALID_ARGUMENTS; +} + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/QProblem.cpp b/src/control/mpc_control/externals/qpoases/SRC/QProblem.cpp new file mode 100644 index 00000000..68a6a79e --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/QProblem.cpp @@ -0,0 +1,3867 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/QProblem.cpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of the QProblem class which is able to use the newly + * developed online active set strategy for parametric quadratic programming. + */ + + +#include + +#include + +void printmatrix2(char *name, double *A, int m, int n) { + int i, j; + + printf("%s = [...\n", name); + for (i = 0; i < m; i++) { + for (j = 0; j < n; j++) + printf(" % 9.4f", A[i*n+j]); + printf(",\n"); + } + printf("];\n"); +} + +//#define __PERFORM_KKT_TEST__ + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + + +/* + * Q P r o b l e m + */ +QProblem::QProblem( ) : QProblemB( ) +{ + constraints.init( 0 ); + + sizeT = 0; + + cyclingManager.init( 0,0 ); +} + + +/* + * Q P r o b l e m + */ +QProblem::QProblem( int _nV, int _nC ) : QProblemB( _nV ) +{ + /* consistency checks */ + if ( _nV <= 0 ) + _nV = 1; + + if ( _nC < 0 ) + { + _nC = 0; + THROWERROR( RET_INVALID_ARGUMENTS ); + } + + constraints.init( _nC ); + + + sizeT = _nC; + if ( _nC > _nV ) + sizeT = _nV; + + cyclingManager.init( _nV,_nC ); +} + + +/* + * Q P r o b l e m + */ +QProblem::QProblem( const QProblem& rhs ) : QProblemB( rhs ) +{ + int i, j; + + int _nV = rhs.bounds.getNV( ); + int _nC = rhs.constraints.getNC( ); + + for( i=0; i<_nC; ++i ) + for( j=0; j<_nV; ++j ) + A[i*NVMAX + j] = rhs.A[i*NVMAX + j]; + + for( i=0; i<_nC; ++i ) + lbA[i] = rhs.lbA[i]; + + for( i=0; i<_nC; ++i ) + ubA[i] = rhs.ubA[i]; + + constraints = rhs.constraints; + + for( i=0; i<(_nV+_nC); ++i ) + y[i] = rhs.y[i]; + + + sizeT = rhs.sizeT; + + for( i=0; ithrowInfo( RET_ITERATION_STARTED,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + #endif + } + + /* 1) Setup index arrays. */ + if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + if ( bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + if ( constraints.getActive( )->getNumberArray( AC_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + if ( constraints.getInactive( )->getNumberArray( IAC_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + /* 2) Detemination of shift direction of the gradient and the (constraints') bounds. */ + returnvalue = hotstart_determineDataShift( FX_idx, AC_idx, + g_new,lbA_new,ubA_new,lb_new,ub_new, + delta_g,delta_lbA,delta_ubA,delta_lb,delta_ub, + Delta_bC_isZero, Delta_bB_isZero ); + if ( returnvalue != SUCCESSFUL_RETURN ) + { + nWSR = l; + THROWERROR( RET_SHIFT_DETERMINATION_FAILED ); + return returnvalue; + } + + /* 3) Determination of step direction of X and Y. */ + returnvalue = hotstart_determineStepDirection( FR_idx,FX_idx,AC_idx, + delta_g,delta_lbA,delta_ubA,delta_lb,delta_ub, + Delta_bC_isZero, Delta_bB_isZero, + delta_xFX,delta_xFR,delta_yAC,delta_yFX + ); + if ( returnvalue != SUCCESSFUL_RETURN ) + { + nWSR = l; + THROWERROR( RET_STEPDIRECTION_DETERMINATION_FAILED ); + return returnvalue; + } + + /* 4) Determination of step length TAU. */ + returnvalue = hotstart_determineStepLength( FR_idx,FX_idx,AC_idx,IAC_idx, + delta_lbA,delta_ubA,delta_lb,delta_ub, + delta_xFX,delta_xFR,delta_yAC,delta_yFX,delta_Ax, + BC_idx,BC_status,BC_isBound + ); + if ( returnvalue != SUCCESSFUL_RETURN ) + { + nWSR = l; + THROWERROR( RET_STEPLENGTH_DETERMINATION_FAILED ); + return returnvalue; + } + + /* 5) Realisation of the homotopy step. */ + returnvalue = hotstart_performStep( FR_idx,FX_idx,AC_idx,IAC_idx, + delta_g,delta_lbA,delta_ubA,delta_lb,delta_ub, + delta_xFX,delta_xFR,delta_yAC,delta_yFX,delta_Ax, + BC_idx,BC_status,BC_isBound + ); + + if ( returnvalue != SUCCESSFUL_RETURN ) + { + nWSR = l; + + /* stop runtime measurement */ + if ( cputime != 0 ) + *cputime = getCPUtime( ) - starttime; + + /* optimal solution found? */ + if ( returnvalue == RET_OPTIMAL_SOLUTION_FOUND ) + { + status = QPS_SOLVED; + + if ( printlevel == PL_HIGH ) + THROWINFO( RET_OPTIMAL_SOLUTION_FOUND ); + + #ifdef PC_DEBUG + if ( printIteration( l,BC_idx,BC_status,BC_isBound ) != SUCCESSFUL_RETURN ) + THROWERROR( RET_PRINT_ITERATION_FAILED ); /* do not pass this as return value! */ + #endif + + /* check KKT optimality conditions */ + return checkKKTconditions( ); + } + else + { + /* checks for infeasibility... */ + if ( isInfeasible( ) == BT_TRUE ) + { + status = QPS_HOMOTOPYQPSOLVED; + return THROWERROR( RET_HOTSTART_STOPPED_INFEASIBILITY ); + } + + /* ...unboundedness... */ + if ( unbounded == BT_TRUE ) /* not necessary since objective function convex! */ + return THROWERROR( RET_HOTSTART_STOPPED_UNBOUNDEDNESS ); + + /* ... and throw unspecific error otherwise */ + THROWERROR( RET_HOMOTOPY_STEP_FAILED ); + return returnvalue; + } + } + + /* 6) Output information of successful QP iteration. */ + status = QPS_HOMOTOPYQPSOLVED; + + #ifdef PC_DEBUG + if ( printIteration( l,BC_idx,BC_status,BC_isBound ) != SUCCESSFUL_RETURN ) + THROWERROR( RET_PRINT_ITERATION_FAILED ); /* do not pass this as return value! */ + #endif + } + + + /* stop runtime measurement */ + if ( cputime != 0 ) + *cputime = getCPUtime( ) - starttime; + + + /* if programm gets to here, output information that QP could not be solved + * within the given maximum numbers of working set changes */ + if ( printlevel == PL_HIGH ) + { + #ifdef PC_DEBUG + sprintf( messageString,"(nWSR = %d)",nWSR ); + return getGlobalMessageHandler( )->throwWarning( RET_MAX_NWSR_REACHED,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + #endif + } + + /* Finally check KKT optimality conditions. */ + returnValue returnvalueKKTcheck = checkKKTconditions( ); + + if ( returnvalueKKTcheck != SUCCESSFUL_RETURN ) + return returnvalueKKTcheck; + else + return RET_MAX_NWSR_REACHED; +} + + +/* + * g e t N Z + */ +int QProblem::getNZ( ) +{ + /* nZ = nFR - nAC */ + return bounds.getFree( )->getLength( ) - constraints.getActive( )->getLength( ); +} + + +/* + * g e t D u a l S o l u t i o n + */ +returnValue QProblem::getDualSolution( real_t* const yOpt ) const +{ + int i; + + /* return optimal dual solution vector + * only if current QP has been solved */ + if ( ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) || + ( getStatus( ) == QPS_HOMOTOPYQPSOLVED ) || + ( getStatus( ) == QPS_SOLVED ) ) + { + for( i=0; i -INFTY ) + { + constraints.setNoLower( BT_FALSE ); + break; + } + } + + /* 2) Check if upper constraints' bounds are present. */ + constraints.setNoUpper( BT_TRUE ); + for( i=0; i INFTY - BOUNDTOL ) ) + { + constraints.setType( i,ST_UNBOUNDED ); + ++nUC; + } + else + { + if ( lbA[i] > ubA[i] - BOUNDTOL ) + { + constraints.setType( i,ST_EQUALITY ); + ++nEC; + } + else + { + constraints.setType( i,ST_BOUNDED ); + } + } + } + + /* 4) Set dimensions of constraints structure. */ + constraints.setNEC( nEC ); + constraints.setNUC( nUC ); + constraints.setNIC( nC - nEC - nUC ); + + return SUCCESSFUL_RETURN; +} + + +/* + * c h o l e s k y D e c o m p o s i t i o n P r o j e c t e d + */ +returnValue QProblem::setupCholeskyDecompositionProjected( ) +{ + int i, j, k, ii, kk; + int nV = getNV( ); + int nFR = getNFR( ); + int nZ = getNZ( ); + + /* 1) Initialises R with all zeros. */ + for( i=0; i 0 ) + { + int FR_idx[NVMAX]; + if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_INDEXLIST_CORRUPTED ); + +#if 0 + real_t HZ[NVMAX*NVMAX]; + real_t ZHZ[NVMAX*NVMAX]; + + /* calculate H*Z */ + for ( i=0; i=0; --k ) + sum -= R[k*NVMAX + i] * R[k*NVMAX + i]; + + if ( sum > 0.0 ) + { + R[i*NVMAX + i] = sqrt( sum ); + inv = 1.0 / R[i * NVMAX + i]; + } + else + { + hessianType = HST_SEMIDEF; + return THROWERROR( RET_HESSIAN_NOT_SPD ); + } + + for( j=(i+1); j=0; --k ) + sum -= R[k*NVMAX + i] * R[k*NVMAX + j]; + + R[i*NVMAX + j] = sum * inv; + } + } +#else + real_t HZ[NVMAX]; + real_t ZHZ[NVMAX]; + + real_t sum, inv; + for (j = 0; j < nZ; ++j) + { + /* Cache one column of Z. */ + for (i = 0; i < NVMAX; ++i) + ZHZ[i] = Q[i * NVMAX + j]; + + /* Create one column of the product H * Z. */ + for (i = 0; i < nFR; ++i) + { + ii = FR_idx[i]; + + sum = 0.0; + for (k = 0; k < nFR; ++k) + { + kk = FR_idx[k]; + sum += H[ii * NVMAX + kk] * ZHZ[kk]; + } + HZ[ii] = sum; + } + + /* Create one column of the product Z^T * H * Z. */ + for (i = j; i < nZ; ++i) + ZHZ[ i ] = 0.0; + + for (k = 0; k < nFR; ++k) + { + kk = FR_idx[k]; + real_t q = HZ[kk]; + for (i = j; i < nZ; ++i) + { + ZHZ[i] += Q[kk * NVMAX + i] * q; + } + } + + /* Use the computed column to update the factorization. */ + /* j == i */ + sum = ZHZ[j]; + + for (k = (j - 1); k >= 0; --k) + sum -= R[k * NVMAX + j] * R[k * NVMAX + j]; + + if (sum > 0.0) + { + R[j * NVMAX + j] = sqrt(sum); + inv = 1.0 / R[j * NVMAX + j]; + } + else + { + hessianType = HST_SEMIDEF; + return THROWERROR( RET_HESSIAN_NOT_SPD ); + } + + for (i = (j + 1); i < nZ; ++i) + { + sum = ZHZ[i]; + + for (k = (j - 1); k >= 0; --k) + sum -= R[k * NVMAX + j] * R[k * NVMAX + i]; + + R[j * NVMAX + i] = sum * inv; + } + } +#endif + } + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t u p T Q f a c t o r i s a t i o n + */ +returnValue QProblem::setupTQfactorisation( ) +{ + int i, j, ii; + int nV = getNV( ); + int nFR = getNFR( ); + + int FR_idx[NVMAX]; + if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_INDEXLIST_CORRUPTED ); + + /* 1) Set Q to unity matrix. */ + for( i=0; igetStatus( i ); + + if ( constraints.getType( i ) == ST_EQUALITY ) + { + if ( auxiliaryConstraints->setupConstraint( i,ST_LOWER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + else + { + if ( auxiliaryConstraints->setupConstraint( i,guessedStatus ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + } + } + else /* No initial working set specified. */ + { + /* Obtain initial working set by "clipping". */ + if ( ( xOpt != 0 ) && ( yOpt == 0 ) ) + { + for( i=0; isetupConstraint( i,ST_LOWER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + continue; + } + + if ( Ax[i] >= ubA[i] - BOUNDTOL ) + { + if ( auxiliaryConstraints->setupConstraint( i,ST_UPPER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + continue; + } + + /* Moreover, add all equality constraints if specified. */ + if ( constraints.getType( i ) == ST_EQUALITY ) + { + if ( auxiliaryConstraints->setupConstraint( i,ST_LOWER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + else + { + if ( auxiliaryConstraints->setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + } + } + + /* Obtain initial working set in accordance to sign of dual solution vector. */ + if ( ( xOpt == 0 ) && ( yOpt != 0 ) ) + { + for( i=0; i ZERO ) + { + if ( auxiliaryConstraints->setupConstraint( i,ST_LOWER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + continue; + } + + if ( yOpt[nV+i] < -ZERO ) + { + if ( auxiliaryConstraints->setupConstraint( i,ST_UPPER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + continue; + } + + /* Moreover, add all equality constraints if specified. */ + if ( constraints.getType( i ) == ST_EQUALITY ) + { + if ( auxiliaryConstraints->setupConstraint( i,ST_LOWER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + else + { + if ( auxiliaryConstraints->setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + } + } + + /* If xOpt and yOpt are null pointer and no initial working is specified, + * start with empty working set (or implicitly fixed bounds and equality constraints only) + * for auxiliary QP. */ + if ( ( xOpt == 0 ) && ( yOpt == 0 ) ) + { + for( i=0; isetupConstraint( i,ST_LOWER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + else + { + if ( auxiliaryConstraints->setupConstraint( i,ST_INACTIVE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + } + } + } + + return SUCCESSFUL_RETURN; +} + + + +/* + * s e t u p A u x i l i a r y W o r k i n g S e t + */ +returnValue QProblem::setupAuxiliaryWorkingSet( const Bounds* const auxiliaryBounds, + const Constraints* const auxiliaryConstraints, + BooleanType setupAfresh + ) +{ + int i; + int nV = getNV( ); + int nC = getNC( ); + + /* consistency checks */ + if ( auxiliaryBounds != 0 ) + { + for( i=0; igetStatus( i ) == ST_UNDEFINED ) ) + return THROWERROR( RET_UNKNOWN_BUG ); + } + else + { + return THROWERROR( RET_INVALID_ARGUMENTS ); + } + + if ( auxiliaryConstraints != 0 ) + { + for( i=0; igetStatus( i ) == ST_UNDEFINED ) ) + return THROWERROR( RET_UNKNOWN_BUG ); + } + else + { + return THROWERROR( RET_INVALID_ARGUMENTS ); + } + + + /* I) SETUP CHOLESKY FLAG: + * Cholesky decomposition shall only be updated if working set + * shall be updated (i.e. NOT setup afresh!) */ + BooleanType updateCholesky; + if ( setupAfresh == BT_TRUE ) + updateCholesky = BT_FALSE; + else + updateCholesky = BT_TRUE; + + + /* II) REMOVE FORMERLY ACTIVE (CONSTRAINTS') BOUNDS (IF NECESSARY): */ + if ( setupAfresh == BT_FALSE ) + { + /* 1) Remove all active constraints that shall be inactive AND + * all active constraints that are active at the wrong bound. */ + for( i=0; igetStatus( i ) != ST_LOWER ) ) + if ( removeConstraint( i,updateCholesky ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_WORKINGSET_FAILED ); + + if ( ( constraints.getStatus( i ) == ST_UPPER ) && ( auxiliaryConstraints->getStatus( i ) != ST_UPPER ) ) + if ( removeConstraint( i,updateCholesky ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_WORKINGSET_FAILED ); + } + + /* 2) Remove all active bounds that shall be inactive AND + * all active bounds that are active at the wrong bound. */ + for( i=0; igetStatus( i ) != ST_LOWER ) ) + if ( removeBound( i,updateCholesky ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_WORKINGSET_FAILED ); + + if ( ( bounds.getStatus( i ) == ST_UPPER ) && ( auxiliaryBounds->getStatus( i ) != ST_UPPER ) ) + if ( removeBound( i,updateCholesky ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_WORKINGSET_FAILED ); + } + } + + + /* III) ADD NEWLY ACTIVE (CONSTRAINTS') BOUNDS: */ + /* 1) Add all inactive bounds that shall be active AND + * all formerly active bounds that have been active at the wrong bound. */ + for( i=0; igetStatus( i ) != ST_INACTIVE ) ) + { + /* Add bound only if it is linearly independent from the current working set. */ + if ( addBound_checkLI( i ) == RET_LINEARLY_INDEPENDENT ) + { + if ( addBound( i,auxiliaryBounds->getStatus( i ),updateCholesky ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_WORKINGSET_FAILED ); + } + } + } + + /* 2) Add all inactive constraints that shall be active AND + * all formerly active constraints that have been active at the wrong bound. */ + for( i=0; igetStatus( i ) == ST_LOWER ) || ( auxiliaryConstraints->getStatus( i ) == ST_UPPER ) ) + { + /* formerly inactive */ + if ( constraints.getStatus( i ) == ST_INACTIVE ) + { + /* Add constraint only if it is linearly independent from the current working set. */ + if ( addConstraint_checkLI( i ) == RET_LINEARLY_INDEPENDENT ) + { + if ( addConstraint( i,auxiliaryConstraints->getStatus( i ),updateCholesky ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_WORKINGSET_FAILED ); + } + } + } + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t u p A u x i l i a r y Q P s o l u t i o n + */ +returnValue QProblem::setupAuxiliaryQPsolution( const real_t* const xOpt, const real_t* const yOpt + ) +{ + int i, j; + int nV = getNV( ); + int nC = getNC( ); + + + /* Setup primal/dual solution vector for auxiliary initial QP: + * if a null pointer is passed, a zero vector is assigned; + * old solution vector is kept if pointer to internal solution vevtor is passed. */ + if ( xOpt != 0 ) + { + if ( xOpt != x ) + for( i=0; igetStatus( i ) == ST_LOWER ) + lb[i] = x[i]; + else + lb[i] = x[i] - BOUNDRELAXATION; + + if ( auxiliaryBounds->getStatus( i ) == ST_UPPER ) + ub[i] = x[i]; + else + ub[i] = x[i] + BOUNDRELAXATION; + } + } + break; + + case ST_LOWER: + lb[i] = x[i]; + if ( bounds.getType( i ) == ST_EQUALITY ) + { + ub[i] = x[i]; + } + else + { + if ( useRelaxation == BT_TRUE ) + ub[i] = x[i] + BOUNDRELAXATION; + } + break; + + case ST_UPPER: + ub[i] = x[i]; + if ( bounds.getType( i ) == ST_EQUALITY ) + { + lb[i] = x[i]; + } + else + { + if ( useRelaxation == BT_TRUE ) + lb[i] = x[i] - BOUNDRELAXATION; + } + break; + + default: + return THROWERROR( RET_UNKNOWN_BUG ); + } + } + + /* 2) Setup constraints vectors. */ + for ( i=0; igetStatus( i ) == ST_LOWER ) + lbA[i] = Ax[i]; + else + lbA[i] = Ax[i] - BOUNDRELAXATION; + + if ( auxiliaryConstraints->getStatus( i ) == ST_UPPER ) + ubA[i] = Ax[i]; + else + ubA[i] = Ax[i] + BOUNDRELAXATION; + } + } + break; + + case ST_LOWER: + lbA[i] = Ax[i]; + if ( constraints.getType( i ) == ST_EQUALITY ) + { + ubA[i] = Ax[i]; + } + else + { + if ( useRelaxation == BT_TRUE ) + ubA[i] = Ax[i] + BOUNDRELAXATION; + } + break; + + case ST_UPPER: + ubA[i] = Ax[i]; + if ( constraints.getType( i ) == ST_EQUALITY ) + { + lbA[i] = Ax[i]; + } + else + { + if ( useRelaxation == BT_TRUE ) + lbA[i] = Ax[i] - BOUNDRELAXATION; + } + break; + + default: + return THROWERROR( RET_UNKNOWN_BUG ); + } + } + + return SUCCESSFUL_RETURN; +} + + +/* + * a d d C o n s t r a i n t + */ +returnValue QProblem::addConstraint( int number, SubjectToStatus C_status, + BooleanType updateCholesky + ) +{ + int i, j, ii; + + /* consistency checks */ + if ( constraints.getStatus( number ) != ST_INACTIVE ) + return THROWERROR( RET_CONSTRAINT_ALREADY_ACTIVE ); + + if ( ( constraints.getNC( ) - getNAC( ) ) == constraints.getNUC( ) ) + return THROWERROR( RET_ALL_CONSTRAINTS_ACTIVE ); + + if ( ( getStatus( ) == QPS_NOTINITIALISED ) || + ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) || + ( getStatus( ) == QPS_HOMOTOPYQPSOLVED ) || + ( getStatus( ) == QPS_SOLVED ) ) + { + return THROWERROR( RET_UNKNOWN_BUG ); + } + + + /* I) ENSURE LINEAR INDEPENDENCE OF THE WORKING SET, + * i.e. remove a constraint or bound if linear dependence occurs. */ + /* check for LI only if Cholesky decomposition shall be updated! */ + if ( updateCholesky == BT_TRUE ) + { + returnValue ensureLIreturnvalue = addConstraint_ensureLI( number,C_status ); + + switch ( ensureLIreturnvalue ) + { + case SUCCESSFUL_RETURN: + break; + + case RET_LI_RESOLVED: + break; + + case RET_ENSURELI_FAILED_NOINDEX: + return THROWERROR( RET_ADDCONSTRAINT_FAILED_INFEASIBILITY ); + + case RET_ENSURELI_FAILED_CYCLING: + return THROWERROR( RET_ADDCONSTRAINT_FAILED_INFEASIBILITY ); + + default: + return THROWERROR( RET_ENSURELI_FAILED ); + } + } + + /* some definitions */ + int nFR = getNFR( ); + int nAC = getNAC( ); + int nZ = getNZ( ); + + int tcol = sizeT - nAC; + + + int FR_idx[NVMAX]; + if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_ADDCONSTRAINT_FAILED ); + + real_t aFR[NVMAX]; + real_t wZ[NVMAX]; + for( i=0; i 0 ) + { + for( j=0; j 0 ) + { + /* II) RESTORE TRIANGULAR FORM OF T: */ + /* Use column-wise Givens rotations to restore reverse triangular form + * of T, simultanenous change of Q (i.e. Z) and R. */ + for( j=0; jgetNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_INDEXLIST_CORRUPTED ); + + /* Check if constraint is linearly independent from the + the active ones (<=> is element of null space of Afr). */ + real_t sum; + + for( i=0; i 10.0*EPS ) + return RET_LINEARLY_INDEPENDENT; + } + + return RET_LINEARLY_DEPENDENT; +} + + +/* + * a d d C o n s t r a i n t _ e n s u r e L I + */ +returnValue QProblem::addConstraint_ensureLI( int number, SubjectToStatus C_status ) +{ + int i, j, ii, jj; + int nV = getNV( ); + int nFR = getNFR( ); + int nFX = getNFX( ); + int nAC = getNAC( ); + int nZ = getNZ( ); + + + /* I) Check if new constraint is linearly independent from the active ones. */ + returnValue returnvalueCheckLI = addConstraint_checkLI( number ); + + if ( returnvalueCheckLI == RET_INDEXLIST_CORRUPTED ) + return THROWERROR( RET_ENSURELI_FAILED ); + + if ( returnvalueCheckLI == RET_LINEARLY_INDEPENDENT ) + return SUCCESSFUL_RETURN; + + + /* II) NEW CONSTRAINT IS LINEARLY DEPENDENT: */ + /* 1) Determine coefficients of linear combination, + * cf. M.J. Best. Applied Mathematics and Parallel Computing, chapter: + * An Algorithm for the Solution of the Parametric Quadratic Programming + * Problem, pages 57-76. Physica-Verlag, Heidelberg, 1996. */ + int FR_idx[NVMAX]; + if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_ENSURELI_FAILED ); + + int FX_idx[NVMAX]; + if ( bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_ENSURELI_FAILED ); + + real_t xiC[NCMAX_ALLOC]; + real_t xiC_TMP[NCMAX_ALLOC]; + real_t xiB[NVMAX]; + + /* 2) Calculate xiC */ + if ( nAC > 0 ) + { + if ( C_status == ST_LOWER ) + { + for( i=0; igetNumberArray( AC_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_ENSURELI_FAILED ); + + if ( C_status == ST_LOWER ) + { + for( i=0; i ZERO ) && ( y[nV+ii] >= 0.0 ) ) + { + if ( y[nV+ii]/xiC[i] < y_min ) + { + y_min = y[nV+ii]/xiC[i]; + y_min_number = ii; + } + } + } + else + { + if ( ( xiC[i] < -ZERO ) && ( y[nV+ii] <= 0.0 ) ) + { + if ( y[nV+ii]/xiC[i] < y_min ) + { + y_min = y[nV+ii]/xiC[i]; + y_min_number = ii; + } + } + } + } + + /* 2) Bounds. */ + for( i=0; i ZERO ) && ( y[ii] >= 0.0 ) ) + { + if ( y[ii]/xiB[i] < y_min ) + { + y_min = y[ii]/xiB[i]; + y_min_number = ii; + y_min_isBound = BT_TRUE; + } + } + } + else + { + if ( ( xiB[i] < -ZERO ) && ( y[ii] <= 0.0 ) ) + { + if ( y[ii]/xiB[i] < y_min ) + { + y_min = y[ii]/xiB[i]; + y_min_number = ii; + y_min_isBound = BT_TRUE; + } + } + } + } + + /* setup output preferences */ + #ifdef PC_DEBUG + char messageString[80]; + VisibilityStatus visibilityStatus; + + if ( printlevel == PL_HIGH ) + visibilityStatus = VS_VISIBLE; + else + visibilityStatus = VS_HIDDEN; + #endif + + + /* IV) REMOVE CONSTRAINT/BOUND FOR RESOLVING LINEAR DEPENDENCE: */ + if ( y_min_number >= 0 ) + { + /* 1) Check for cycling due to infeasibility. */ + if ( ( cyclingManager.getCyclingStatus( number,BT_FALSE ) == CYC_PREV_REMOVED ) && + ( cyclingManager.getCyclingStatus( y_min_number,y_min_isBound ) == CYC_PREV_ADDED ) ) + { + infeasible = BT_TRUE; + + return THROWERROR( RET_ENSURELI_FAILED_CYCLING ); + } + else + { + /* set cycling data */ + cyclingManager.clearCyclingData( ); + cyclingManager.setCyclingStatus( number,BT_FALSE, CYC_PREV_ADDED ); + cyclingManager.setCyclingStatus( y_min_number,y_min_isBound, CYC_PREV_REMOVED ); + } + + /* 2) Update Lagrange multiplier... */ + for( i=0; ithrowInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus ); + #endif + + if ( removeBound( y_min_number,BT_TRUE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED ); + + y[y_min_number] = 0.0; + } + else + { + #ifdef PC_DEBUG + sprintf( messageString,"constraint no. %d.",y_min_number ); + getGlobalMessageHandler( )->throwInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus ); + #endif + + if ( removeConstraint( y_min_number,BT_TRUE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED ); + + y[nV+y_min_number] = 0.0; + } + } + else + { + /* no constraint/bound can be removed => QP is infeasible! */ + infeasible = BT_TRUE; + + return THROWERROR( RET_ENSURELI_FAILED_NOINDEX ); + } + + return getGlobalMessageHandler( )->throwInfo( RET_LI_RESOLVED,0,__FUNCTION__,__FILE__,__LINE__,VS_HIDDEN ); +} + + + +/* + * a d d B o u n d + */ +returnValue QProblem::addBound( int number, SubjectToStatus B_status, + BooleanType updateCholesky + ) +{ + int i, j, ii; + + /* consistency checks */ + if ( bounds.getStatus( number ) != ST_INACTIVE ) + return THROWERROR( RET_BOUND_ALREADY_ACTIVE ); + + if ( getNFR( ) == bounds.getNUV( ) ) + return THROWERROR( RET_ALL_BOUNDS_ACTIVE ); + + if ( ( getStatus( ) == QPS_NOTINITIALISED ) || + ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) || + ( getStatus( ) == QPS_HOMOTOPYQPSOLVED ) || + ( getStatus( ) == QPS_SOLVED ) ) + { + return THROWERROR( RET_UNKNOWN_BUG ); + } + + + /* I) ENSURE LINEAR INDEPENDENCE OF THE WORKING SET, + * i.e. remove a constraint or bound if linear dependence occurs. */ + /* check for LI only if Cholesky decomposition shall be updated! */ + if ( updateCholesky == BT_TRUE ) + { + returnValue ensureLIreturnvalue = addBound_ensureLI( number,B_status ); + + switch ( ensureLIreturnvalue ) + { + case SUCCESSFUL_RETURN: + break; + + case RET_LI_RESOLVED: + break; + + case RET_ENSURELI_FAILED_NOINDEX: + return THROWERROR( RET_ADDBOUND_FAILED_INFEASIBILITY ); + + case RET_ENSURELI_FAILED_CYCLING: + return THROWERROR( RET_ADDBOUND_FAILED_INFEASIBILITY ); + + default: + return THROWERROR( RET_ENSURELI_FAILED ); + } + } + + + /* some definitions */ + int nFR = getNFR( ); + int nAC = getNAC( ); + int nZ = getNZ( ); + + int tcol = sizeT - nAC; + + + /* I) SWAP INDEXLIST OF FREE VARIABLES: + * move the variable to be fixed to the end of the list of free variables. */ + int lastfreenumber = bounds.getFree( )->getLastNumber( ); + if ( lastfreenumber != number ) + if ( bounds.swapFree( number,lastfreenumber ) != SUCCESSFUL_RETURN ) + THROWERROR( RET_ADDBOUND_FAILED ); + + + int FR_idx[NVMAX]; + if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_ADDBOUND_FAILED ); + + real_t w[NVMAX]; + + + /* II) ADD NEW ACTIVE BOUND TO TOP OF MATRIX T: */ + /* 1) add row [wZ wY] = [Z Y](number) at the top of T: assign w */ + for( i=0; i 0 ) /* ( nAC == 0 ) <=> ( nZ == nFR ) <=> Y and T are empty => nothing to do */ + { + /* store new column a in a temporary vector instead of shifting T one column to the left */ + real_t tmp[NCMAX_ALLOC]; + for( i=0; i is linearly independent from the + the active ones (<=> is element of null space of Afr). */ + for( i=0; i EPS ) + return RET_LINEARLY_INDEPENDENT; + } + + return RET_LINEARLY_DEPENDENT; +} + + +/* + * a d d B o u n d _ e n s u r e L I + */ +returnValue QProblem::addBound_ensureLI( int number, SubjectToStatus B_status ) +{ + int i, j, ii, jj; + int nV = getNV( ); + int nFX = getNFX( ); + int nAC = getNAC( ); + int nZ = getNZ( ); + + + /* I) Check if new constraint is linearly independent from the active ones. */ + returnValue returnvalueCheckLI = addBound_checkLI( number ); + + if ( returnvalueCheckLI == RET_LINEARLY_INDEPENDENT ) + return SUCCESSFUL_RETURN; + + + /* II) NEW BOUND IS LINEARLY DEPENDENT: */ + /* 1) Determine coefficients of linear combination, + * cf. M.J. Best. Applied Mathematics and Parallel Computing, chapter: + * An Algorithm for the Solution of the Parametric Quadratic Programming + * Problem, pages 57-76. Physica-Verlag, Heidelberg, 1996. */ + int FR_idx[NVMAX]; + if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_ENSURELI_FAILED ); + + int FX_idx[NVMAX]; + if ( bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_ENSURELI_FAILED ); + + int AC_idx[NCMAX_ALLOC]; + if ( constraints.getActive( )->getNumberArray( AC_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_ENSURELI_FAILED ); + + real_t xiC[NCMAX_ALLOC]; + real_t xiC_TMP[NCMAX_ALLOC]; + real_t xiB[NVMAX]; + + /* 2) Calculate xiC. */ + if ( nAC > 0 ) + { + if ( B_status == ST_LOWER ) + { + for( i=0; i ZERO ) && ( y[nV+ii] >= 0.0 ) ) + { + if ( y[nV+ii]/xiC[i] < y_min ) + { + y_min = y[nV+ii]/xiC[i]; + y_min_number = ii; + } + } + } + else + { + if ( ( xiC[i] < -ZERO ) && ( y[nV+ii] <= 0.0 ) ) + { + if ( y[nV+ii]/xiC[i] < y_min ) + { + y_min = y[nV+ii]/xiC[i]; + y_min_number = ii; + } + } + } + } + + /* 2) Bounds. */ + for( i=0; i ZERO ) && ( y[ii] >= 0.0 ) ) + { + if ( y[ii]/xiB[i] < y_min ) + { + y_min = y[ii]/xiB[i]; + y_min_number = ii; + y_min_isBound = BT_TRUE; + } + } + } + else + { + if ( ( xiB[i] < -ZERO ) && ( y[ii] <= 0.0 ) ) + { + if ( y[ii]/xiB[i] < y_min ) + { + y_min = y[ii]/xiB[i]; + y_min_number = ii; + y_min_isBound = BT_TRUE; + } + } + } + } + + /* setup output preferences */ + #ifdef PC_DEBUG + char messageString[80]; + VisibilityStatus visibilityStatus; + + if ( printlevel == PL_HIGH ) + visibilityStatus = VS_VISIBLE; + else + visibilityStatus = VS_HIDDEN; + #endif + + + /* IV) REMOVE CONSTRAINT/BOUND FOR RESOLVING LINEAR DEPENDENCE: */ + if ( y_min_number >= 0 ) + { + /* 1) Check for cycling due to infeasibility. */ + if ( ( cyclingManager.getCyclingStatus( number,BT_TRUE ) == CYC_PREV_REMOVED ) && + ( cyclingManager.getCyclingStatus( y_min_number,y_min_isBound ) == CYC_PREV_ADDED ) ) + { + infeasible = BT_TRUE; + + return THROWERROR( RET_ENSURELI_FAILED_CYCLING ); + } + else + { + /* set cycling data */ + cyclingManager.clearCyclingData( ); + cyclingManager.setCyclingStatus( number,BT_TRUE, CYC_PREV_ADDED ); + cyclingManager.setCyclingStatus( y_min_number,y_min_isBound, CYC_PREV_REMOVED ); + } + + + /* 2) Update Lagrange multiplier... */ + for( i=0; ithrowInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus ); + #endif + + if ( removeBound( y_min_number,BT_TRUE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED ); + + y[y_min_number] = 0.0; + } + else + { + #ifdef PC_DEBUG + sprintf( messageString,"constraint no. %d.",y_min_number ); + getGlobalMessageHandler( )->throwInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus ); + #endif + + if ( removeConstraint( y_min_number,BT_TRUE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED ); + + y[nV+y_min_number] = 0.0; + } + } + else + { + /* no constraint/bound can be removed => QP is infeasible! */ + infeasible = BT_TRUE; + + return THROWERROR( RET_ENSURELI_FAILED_NOINDEX ); + } + + return getGlobalMessageHandler( )->throwInfo( RET_LI_RESOLVED,0,__FUNCTION__,__FILE__,__LINE__,VS_HIDDEN ); +} + + + +/* + * r e m o v e C o n s t r a i n t + */ +returnValue QProblem::removeConstraint( int number, + BooleanType updateCholesky + ) +{ + int i, j, ii, jj; + + /* consistency check */ + if ( ( getStatus( ) == QPS_NOTINITIALISED ) || + ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) || + ( getStatus( ) == QPS_HOMOTOPYQPSOLVED ) || + ( getStatus( ) == QPS_SOLVED ) ) + { + return THROWERROR( RET_UNKNOWN_BUG ); + } + + /* some definitions */ + int nFR = getNFR( ); + int nAC = getNAC( ); + int nZ = getNZ( ); + + int tcol = sizeT - nAC; + int number_idx = constraints.getActive( )->getIndex( number ); + + + /* consistency checks */ + if ( constraints.getStatus( number ) == ST_INACTIVE ) + return THROWERROR( RET_CONSTRAINT_NOT_ACTIVE ); + + if ( ( number_idx < 0 ) || ( number_idx >= nAC ) ) + return THROWERROR( RET_CONSTRAINT_NOT_ACTIVE ); + + + int FR_idx[NVMAX]; + if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVECONSTRAINT_FAILED ); + + + /* I) REMOVE th ROW FROM T, + * i.e. shift rows number+1 through nAC upwards (instead of the actual + * constraint number its corresponding index within matrix A is used). */ + if ( number_idx < nAC-1 ) + { + for( i=(number_idx+1); i=0; --j ) + { + computeGivens( T[(nAC-2-j)*NVMAX + tcol+1+j],T[(nAC-2-j)*NVMAX + tcol+j], T[(nAC-2-j)*NVMAX + tcol+1+j],T[(nAC-2-j)*NVMAX + tcol+j],c,s ); + + for( i=(nAC-j-1); i<(nAC-1); ++i ) + applyGivens( c,s,T[i*NVMAX + tcol+1+j],T[i*NVMAX + tcol+j], T[i*NVMAX + tcol+1+j],T[i*NVMAX + tcol+j] ); + + for( i=0; i 0 ) + { + real_t ZHz[NVMAX]; + for ( i=0; i 0.0 ) + R[nZ*NVMAX + nZ] = sqrt( rho2 ); + else + { + hessianType = HST_SEMIDEF; + return THROWERROR( RET_HESSIAN_NOT_SPD ); + } + } + + /* IV) UPDATE INDICES */ + if ( constraints.moveActiveToInactive( number ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVECONSTRAINT_FAILED ); + + + return SUCCESSFUL_RETURN; +} + + +/* + * r e m o v e B o u n d + */ +returnValue QProblem::removeBound( int number, + BooleanType updateCholesky + ) +{ + int i, j, ii, jj; + + /* consistency checks */ + if ( bounds.getStatus( number ) == ST_INACTIVE ) + return THROWERROR( RET_BOUND_NOT_ACTIVE ); + + if ( ( getStatus( ) == QPS_NOTINITIALISED ) || + ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) || + ( getStatus( ) == QPS_HOMOTOPYQPSOLVED ) || + ( getStatus( ) == QPS_SOLVED ) ) + { + return THROWERROR( RET_UNKNOWN_BUG ); + } + + /* some definitions */ + int nFR = getNFR( ); + int nAC = getNAC( ); + int nZ = getNZ( ); + + int tcol = sizeT - nAC; + + + /* I) UPDATE INDICES */ + if ( bounds.moveFixedToFree( number ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVEBOUND_FAILED ); + + + int FR_idx[NVMAX]; + if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVEBOUND_FAILED ); + + /* I) APPEND th UNITY VECOTR TO Q. */ + int nnFRp1 = FR_idx[nFR]; + for( i=0; i 0 ) + { + /* store new column a in a temporary vector instead of shifting T one column to the left and appending a */ + int AC_idx[NCMAX_ALLOC]; + if ( constraints.getActive( )->getNumberArray( AC_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVEBOUND_FAILED ); + + real_t tmp[NCMAX_ALLOC]; + for( i=0; i=0; --j ) + { + computeGivens( tmp[nAC-1-j],T[(nAC-1-j)*NVMAX + tcol+j],T[(nAC-1-j)*NVMAX + tcol+j],tmp[nAC-1-j],c,s ); + + for( i=(nAC-j); i 0 ) + { + real_t Hz[NVMAX]; + for( i=0; i 0 ) + { + real_t r[NVMAX]; + real_t rhs[NVMAX]; + for( i=0; i 0.0 ) + R[nZ*NVMAX + nZ] = sqrt( rho2 ); + else + { + hessianType = HST_SEMIDEF; + return THROWERROR( RET_HESSIAN_NOT_SPD ); + } + } + + return SUCCESSFUL_RETURN; +} + + +/* + * b a c k s o l v e R (CODE DUPLICATE OF QProblemB CLASS!!!) + */ +returnValue QProblem::backsolveR( const real_t* const b, BooleanType transposed, + real_t* const a + ) +{ + /* Call standard backsolve procedure (i.e. removingBound == BT_FALSE). */ + return backsolveR( b,transposed,BT_FALSE,a ); +} + + +/* + * b a c k s o l v e R (CODE DUPLICATE OF QProblemB CLASS!!!) + */ +returnValue QProblem::backsolveR( const real_t* const b, BooleanType transposed, + BooleanType removingBound, + real_t* const a + ) +{ + int i, j; + int nR = getNZ( ); + + real_t sum; + + /* if backsolve is called while removing a bound, reduce nZ by one. */ + if ( removingBound == BT_TRUE ) + --nR; + + /* nothing to do */ + if ( nR <= 0 ) + return SUCCESSFUL_RETURN; + + + /* Solve Ra = b, where R might be transposed. */ + if ( transposed == BT_FALSE ) + { + /* solve Ra = b */ + for( i=(nR-1); i>=0; --i ) + { + sum = b[i]; + for( j=(i+1); j ZERO ) + a[i] = sum / R[i*NVMAX + i]; + else + return THROWERROR( RET_DIV_BY_ZERO ); + } + } + else + { + /* solve R^T*a = b */ + for( i=0; i ZERO ) + a[i] = sum / R[i*NVMAX + i]; + else + return THROWERROR( RET_DIV_BY_ZERO ); + } + } + + return SUCCESSFUL_RETURN; +} + + + +/* + * b a c k s o l v e T + */ +returnValue QProblem::backsolveT( const real_t* const b, BooleanType transposed, real_t* const a ) +{ + int i, j; + int nT = getNAC( ); + int tcol = sizeT - nT; + + real_t sum; + + /* nothing to do */ + if ( nT <= 0 ) + return SUCCESSFUL_RETURN; + + + /* Solve Ta = b, where T might be transposed. */ + if ( transposed == BT_FALSE ) + { + /* solve Ta = b */ + for( i=0; i ZERO ) + a[nT-1-i] = sum / T[i*NVMAX + sizeT-1-i]; + else + return THROWERROR( RET_DIV_BY_ZERO ); + } + } + else + { + /* solve T^T*a = b */ + for( i=0; i ZERO ) + a[nT-1-i] = sum / T[(nT-1-i)*NVMAX + tcol+i]; + else + return THROWERROR( RET_DIV_BY_ZERO ); + } + } + + + return SUCCESSFUL_RETURN; +} + + +/* + * h o t s t a r t _ d e t e r m i n e D a t a S h i f t + */ +returnValue QProblem::hotstart_determineDataShift( const int* const FX_idx, const int* const AC_idx, + const real_t* const g_new, const real_t* const lbA_new, const real_t* const ubA_new, + const real_t* const lb_new, const real_t* const ub_new, + real_t* const delta_g, real_t* const delta_lbA, real_t* const delta_ubA, + real_t* const delta_lb, real_t* const delta_ub, + BooleanType& Delta_bC_isZero, BooleanType& Delta_bB_isZero + ) +{ + int i, ii; + int nC = getNC( ); + int nAC = getNAC( ); + + + /* I) DETERMINE DATA SHIFT FOR BOUNDS */ + QProblemB::hotstart_determineDataShift( FX_idx,g_new,lb_new,ub_new, delta_g,delta_lb,delta_ub, Delta_bB_isZero ); + + + /* II) DETERMINE DATA SHIFT FOR CONSTRAINTS */ + /* 1) Calculate shift directions. */ + for( i=0; i EPS ) || ( getAbs( delta_ubA[ii] ) > EPS ) ) + { + Delta_bC_isZero = BT_FALSE; + break; + } + } + + return SUCCESSFUL_RETURN; +} + + +/* + * h o t s t a r t _ d e t e r m i n e S t e p D i r e c t i o n + */ +returnValue QProblem::hotstart_determineStepDirection( const int* const FR_idx, const int* const FX_idx, const int* const AC_idx, + const real_t* const delta_g, const real_t* const delta_lbA, const real_t* const delta_ubA, + const real_t* const delta_lb, const real_t* const delta_ub, + BooleanType Delta_bC_isZero, BooleanType Delta_bB_isZero, + real_t* const delta_xFX, real_t* const delta_xFR, + real_t* const delta_yAC, real_t* const delta_yFX + ) +{ + int i, j, ii, jj; + int nFR = getNFR( ); + int nFX = getNFX( ); + int nAC = getNAC( ); + int nZ = getNZ( ); + + /* initialise auxiliary vectors */ + real_t HMX_delta_xFX[NVMAX]; + real_t YFR_delta_xFRy[NVMAX]; + real_t ZFR_delta_xFRz[NVMAX]; + real_t HFR_YFR_delta_xFRy[NVMAX]; + for( i=0; i 0 ) + { + for( i=0; i 0 ) + { + /* 1) Determine delta_xFRy. */ + if ( nAC > 0 ) + { + if ( ( Delta_bC_isZero == BT_TRUE ) && ( Delta_bB_isZero == BT_TRUE ) ) + { + for( i=0; i 0 ) + { + for( i=0; i 0 ) + { + if ( ( Delta_bC_isZero == BT_FALSE ) || ( Delta_bB_isZero == BT_FALSE ) ) + { + for( i=0; i 0 ) + { + /* auxiliary variable */ + real_t delta_xFRz_TMP[NVMAX]; + real_t delta_xFRz_RHS[NVMAX]; + + + if ( ( nAC > 0 ) && ( nFX > 0 ) && ( Delta_bB_isZero == BT_FALSE ) ) + { + for( j=0; j 0 ) /* => Delta_bB_isZero == BT_TRUE, as BT_FALSE would imply nFX>0 */ + { + for( j=0; j 0 ) /* => ( nFR = nZ + nAC > 0 ) */ + { + /* auxiliary variables */ + real_t delta_yAC_TMP[NCMAX_ALLOC]; + for( i=0; i 0 ) + { + for( i=0; i 0 ) + { + if ( Delta_bB_isZero == BT_FALSE ) + { + for( i=0; i 0 ) + { + for( i=0; i 0.0 ) + maxStepLength[nV+ii] = y[nV+ii] / ( -delta_yAC[i] ); + else + maxStepLength[nV+ii] = 0.0; + } + } + else + { + /* active upper constraints' bounds */ + if ( delta_yAC[i] > ZERO ) + { + if ( y[nV+ii] < 0.0 ) + maxStepLength[nV+ii] = y[nV+ii] / ( -delta_yAC[i] ); + else + maxStepLength[nV+ii] = 0.0; + } + } + } + } + + /* 2) Ensure that active dual bounds remain valid + * (ignoring implicitly fixed variables). */ + for( i=0; i 0.0 ) + maxStepLength[ii] = y[ii] / ( -delta_yFX[i] ); + else + maxStepLength[ii] = 0.0; + } + } + else + { + /* active upper bounds */ + if ( delta_yFX[i] > ZERO ) + { + if ( y[ii] < 0.0 ) + maxStepLength[ii] = y[ii] / ( -delta_yFX[i] ); + else + maxStepLength[ii] = 0.0; + } + } + } + } + + + /* II) DETERMINE MAXIMUM PRIMAL STEPLENGTH */ + /* 1) Ensure that inactive constraints' bounds remain valid + * (ignoring unbounded constraints). */ + real_t delta_x[NVMAX]; + for( j=0; j delta_Ax[ii] ) + { + if ( Ax[ii] > lbA[ii] ) + maxStepLength[nV+ii] = ( Ax[ii] - lbA[ii] ) / ( delta_lbA[ii] - delta_Ax[ii] ); + else + maxStepLength[nV+ii] = 0.0; + } + } + + /* inactive upper constraints' bounds */ + if ( constraints.isNoUpper( ) == BT_FALSE ) + { + if ( delta_ubA[ii] < delta_Ax[ii] ) + { + if ( Ax[ii] < ubA[ii] ) + maxStepLength[nV+nC+nV+ii] = ( Ax[ii] - ubA[ii] ) / ( delta_ubA[ii] - delta_Ax[ii] ); + else + maxStepLength[nV+nC+nV+ii] = 0.0; + } + } + } + } + + + /* 2) Ensure that inactive bounds remain valid + * (ignoring unbounded variables). */ + /* inactive lower bounds */ + if ( bounds.isNoLower( ) == BT_FALSE ) + { + for( i=0; i delta_xFR[i] ) + { + if ( x[ii] > lb[ii] ) + maxStepLength[ii] = ( x[ii] - lb[ii] ) / ( delta_lb[ii] - delta_xFR[i] ); + else + maxStepLength[ii] = 0.0; + } + } + } + + /* inactive upper bounds */ + if ( bounds.isNoUpper( ) == BT_FALSE ) + { + for( i=0; i EPS ) + cyclingManager.clearCyclingData( ); + + + /* V) SET MAXIMUM HOMOTOPY STEPLENGTH */ + tau = tau_new; + + #ifdef PC_DEBUG + if ( printlevel == PL_HIGH ) + { + + char messageString[80]; + + if ( BC_status == ST_UNDEFINED ) + sprintf( messageString,"Stepsize is %.6e!",tau ); + else + sprintf( messageString,"Stepsize is %.6e! (BC_idx = %d, BC_isBound = %d, BC_status = %d)",tau,BC_idx,BC_isBound,BC_status ); + + getGlobalMessageHandler( )->throwInfo( RET_STEPSIZE_NONPOSITIVE,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + } + #endif + + return SUCCESSFUL_RETURN; +} + + +/* + * h o t s t a r t _ p e r f o r m S t e p + */ +returnValue QProblem::hotstart_performStep( const int* const FR_idx, const int* const FX_idx, const int* const AC_idx, const int* const IAC_idx, + const real_t* const delta_g, const real_t* const delta_lbA, const real_t* const delta_ubA, + const real_t* const delta_lb, const real_t* const delta_ub, + const real_t* const delta_xFX, const real_t* const delta_xFR, + const real_t* const delta_yAC, const real_t* const delta_yFX, + const real_t* const delta_Ax, int BC_idx, SubjectToStatus BC_status, BooleanType BC_isBound + ) +{ + int i, j, ii; + int nV = getNV( ); + int nC = getNC( ); + int nFR = getNFR( ); + int nFX = getNFX( ); + int nAC = getNAC( ); + int nIAC = getNIAC( ); + + + /* I) CHECK (CONSTRAINTS') BOUNDS' CONSISTENCY */ + if ( areBoundsConsistent( delta_lb,delta_ub,delta_lbA,delta_ubA ) == BT_FALSE ) + { + infeasible = BT_TRUE; + tau = 0.0; + + return THROWERROR( RET_QP_INFEASIBLE ); + } + + + /* II) GO TO ACTIVE SET CHANGE */ + if ( tau > ZERO ) + { + /* 1) Perform step in primal und dual space... */ + for( i=0; ithrowWarning( RET_STEPSIZE,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + #endif + } + + + /* setup output preferences */ + #ifdef PC_DEBUG + char messageString[80]; + VisibilityStatus visibilityStatus; + + if ( printlevel == PL_HIGH ) + visibilityStatus = VS_VISIBLE; + else + visibilityStatus = VS_HIDDEN; + #endif + + + /* III) UPDATE ACTIVE SET */ + switch ( BC_status ) + { + /* Optimal solution found as no working set change detected. */ + case ST_UNDEFINED: + return RET_OPTIMAL_SOLUTION_FOUND; + + + /* Remove one variable from active set. */ + case ST_INACTIVE: + if ( BC_isBound == BT_TRUE ) + { + #ifdef PC_DEBUG + sprintf( messageString,"bound no. %d.", BC_idx ); + getGlobalMessageHandler( )->throwInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus ); + #endif + + if ( removeBound( BC_idx,BT_TRUE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED ); + + y[BC_idx] = 0.0; + } + else + { + #ifdef PC_DEBUG + sprintf( messageString,"constraint no. %d.", BC_idx ); + getGlobalMessageHandler( )->throwInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus ); + #endif + + if ( removeConstraint( BC_idx,BT_TRUE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED ); + + y[nV+BC_idx] = 0.0; + } + break; + + + /* Add one variable to active set. */ + default: + if ( BC_isBound == BT_TRUE ) + { + #ifdef PC_DEBUG + if ( BC_status == ST_LOWER ) + sprintf( messageString,"lower bound no. %d.", BC_idx ); + else + sprintf( messageString,"upper bound no. %d.", BC_idx ); + getGlobalMessageHandler( )->throwInfo( RET_ADD_TO_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus ); + #endif + + if ( addBound( BC_idx,BC_status,BT_TRUE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_ADD_TO_ACTIVESET_FAILED ); + } + else + { + #ifdef PC_DEBUG + if ( BC_status == ST_LOWER ) + sprintf( messageString,"lower constraint's bound no. %d.", BC_idx ); + else + sprintf( messageString,"upper constraint's bound no. %d.", BC_idx ); + getGlobalMessageHandler( )->throwInfo( RET_ADD_TO_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus ); + #endif + + if ( addConstraint( BC_idx,BC_status,BT_TRUE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_ADD_TO_ACTIVESET_FAILED ); + } + break; + } + + return SUCCESSFUL_RETURN; +} + + +/* + * a r e B o u n d s C o n s i s t e n t + */ +BooleanType QProblem::areBoundsConsistent( const real_t* const delta_lb, const real_t* const delta_ub, + const real_t* const delta_lbA, const real_t* const delta_ubA + ) const +{ + int i; + + /* 1) Check bounds' consistency. */ + if ( QProblemB::areBoundsConsistent( delta_lb,delta_ub ) == BT_FALSE ) + return BT_FALSE; + + /* 2) Check constraints' consistency, i.e. + * check if delta_lb[i] is greater than delta_ub[i] + * for a component i whose bounds are already (numerically) equal. */ + for( i=0; i ubA[i] - BOUNDTOL ) && ( delta_lbA[i] > delta_ubA[i] + EPS ) ) + return BT_FALSE; + + return BT_TRUE; +} + + +/* + * s e t u p Q P d a t a + */ +returnValue QProblem::setupQPdata( const real_t* const _H, const real_t* const _R, const real_t* const _g, const real_t* const _A, + const real_t* const _lb, const real_t* const _ub, + const real_t* const _lbA, const real_t* const _ubA + ) +{ + int i, j; + int nV = getNV( ); + int nC = getNC( ); + + + /* 1) Load Hessian matrix as well as lower and upper bounds vectors. */ + if (QProblemB::setupQPdata(_H, _R, _g, _lb, _ub) != SUCCESSFUL_RETURN) + return THROWERROR( RET_INVALID_ARGUMENTS ); + + /* 2) Load constraint matrix. */ + if ( ( nC > 0 ) && ( _A == 0 ) ) + return THROWERROR( RET_INVALID_ARGUMENTS ); + + if ( nC > 0 ) + { + for( i=0; igetNumberArray( AC_idx ); + + /* 1) check for Hx + g - [yFX yAC]*[Id A]' = 0. */ + for( i=0; i maxKKTviolation ) + maxKKTviolation = getAbs( tmp ); + } + + /* 2) Check for [lb lbA] <= [Id A]*x <= [ub ubA]. */ + /* lbA <= Ax <= ubA */ + for( i=0; i maxKKTviolation ) + maxKKTviolation = lbA[i] - Ax[i]; + + if ( Ax[i] - ubA[i] > maxKKTviolation ) + maxKKTviolation = Ax[i] - ubA[i]; + } + + /* lb <= x <= ub */ + for( i=0; i maxKKTviolation ) + maxKKTviolation = lb[i] - x[i]; + + if ( x[i] - ub[i] > maxKKTviolation ) + maxKKTviolation = x[i] - ub[i]; + } + + /* 3) Check for correct sign of y and for complementary slackness. */ + /* bounds */ + for( i=0; i maxKKTviolation ) + maxKKTviolation = -y[i]; + if ( getAbs( x[i] - lb[i] ) > maxKKTviolation ) + maxKKTviolation = getAbs( x[i] - lb[i] ); + break; + + case ST_UPPER: + if ( y[i] > maxKKTviolation ) + maxKKTviolation = y[i]; + if ( getAbs( ub[i] - x[i] ) > maxKKTviolation ) + maxKKTviolation = getAbs( ub[i] - x[i] ); + break; + + default: /* inactive */ + if ( getAbs( y[i] ) > maxKKTviolation ) + maxKKTviolation = getAbs( y[i] ); + break; + } + } + + /* constraints */ + for( i=0; i maxKKTviolation ) + maxKKTviolation = -y[nV+i]; + if ( getAbs( Ax[i] - lbA[i] ) > maxKKTviolation ) + maxKKTviolation = getAbs( Ax[i] - lbA[i] ); + break; + + case ST_UPPER: + if ( y[nV+i] > maxKKTviolation ) + maxKKTviolation = y[nV+i]; + if ( getAbs( ubA[i] - Ax[i] ) > maxKKTviolation ) + maxKKTviolation = getAbs( ubA[i] - Ax[i] ); + break; + + default: /* inactive */ + if ( getAbs( y[nV+i] ) > maxKKTviolation ) + maxKKTviolation = getAbs( y[nV+i] ); + break; + } + } + + if ( maxKKTviolation > CRITICALACCURACY ) + return RET_NO_SOLUTION; + + if ( maxKKTviolation > DESIREDACCURACY ) + return RET_INACCURATE_SOLUTION; + + #endif /* __PERFORM_KKT_TEST__ */ + + return SUCCESSFUL_RETURN; +} + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/QProblem.ipp b/src/control/mpc_control/externals/qpoases/SRC/QProblem.ipp new file mode 100644 index 00000000..cec58e29 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/QProblem.ipp @@ -0,0 +1,299 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/QProblem.ipp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of inlined member functions of the QProblem class which + * is able to use the newly developed online active set strategy for + * parametric quadratic programming. + */ + + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + +/* + * g e t A + */ +inline returnValue QProblem::getA( real_t* const _A ) const +{ + int i; + + for ( i=0; i= 0 ) && ( number < getNC( ) ) ) + { + for ( int i=0; i= 0 ) && ( number < getNC( ) ) ) + { + value = lbA[number]; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); +} + + +/* + * g e t U B A + */ +inline returnValue QProblem::getUBA( real_t* const _ubA ) const +{ + int i; + + for ( i=0; i= 0 ) && ( number < getNC( ) ) ) + { + value = ubA[number]; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); +} + + +/* + * g e t C o n s t r a i n t s + */ +inline returnValue QProblem::getConstraints( Constraints* const _constraints ) const +{ + *_constraints = constraints; + + return SUCCESSFUL_RETURN; +} + + + +/* + * g e t N C + */ +inline int QProblem::getNC( ) const +{ + return constraints.getNC( ); +} + + +/* + * g e t N E C + */ +inline int QProblem::getNEC( ) const +{ + return constraints.getNEC( ); +} + + +/* + * g e t N A C + */ +inline int QProblem::getNAC( ) +{ + return constraints.getNAC( ); +} + + +/* + * g e t N I A C + */ +inline int QProblem::getNIAC( ) +{ + return constraints.getNIAC( ); +} + + + +/***************************************************************************** + * P R O T E C T E D * + *****************************************************************************/ + + +/* + * s e t A + */ +inline returnValue QProblem::setA( const real_t* const A_new ) +{ + int i, j; + int nV = getNV( ); + int nC = getNC( ); + + /* Set constraint matrix AND update member AX. */ + for( j=0; j= 0 ) && ( number < getNC( ) ) ) + { + Ax[number] = 0.0; + + for( i=0; i= 0 ) && ( number < getNC( ) ) ) + { + lbA[number] = value; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); +} + + +/* + * s e t U B A + */ +inline returnValue QProblem::setUBA( const real_t* const ubA_new ) +{ + int i; + int nC = getNC(); + + for( i=0; i= 0 ) && ( number < getNC( ) ) ) + { + ubA[number] = value; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); +} + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/QProblemB.cpp b/src/control/mpc_control/externals/qpoases/SRC/QProblemB.cpp new file mode 100644 index 00000000..f84daabc --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/QProblemB.cpp @@ -0,0 +1,2151 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/QProblemB.cpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of the QProblemB class which is able to use the newly + * developed online active set strategy for parametric quadratic programming. + */ + + +#include + +#include + +void printmatrix(char *name, double *A, int m, int n) { + int i, j; + + printf("%s = [...\n", name); + for (i = 0; i < m; i++) { + for (j = 0; j < n; j++) + printf(" % 9.4f", A[i*n+j]); + printf(",\n"); + } + printf("];\n"); +} + + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + + +/* + * Q P r o b l e m B + */ +QProblemB::QProblemB( ) +{ + /* reset global message handler */ + getGlobalMessageHandler( )->reset( ); + + hasHessian = BT_FALSE; + + bounds.init( 0 ); + + hasCholesky = BT_FALSE; + + tau = 0.0; + + hessianType = HST_POSDEF_NULLSPACE; /* Hessian is assumed to be positive definite by default */ + infeasible = BT_FALSE; + unbounded = BT_FALSE; + + status = QPS_NOTINITIALISED; + + #ifdef PC_DEBUG + printlevel = PL_MEDIUM; + setPrintLevel( PL_MEDIUM ); + #else + printlevel = QPOASES_PRINTLEVEL; + #endif + + count = 0; +} + + +/* + * Q P r o b l e m B + */ +QProblemB::QProblemB( int _nV ) +{ + /* consistency check */ + if ( _nV <= 0 ) + { + _nV = 1; + THROWERROR( RET_INVALID_ARGUMENTS ); + } + + hasHessian = BT_FALSE; + + /* reset global message handler */ + getGlobalMessageHandler( )->reset( ); + + bounds.init( _nV ); + + hasCholesky = BT_FALSE; + + tau = 0.0; + + hessianType = HST_POSDEF_NULLSPACE; /* Hessian is assumed to be positive definite by default */ + infeasible = BT_FALSE; + unbounded = BT_FALSE; + + status = QPS_NOTINITIALISED; + + #ifdef PC_DEBUG + printlevel = PL_MEDIUM; + setPrintLevel( PL_MEDIUM ); + #else + printlevel = QPOASES_PRINTLEVEL; + #endif + + count = 0; +} + + +/* + * Q P r o b l e m B + */ +QProblemB::QProblemB( const QProblemB& rhs ) +{ + int i, j; + + int _nV = rhs.bounds.getNV( ); + + for( i=0; i<_nV; ++i ) + for( j=0; j<_nV; ++j ) + H[i*NVMAX + j] = rhs.H[i*NVMAX + j]; + + hasHessian = rhs.hasHessian; + + for( i=0; i<_nV; ++i ) + g[i] = rhs.g[i]; + + for( i=0; i<_nV; ++i ) + lb[i] = rhs.lb[i]; + + for( i=0; i<_nV; ++i ) + ub[i] = rhs.ub[i]; + + + bounds = rhs.bounds; + + for( i=0; i<_nV; ++i ) + for( j=0; j<_nV; ++j ) + R[i*NVMAX + j] = rhs.R[i*NVMAX + j]; + hasCholesky = rhs.hasCholesky; + + for( i=0; i<_nV; ++i ) + x[i] = rhs.x[i]; + + for( i=0; i<_nV; ++i ) + y[i] = rhs.y[i]; + + tau = rhs.tau; + + hessianType = rhs.hessianType; + infeasible = rhs.infeasible; + unbounded = rhs.unbounded; + + status = rhs.status; + + printlevel = rhs.printlevel; + + count = rhs.count; +} + + +/* + * ~ Q P r o b l e m B + */ +QProblemB::~QProblemB( ) +{ +} + + +/* + * o p e r a t o r = + */ +QProblemB& QProblemB::operator=( const QProblemB& rhs ) +{ + int i, j; + + if ( this != &rhs ) + { + int _nV = rhs.bounds.getNV( ); + + for( i=0; i<_nV; ++i ) + for( j=0; j<_nV; ++j ) + H[i*NVMAX + j] = rhs.H[i*NVMAX + j]; + + hasHessian = rhs.hasHessian; + + for( i=0; i<_nV; ++i ) + g[i] = rhs.g[i]; + + for( i=0; i<_nV; ++i ) + lb[i] = rhs.lb[i]; + + for( i=0; i<_nV; ++i ) + ub[i] = rhs.ub[i]; + + bounds = rhs.bounds; + + for( i=0; i<_nV; ++i ) + for( j=0; j<_nV; ++j ) + R[i*NVMAX + j] = rhs.R[i*NVMAX + j]; + hasCholesky = rhs.hasCholesky; + + + for( i=0; i<_nV; ++i ) + x[i] = rhs.x[i]; + + for( i=0; i<_nV; ++i ) + y[i] = rhs.y[i]; + + tau = rhs.tau; + + hessianType = rhs.hessianType; + infeasible = rhs.infeasible; + unbounded = rhs.unbounded; + + status = rhs.status; + + printlevel = rhs.printlevel; + setPrintLevel( rhs.printlevel ); + + count = rhs.count; + } + + return *this; +} + + +/* + * r e s e t + */ +returnValue QProblemB::reset( ) +{ + int i, j; + int nV = getNV( ); + + /** 0) Reset has Hessian flag. */ + hasHessian = BT_FALSE; + + /* 1) Reset bounds. */ + bounds.init( nV ); + + /* 2) Reset Cholesky decomposition. */ + for( i=0; ithrowInfo( RET_ITERATION_STARTED,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + #endif + } + + /* 1) Setup index arrays. */ + if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + if ( bounds.getFixed( )->getNumberArray( FX_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_HOTSTART_FAILED ); + + /* 2) Initialize shift direction of the gradient and the bounds. */ + returnvalue = hotstart_determineDataShift( FX_idx, + g_new,lb_new,ub_new, + delta_g,delta_lb,delta_ub, + Delta_bB_isZero + ); + if ( returnvalue != SUCCESSFUL_RETURN ) + { + nWSR = l; + THROWERROR( RET_SHIFT_DETERMINATION_FAILED ); + return returnvalue; + } + + /* 3) Determination of step direction of X and Y. */ + returnvalue = hotstart_determineStepDirection( FR_idx,FX_idx, + delta_g,delta_lb,delta_ub, + Delta_bB_isZero, + delta_xFX,delta_xFR,delta_yFX + ); + if ( returnvalue != SUCCESSFUL_RETURN ) + { + nWSR = l; + THROWERROR( RET_STEPDIRECTION_DETERMINATION_FAILED ); + return returnvalue; + } + + + /* 4) Determination of step length TAU. */ + returnvalue = hotstart_determineStepLength( FR_idx,FX_idx, + delta_lb,delta_ub, + delta_xFR,delta_yFX, + BC_idx,BC_status ); + if ( returnvalue != SUCCESSFUL_RETURN ) + { + nWSR = l; + THROWERROR( RET_STEPLENGTH_DETERMINATION_FAILED ); + return returnvalue; + } + + /* 5) Realization of the homotopy step. */ + returnvalue = hotstart_performStep( FR_idx,FX_idx, + delta_g,delta_lb,delta_ub, + delta_xFX,delta_xFR,delta_yFX, + BC_idx,BC_status + ); + + + if ( returnvalue != SUCCESSFUL_RETURN ) + { + nWSR = l; + + /* stop runtime measurement */ + if ( cputime != 0 ) + *cputime = getCPUtime( ) - starttime; + + /* optimal solution found? */ + if ( returnvalue == RET_OPTIMAL_SOLUTION_FOUND ) + { + status = QPS_SOLVED; + + if ( printlevel == PL_HIGH ) + THROWINFO( RET_OPTIMAL_SOLUTION_FOUND ); + + #ifdef PC_DEBUG + if ( printIteration( l,BC_idx,BC_status ) != SUCCESSFUL_RETURN ) + THROWERROR( RET_PRINT_ITERATION_FAILED ); /* do not pass this as return value! */ + #endif + + /* check KKT optimality conditions */ + return checkKKTconditions( ); + } + else + { + /* checks for infeasibility... */ + if ( infeasible == BT_TRUE ) + { + status = QPS_HOMOTOPYQPSOLVED; + return THROWERROR( RET_HOTSTART_STOPPED_INFEASIBILITY ); + } + + /* ...unboundedness... */ + if ( unbounded == BT_TRUE ) /* not necessary since objective function convex! */ + return THROWERROR( RET_HOTSTART_STOPPED_UNBOUNDEDNESS ); + + /* ... and throw unspecific error otherwise */ + THROWERROR( RET_HOMOTOPY_STEP_FAILED ); + return returnvalue; + } + } + + /* 6) Output information of successful QP iteration. */ + status = QPS_HOMOTOPYQPSOLVED; + + #ifdef PC_DEBUG + if ( printIteration( l,BC_idx,BC_status ) != SUCCESSFUL_RETURN ) + THROWERROR( RET_PRINT_ITERATION_FAILED ); /* do not pass this as return value! */ + #endif + } + + + /* stop runtime measurement */ + if ( cputime != 0 ) + *cputime = getCPUtime( ) - starttime; + + + /* if programm gets to here, output information that QP could not be solved + * within the given maximum numbers of working set changes */ + if ( printlevel == PL_HIGH ) + { + #ifdef PC_DEBUG + sprintf( messageString,"(nWSR = %d)",nWSR ); + return getGlobalMessageHandler( )->throwWarning( RET_MAX_NWSR_REACHED,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + #endif + } + + /* Finally check KKT optimality conditions. */ + returnValue returnvalueKKTcheck = checkKKTconditions( ); + + if ( returnvalueKKTcheck != SUCCESSFUL_RETURN ) + return returnvalueKKTcheck; + else + return RET_MAX_NWSR_REACHED; +} + + +/* + * g e t N Z + */ +int QProblemB::getNZ( ) +{ + /* if no constraints are present: nZ=nFR */ + return bounds.getFree( )->getLength( ); +} + + +/* + * g e t O b j V a l + */ +real_t QProblemB::getObjVal( ) const +{ + real_t objVal; + + /* calculated optimal objective function value + * only if current QP has been solved */ + if ( ( getStatus( ) == QPS_AUXILIARYQPSOLVED ) || + ( getStatus( ) == QPS_HOMOTOPYQPSOLVED ) || + ( getStatus( ) == QPS_SOLVED ) ) + { + objVal = getObjVal( x ); + } + else + { + objVal = INFTY; + } + + return objVal; +} + + +/* + * g e t O b j V a l + */ +real_t QProblemB::getObjVal( const real_t* const _x ) const +{ + int i, j; + int nV = getNV( ); + + real_t obj_tmp = 0.0; + + for( i=0; i= PL_MEDIUM ) && ( printlevel != _printlevel ) ) + THROWINFO( RET_PRINTLEVEL_CHANGED ); + #endif + + printlevel = _printlevel; + + /* update message handler preferences */ + switch ( printlevel ) + { + case PL_NONE: + getGlobalMessageHandler( )->setErrorVisibilityStatus( VS_HIDDEN ); + getGlobalMessageHandler( )->setWarningVisibilityStatus( VS_HIDDEN ); + getGlobalMessageHandler( )->setInfoVisibilityStatus( VS_HIDDEN ); + break; + + case PL_LOW: + getGlobalMessageHandler( )->setErrorVisibilityStatus( VS_VISIBLE ); + getGlobalMessageHandler( )->setWarningVisibilityStatus( VS_HIDDEN ); + getGlobalMessageHandler( )->setInfoVisibilityStatus( VS_HIDDEN ); + break; + + default: /* PL_MEDIUM, PL_HIGH */ + getGlobalMessageHandler( )->setErrorVisibilityStatus( VS_VISIBLE ); + getGlobalMessageHandler( )->setWarningVisibilityStatus( VS_VISIBLE ); + getGlobalMessageHandler( )->setInfoVisibilityStatus( VS_VISIBLE ); + break; + } + + return SUCCESSFUL_RETURN; +} + + + +/***************************************************************************** + * P R O T E C T E D * + *****************************************************************************/ + +/* + * c h e c k F o r I d e n t i t y H e s s i a n + */ +returnValue QProblemB::checkForIdentityHessian( ) +{ + int i, j; + int nV = getNV( ); + + /* nothing to do as status flag remains unaltered + * if Hessian differs from identity matrix */ + if ( hessianType == HST_IDENTITY ) + return SUCCESSFUL_RETURN; + + /* 1) If Hessian differs from identity matrix, + * return without changing the internal HessianType. */ + for ( i=0; i EPS ) + return SUCCESSFUL_RETURN; + + for ( i=0; i EPS ) || ( getAbs( H[j*NVMAX + i] ) > EPS ) ) + return SUCCESSFUL_RETURN; + } + + /* 2) If this point is reached, Hessian equals the idetity matrix. */ + hessianType = HST_IDENTITY; + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t u p S u b j e c t T o T y p e + */ +returnValue QProblemB::setupSubjectToType( ) +{ + int i; + int nV = getNV( ); + + + /* 1) Check if lower bounds are present. */ + bounds.setNoLower( BT_TRUE ); + for( i=0; i -INFTY ) + { + bounds.setNoLower( BT_FALSE ); + break; + } + + /* 2) Check if upper bounds are present. */ + bounds.setNoUpper( BT_TRUE ); + for( i=0; i INFTY - BOUNDTOL ) ) + { + bounds.setType( i,ST_UNBOUNDED ); + ++nUV; + } + else + { + if ( lb[i] > ub[i] - BOUNDTOL ) + { + bounds.setType( i,ST_EQUALITY ); + ++nFV; + } + else + { + bounds.setType( i,ST_BOUNDED ); + } + } + + /* 4) Set dimensions of bounds structure. */ + bounds.setNFV( nFV ); + bounds.setNUV( nUV ); + bounds.setNBV( nV - nFV - nUV ); + + return SUCCESSFUL_RETURN; +} + + +/* + * c h o l e s k y D e c o m p o s i t i o n + */ +returnValue QProblemB::setupCholeskyDecomposition( ) +{ + int i, j, k, ii, jj; + int nV = getNV( ); + int nFR = getNFR( ); + + /* If Hessian flag is false, it means that H & R already contain Cholesky + * factorization -- provided from outside. */ + if (hasHessian == BT_FALSE) + return SUCCESSFUL_RETURN; + + /* 1) Initialises R with all zeros. */ + for( i=0; i 0 ) + { + int FR_idx[NVMAX]; + if ( bounds.getFree( )->getNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_INDEXLIST_CORRUPTED ); + + /* R'*R = H */ + real_t sum; + real_t inv; + + for( i=0; i=0; --k ) + sum -= R[k*NVMAX + i] * R[k*NVMAX + i]; + + if ( sum > 0.0 ) + { + R[i*NVMAX + i] = sqrt( sum ); + inv = 1.0 / R[i*NVMAX + i]; + } + else + { + hessianType = HST_SEMIDEF; + return THROWERROR( RET_HESSIAN_NOT_SPD ); + } + + /* j > i */ + for( j=(i+1); j=0; --k ) + sum -= R[k*NVMAX + i] * R[k*NVMAX + j]; + + R[i*NVMAX + j] = sum * inv; + } + } + } + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s o l v e I n i t i a l Q P + */ +returnValue QProblemB::solveInitialQP( const real_t* const xOpt, const real_t* const yOpt, + const Bounds* const guessedBounds, + int& nWSR, real_t* const cputime + ) +{ + int i, nFR; + int nV = getNV( ); + + + /* start runtime measurement */ + real_t starttime = 0.0; + if ( cputime != 0 ) + starttime = getCPUtime( ); + + + status = QPS_NOTINITIALISED; + + /* I) ANALYSE QP DATA: */ + /* 1) Check if Hessian happens to be the identity matrix. */ + if ( checkForIdentityHessian( ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_INIT_FAILED ); + + /* 2) Setup type of bounds (i.e. unbounded, implicitly fixed etc.). */ + if ( setupSubjectToType( ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_INIT_FAILED ); + + status = QPS_PREPARINGAUXILIARYQP; + + + /* II) SETUP AUXILIARY QP WITH GIVEN OPTIMAL SOLUTION: */ + /* 1) Setup bounds data structure. */ + if ( bounds.setupAllFree( ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_INIT_FAILED ); + + /* 2) Setup optimal primal/dual solution for auxiliary QP. */ + if ( setupAuxiliaryQPsolution( xOpt,yOpt ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_INIT_FAILED ); + + /* 3) Obtain linear independent working set for auxiliary QP. */ + + static Bounds auxiliaryBounds; + + auxiliaryBounds.init( nV ); + + if ( obtainAuxiliaryWorkingSet( xOpt,yOpt,guessedBounds, &auxiliaryBounds ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_INIT_FAILED ); + + /* 4) Setup working set of auxiliary QP and setup cholesky decomposition. */ + if ( setupAuxiliaryWorkingSet( &auxiliaryBounds,BT_TRUE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_INIT_FAILED ); + + nFR = getNFR(); + /* At the moment we can only provide a Cholesky of the Hessian if + * the solver is cold-started. */ + if (hasCholesky == BT_FALSE || nFR != nV) + if (setupCholeskyDecomposition() != SUCCESSFUL_RETURN) + return THROWERROR( RET_INIT_FAILED_CHOLESKY ); + + /* 5) Store original QP formulation... */ + real_t g_original[NVMAX]; + real_t lb_original[NVMAX]; + real_t ub_original[NVMAX]; + + for( i=0; isetupBound( i,ST_LOWER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + else + { + if ( auxiliaryBounds->setupBound( i,guessedBounds->getStatus( i ) ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + } + } + else /* No initial working set specified. */ + { + if ( ( xOpt != 0 ) && ( yOpt == 0 ) ) + { + /* Obtain initial working set by "clipping". */ + for( i=0; isetupBound( i,ST_LOWER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + continue; + } + + if ( xOpt[i] >= ub[i] - BOUNDTOL ) + { + if ( auxiliaryBounds->setupBound( i,ST_UPPER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + continue; + } + + /* Moreover, add all implictly fixed variables if specified. */ + if ( bounds.getType( i ) == ST_EQUALITY ) + { + if ( auxiliaryBounds->setupBound( i,ST_LOWER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + else + { + if ( auxiliaryBounds->setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + } + } + + if ( ( xOpt == 0 ) && ( yOpt != 0 ) ) + { + /* Obtain initial working set in accordance to sign of dual solution vector. */ + for( i=0; i ZERO ) + { + if ( auxiliaryBounds->setupBound( i,ST_LOWER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + continue; + } + + if ( yOpt[i] < -ZERO ) + { + if ( auxiliaryBounds->setupBound( i,ST_UPPER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + continue; + } + + /* Moreover, add all implictly fixed variables if specified. */ + if ( bounds.getType( i ) == ST_EQUALITY ) + { + if ( auxiliaryBounds->setupBound( i,ST_LOWER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + else + { + if ( auxiliaryBounds->setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + } + } + + /* If xOpt and yOpt are null pointer and no initial working is specified, + * start with empty working set (or implicitly fixed bounds only) + * for auxiliary QP. */ + if ( ( xOpt == 0 ) && ( yOpt == 0 ) ) + { + for( i=0; isetupBound( i,ST_LOWER ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + else + { + if ( auxiliaryBounds->setupBound( i,ST_INACTIVE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_OBTAINING_WORKINGSET_FAILED ); + } + } + } + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t u p A u x i l i a r y W o r k i n g S e t + */ +returnValue QProblemB::setupAuxiliaryWorkingSet( const Bounds* const auxiliaryBounds, + BooleanType setupAfresh + ) +{ + int i; + int nV = getNV( ); + + /* consistency checks */ + if ( auxiliaryBounds != 0 ) + { + for( i=0; igetStatus( i ) == ST_UNDEFINED ) ) + return THROWERROR( RET_UNKNOWN_BUG ); + } + else + { + return THROWERROR( RET_INVALID_ARGUMENTS ); + } + + + /* I) SETUP CHOLESKY FLAG: + * Cholesky decomposition shall only be updated if working set + * shall be updated (i.e. NOT setup afresh!) */ + BooleanType updateCholesky; + if ( setupAfresh == BT_TRUE ) + updateCholesky = BT_FALSE; + else + updateCholesky = BT_TRUE; + + + /* II) REMOVE FORMERLY ACTIVE BOUNDS (IF NECESSARY): */ + if ( setupAfresh == BT_FALSE ) + { + /* Remove all active bounds that shall be inactive AND + * all active bounds that are active at the wrong bound. */ + for( i=0; igetStatus( i ) != ST_LOWER ) ) + if ( removeBound( i,updateCholesky ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_WORKINGSET_FAILED ); + + if ( ( bounds.getStatus( i ) == ST_UPPER ) && ( auxiliaryBounds->getStatus( i ) != ST_UPPER ) ) + if ( removeBound( i,updateCholesky ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_WORKINGSET_FAILED ); + } + } + + + /* III) ADD NEWLY ACTIVE BOUNDS: */ + /* Add all inactive bounds that shall be active AND + * all formerly active bounds that have been active at the wrong bound. */ + for( i=0; igetStatus( i ) != ST_INACTIVE ) ) + { + if ( addBound( i,auxiliaryBounds->getStatus( i ),updateCholesky ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SETUP_WORKINGSET_FAILED ); + } + } + + return SUCCESSFUL_RETURN; +} + + +/* + * s e t u p A u x i l i a r y Q P s o l u t i o n + */ +returnValue QProblemB::setupAuxiliaryQPsolution( const real_t* const xOpt, const real_t* const yOpt + ) +{ + int i; + int nV = getNV( ); + + + /* Setup primal/dual solution vectors for auxiliary initial QP: + * if a null pointer is passed, a zero vector is assigned; + * old solution vector is kept if pointer to internal solution vector is passed. */ + if ( xOpt != 0 ) + { + if ( xOpt != x ) + for( i=0; igetIndex( number ); + + real_t c, s; + + /* 2) Use row-wise Givens rotations to restore upper triangular form of R. */ + for( i=number_idx+1; ith column and ... */ + for( i=0; igetNumberArray( FR_idx ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVEBOUND_FAILED ); + + /* 1) Calculate new column of cholesky decomposition. */ + real_t rhs[NVMAX]; + real_t r[NVMAX]; + real_t r0 = H[number*NVMAX + number]; + + for( i=0; i 0.0 ) + R[nFR*NVMAX + nFR] = sqrt( r0 ); + else + { + hessianType = HST_SEMIDEF; + return THROWERROR( RET_HESSIAN_NOT_SPD ); + } + + + return SUCCESSFUL_RETURN; +} + + +/* + * b a c k s o l v e R (CODE DUPLICATED IN QProblem CLASS!!!) + */ +returnValue QProblemB::backsolveR( const real_t* const b, BooleanType transposed, + real_t* const a + ) +{ + /* Call standard backsolve procedure (i.e. removingBound == BT_FALSE). */ + return backsolveR( b,transposed,BT_FALSE,a ); +} + + +/* + * b a c k s o l v e R (CODE DUPLICATED IN QProblem CLASS!!!) + */ +returnValue QProblemB::backsolveR( const real_t* const b, BooleanType transposed, + BooleanType removingBound, + real_t* const a + ) +{ + int i, j; + int nR = getNZ( ); + + real_t sum; + + /* if backsolve is called while removing a bound, reduce nZ by one. */ + if ( removingBound == BT_TRUE ) + --nR; + + /* nothing to do */ + if ( nR <= 0 ) + return SUCCESSFUL_RETURN; + + + /* Solve Ra = b, where R might be transposed. */ + if ( transposed == BT_FALSE ) + { + /* solve Ra = b */ + for( i=(nR-1); i>=0; --i ) + { + sum = b[i]; + for( j=(i+1); j ZERO ) + a[i] = sum / R[i*NVMAX + i]; + else + return THROWERROR( RET_DIV_BY_ZERO ); + } + } + else + { + /* solve R^T*a = b */ + for( i=0; i ZERO ) + a[i] = sum / R[i*NVMAX + i]; + else + return THROWERROR( RET_DIV_BY_ZERO ); + } + } + + return SUCCESSFUL_RETURN; +} + + +/* + * h o t s t a r t _ d e t e r m i n e D a t a S h i f t + */ +returnValue QProblemB::hotstart_determineDataShift( const int* const FX_idx, + const real_t* const g_new, const real_t* const lb_new, const real_t* const ub_new, + real_t* const delta_g, real_t* const delta_lb, real_t* const delta_ub, + BooleanType& Delta_bB_isZero + ) +{ + int i, ii; + int nV = getNV( ); + int nFX = getNFX( ); + + + /* 1) Calculate shift directions. */ + for( i=0; i EPS ) || ( getAbs( delta_ub[ii] ) > EPS ) ) + { + Delta_bB_isZero = BT_FALSE; + break; + } + } + + return SUCCESSFUL_RETURN; +} + + +/* + * a r e B o u n d s C o n s i s t e n t + */ +BooleanType QProblemB::areBoundsConsistent( const real_t* const delta_lb, const real_t* const delta_ub + ) const +{ + int i; + + /* Check if delta_lb[i] is greater than delta_ub[i] + * for a component i whose bounds are already (numerically) equal. */ + for( i=0; i ub[i] - BOUNDTOL ) && ( delta_lb[i] > delta_ub[i] + EPS ) ) + return BT_FALSE; + + return BT_TRUE; +} + + +/* + * s e t u p Q P d a t a + */ +returnValue QProblemB::setupQPdata( const real_t* const _H, const real_t* const _R, const real_t* const _g, + const real_t* const _lb, const real_t* const _ub + ) +{ + int i, j; + int nV = getNV( ); + + /* 1) Setup Hessian matrix and it's Cholesky factorization. */ + if (_H != 0) + { + for( i=0; i 0 ) + { + for( i=0; i 0 ) + { + /* auxiliary variables */ + real_t delta_xFRz_TMP[NVMAX]; + real_t delta_xFRz_RHS[NVMAX]; + + /* Determine delta_xFRz. */ + if ( Delta_bB_isZero == BT_FALSE ) + { + for( i=0; i 0 ) + { + for( i=0; i= 0.0 ) ) + { + tau_tmp = y[ii] / ( -delta_yFX[i] ); + if ( tau_tmp < tau_new ) + { + if ( tau_tmp >= 0.0 ) + { + tau_new = tau_tmp; + BC_idx = ii; + BC_status = ST_INACTIVE; + } + } + } + } + else + { + /* 2) Active upper bounds. */ + if ( ( delta_yFX[i] > ZERO ) && ( y[ii] <= 0.0 ) ) + { + tau_tmp = y[ii] / ( -delta_yFX[i] ); + if ( tau_tmp < tau_new ) + { + if ( tau_tmp >= 0.0 ) + { + tau_new = tau_tmp; + BC_idx = ii; + BC_status = ST_INACTIVE; + } + } + } + } + } + } + + + /* II) DETERMINE MAXIMUM PRIMAL STEPLENGTH, i.e. ensure that + * inactive bounds remain valid (ignoring unbounded variables). */ + /* 1) Inactive lower bounds. */ + if ( bounds.isNoLower( ) == BT_FALSE ) + { + for( i=0; i delta_xFR[i] ) + { + if ( x[ii] > lb[ii] ) + tau_tmp = ( x[ii] - lb[ii] ) / ( delta_lb[ii] - delta_xFR[i] ); + else + tau_tmp = 0.0; + + if ( tau_tmp < tau_new ) + { + if ( tau_tmp >= 0.0 ) + { + tau_new = tau_tmp; + BC_idx = ii; + BC_status = ST_LOWER; + } + } + } + } + } + } + + /* 2) Inactive upper bounds. */ + if ( bounds.isNoUpper( ) == BT_FALSE ) + { + for( i=0; i= 0.0 ) + { + tau_new = tau_tmp; + BC_idx = ii; + BC_status = ST_UPPER; + } + } + } + } + } + } + + + /* III) SET MAXIMUM HOMOTOPY STEPLENGTH */ + tau = tau_new; + + if ( printlevel == PL_HIGH ) + { + #ifdef PC_DEBUG + char messageString[80]; + + if ( BC_status == ST_UNDEFINED ) + sprintf( messageString,"Stepsize is %.6e!",tau ); + else + sprintf( messageString,"Stepsize is %.6e! (BC_idx = %d, BC_status = %d)",tau,BC_idx,BC_status ); + + getGlobalMessageHandler( )->throwInfo( RET_STEPSIZE_NONPOSITIVE,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + #endif + } + + return SUCCESSFUL_RETURN; +} + + +/* + * h o t s t a r t _ p e r f o r m S t e p + */ +returnValue QProblemB::hotstart_performStep( const int* const FR_idx, const int* const FX_idx, + const real_t* const delta_g, const real_t* const delta_lb, const real_t* const delta_ub, + const real_t* const delta_xFX, const real_t* const delta_xFR, + const real_t* const delta_yFX, + int BC_idx, SubjectToStatus BC_status + ) +{ + int i, ii; + int nV = getNV( ); + int nFR = getNFR( ); + int nFX = getNFX( ); + + + /* I) CHECK BOUNDS' CONSISTENCY */ + if ( areBoundsConsistent( delta_lb,delta_ub ) == BT_FALSE ) + { + infeasible = BT_TRUE; + tau = 0.0; + + return THROWERROR( RET_QP_INFEASIBLE ); + } + + + /* II) GO TO ACTIVE SET CHANGE */ + if ( tau > ZERO ) + { + /* 1) Perform step in primal und dual space. */ + for( i=0; ithrowWarning( RET_STEPSIZE,messageString,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + #endif + } + + + /* setup output preferences */ + #ifdef PC_DEBUG + char messageString[80]; + VisibilityStatus visibilityStatus; + + if ( printlevel == PL_HIGH ) + visibilityStatus = VS_VISIBLE; + else + visibilityStatus = VS_HIDDEN; + #endif + + + /* III) UPDATE ACTIVE SET */ + switch ( BC_status ) + { + /* Optimal solution found as no working set change detected. */ + case ST_UNDEFINED: + return RET_OPTIMAL_SOLUTION_FOUND; + + + /* Remove one variable from active set. */ + case ST_INACTIVE: + #ifdef PC_DEBUG + sprintf( messageString,"bound no. %d.", BC_idx ); + getGlobalMessageHandler( )->throwInfo( RET_REMOVE_FROM_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus ); + #endif + + if ( removeBound( BC_idx,BT_TRUE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_REMOVE_FROM_ACTIVESET_FAILED ); + + y[BC_idx] = 0.0; + break; + + + /* Add one variable to active set. */ + default: + #ifdef PC_DEBUG + if ( BC_status == ST_LOWER ) + sprintf( messageString,"lower bound no. %d.", BC_idx ); + else + sprintf( messageString,"upper bound no. %d.", BC_idx ); + getGlobalMessageHandler( )->throwInfo( RET_ADD_TO_ACTIVESET,messageString,__FUNCTION__,__FILE__,__LINE__,visibilityStatus ); + #endif + + if ( addBound( BC_idx,BC_status,BT_TRUE ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_ADD_TO_ACTIVESET_FAILED ); + break; + } + + return SUCCESSFUL_RETURN; +} + + +#ifdef PC_DEBUG /* Define print functions only for debugging! */ + +/* + * p r i n t I t e r a t i o n + */ +returnValue QProblemB::printIteration( int iteration, + int BC_idx, SubjectToStatus BC_status + ) +{ + char myPrintfString[160]; + + /* consistency check */ + if ( iteration < 0 ) + return THROWERROR( RET_INVALID_ARGUMENTS ); + + /* nothing to do */ + if ( printlevel != PL_MEDIUM ) + return SUCCESSFUL_RETURN; + + + /* 1) Print header at first iteration. */ + if ( iteration == 0 ) + { + sprintf( myPrintfString,"\n############## qpOASES -- QP NO.%4.1d ###############\n", count ); + myPrintf( myPrintfString ); + + sprintf( myPrintfString," Iter | StepLength | Info | nFX \n" ); + myPrintf( myPrintfString ); + } + + /* 2) Print iteration line. */ + if ( BC_status == ST_UNDEFINED ) + { + sprintf( myPrintfString," %4.1d | %1.5e | QP SOLVED | %4.1d \n", iteration,tau,getNFX( ) ); + myPrintf( myPrintfString ); + } + else + { + char info[8]; + + if ( BC_status == ST_INACTIVE ) + sprintf( info,"REM BND" ); + else + sprintf( info,"ADD BND" ); + + sprintf( myPrintfString," %4.1d | %1.5e | %s%4.1d | %4.1d \n", iteration,tau,info,BC_idx,getNFX( ) ); + myPrintf( myPrintfString ); + } + + return SUCCESSFUL_RETURN; +} + +#endif /* PC_DEBUG */ + + + +/* + * c h e c k K K T c o n d i t i o n s + */ +returnValue QProblemB::checkKKTconditions( ) +{ + #ifdef __PERFORM_KKT_TEST__ + + int i, j; + int nV = getNV( ); + + real_t tmp; + real_t maxKKTviolation = 0.0; + + + /* 1) Check for Hx + g - y*A' = 0 (here: A = Id). */ + for( i=0; i maxKKTviolation ) + maxKKTviolation = getAbs( tmp ); + } + + /* 2) Check for lb <= x <= ub. */ + for( i=0; i maxKKTviolation ) + maxKKTviolation = lb[i] - x[i]; + + if ( x[i] - ub[i] > maxKKTviolation ) + maxKKTviolation = x[i] - ub[i]; + } + + /* 3) Check for correct sign of y and for complementary slackness. */ + for( i=0; i maxKKTviolation ) + maxKKTviolation = -y[i]; + if ( getAbs( ( x[i] - lb[i] ) * y[i] ) > maxKKTviolation ) + maxKKTviolation = getAbs( ( x[i] - lb[i] ) * y[i] ); + break; + + case ST_UPPER: + if ( y[i] > maxKKTviolation ) + maxKKTviolation = y[i]; + if ( getAbs( ( ub[i] - x[i] ) * y[i] ) > maxKKTviolation ) + maxKKTviolation = getAbs( ( ub[i] - x[i] ) * y[i] ); + break; + + default: /* inactive */ + if ( getAbs( y[i] ) > maxKKTviolation ) + maxKKTviolation = getAbs( y[i] ); + break; + } + } + + if ( maxKKTviolation > CRITICALACCURACY ) + return RET_NO_SOLUTION; + + if ( maxKKTviolation > DESIREDACCURACY ) + return RET_INACCURATE_SOLUTION; + + #endif /* __PERFORM_KKT_TEST__ */ + + return SUCCESSFUL_RETURN; +} + + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/QProblemB.ipp b/src/control/mpc_control/externals/qpoases/SRC/QProblemB.ipp new file mode 100644 index 00000000..0c1c8b23 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/QProblemB.ipp @@ -0,0 +1,425 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/QProblemB.ipp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of inlined member functions of the QProblemB class which + * is able to use the newly developed online active set strategy for + * parametric quadratic programming. + */ + + + +#include + + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + +/* + * g e t H + */ +inline returnValue QProblemB::getH( real_t* const _H ) const +{ + int i; + + for ( i=0; i= 0 ) && ( number < getNV( ) ) ) + { + value = lb[number]; + return SUCCESSFUL_RETURN; + } + else + { + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + } +} + + +/* + * g e t U B + */ +inline returnValue QProblemB::getUB( real_t* const _ub ) const +{ + int i; + + for ( i=0; i= 0 ) && ( number < getNV( ) ) ) + { + value = ub[number]; + return SUCCESSFUL_RETURN; + } + else + { + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + } +} + + +/* + * g e t B o u n d s + */ +inline returnValue QProblemB::getBounds( Bounds* const _bounds ) const +{ + *_bounds = bounds; + + return SUCCESSFUL_RETURN; +} + + +/* + * g e t N V + */ +inline int QProblemB::getNV( ) const +{ + return bounds.getNV( ); +} + + +/* + * g e t N F R + */ +inline int QProblemB::getNFR( ) +{ + return bounds.getNFR( ); +} + + +/* + * g e t N F X + */ +inline int QProblemB::getNFX( ) +{ + return bounds.getNFX( ); +} + + +/* + * g e t N F V + */ +inline int QProblemB::getNFV( ) const +{ + return bounds.getNFV( ); +} + + +/* + * g e t S t a t u s + */ +inline QProblemStatus QProblemB::getStatus( ) const +{ + return status; +} + + +/* + * i s I n i t i a l i s e d + */ +inline BooleanType QProblemB::isInitialised( ) const +{ + if ( status == QPS_NOTINITIALISED ) + return BT_FALSE; + else + return BT_TRUE; +} + + +/* + * i s S o l v e d + */ +inline BooleanType QProblemB::isSolved( ) const +{ + if ( status == QPS_SOLVED ) + return BT_TRUE; + else + return BT_FALSE; +} + + +/* + * i s I n f e a s i b l e + */ +inline BooleanType QProblemB::isInfeasible( ) const +{ + return infeasible; +} + + +/* + * i s U n b o u n d e d + */ +inline BooleanType QProblemB::isUnbounded( ) const +{ + return unbounded; +} + + +/* + * g e t P r i n t L e v e l + */ +inline PrintLevel QProblemB::getPrintLevel( ) const +{ + return printlevel; +} + + +/* + * g e t H e s s i a n T y p e + */ +inline HessianType QProblemB::getHessianType( ) const +{ + return hessianType; +} + + +/* + * s e t H e s s i a n T y p e + */ +inline returnValue QProblemB::setHessianType( HessianType _hessianType ) +{ + hessianType = _hessianType; + return SUCCESSFUL_RETURN; +} + + + +/***************************************************************************** + * P R O T E C T E D * + *****************************************************************************/ + +/* + * s e t H + */ +inline returnValue QProblemB::setH( const real_t* const H_new ) +{ + int i, j; + + int nV = getNV(); + + for( i=0; i= 0 ) && ( number < getNV( ) ) ) + { + lb[number] = value; + return SUCCESSFUL_RETURN; + } + else + { + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + } +} + + +/* + * s e t U B + */ +inline returnValue QProblemB::setUB( const real_t* const ub_new ) +{ + int i; + + int nV = getNV(); + + for( i=0; i= 0 ) && ( number < getNV( ) ) ) + { + ub[number] = value; + + return SUCCESSFUL_RETURN; + } + else + { + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); + } +} + + +/* + * c o m p u t e G i v e n s + */ +inline void QProblemB::computeGivens( real_t xold, real_t yold, real_t& xnew, real_t& ynew, + real_t& c, real_t& s + ) const +{ + if ( getAbs( yold ) <= ZERO ) + { + c = 1.0; + s = 0.0; + + xnew = xold; + ynew = yold; + } + else + { + real_t t, mu; + + mu = getAbs( xold ); + if ( getAbs( yold ) > mu ) + mu = getAbs( yold ); + + t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) ); + + if ( xold < 0.0 ) + t = -t; + + c = xold/t; + s = yold/t; + xnew = t; + ynew = 0.0; + } + + return; +} + + +/* + * a p p l y G i v e n s + */ +inline void QProblemB::applyGivens( real_t c, real_t s, real_t xold, real_t yold, + real_t& xnew, real_t& ynew + ) const +{ + /* Usual Givens plane rotation requiring four multiplications. */ + xnew = c*xold + s*yold; + ynew = -s*xold + c*yold; +// double nu = s/(1.0+c); +// +// xnew = xold*c + yold*s; +// ynew = (xnew+xold)*nu - yold; + + return; +} + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/SubjectTo.cpp b/src/control/mpc_control/externals/qpoases/SRC/SubjectTo.cpp new file mode 100644 index 00000000..5dbf707c --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/SubjectTo.cpp @@ -0,0 +1,200 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/SubjectTo.cpp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of the SubjectTo class designed to manage working sets of + * constraints and bounds within a QProblem. + */ + + +#include + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + + +/* + * S u b j e c t T o + */ +SubjectTo::SubjectTo( ) : noLower( BT_TRUE ), + noUpper( BT_TRUE ), + size( 0 ) +{ + int i; + + for( i=0; iaddNumber( newnumber ) == RET_INDEXLIST_EXCEEDS_MAX_LENGTH ) + return THROWERROR( RET_ADDINDEX_FAILED ); + + return SUCCESSFUL_RETURN; +} + + +/* + * r e m o v e I n d e x + */ +returnValue SubjectTo::removeIndex( Indexlist* const indexlist, + int removenumber + ) +{ + status[removenumber] = ST_UNDEFINED; + + if ( indexlist->removeNumber( removenumber ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_UNKNOWN_BUG ); + + return SUCCESSFUL_RETURN; +} + + +/* + * s w a p I n d e x + */ +returnValue SubjectTo::swapIndex( Indexlist* const indexlist, + int number1, int number2 + ) +{ + /* consistency checks */ + if ( status[number1] != status[number2] ) + return THROWERROR( RET_SWAPINDEX_FAILED ); + + if ( number1 == number2 ) + { + THROWWARNING( RET_NOTHING_TO_DO ); + return SUCCESSFUL_RETURN; + } + + if ( indexlist->swapNumbers( number1,number2 ) != SUCCESSFUL_RETURN ) + return THROWERROR( RET_SWAPINDEX_FAILED ); + + return SUCCESSFUL_RETURN; +} + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/SubjectTo.ipp b/src/control/mpc_control/externals/qpoases/SRC/SubjectTo.ipp new file mode 100644 index 00000000..7cd6dc69 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/SubjectTo.ipp @@ -0,0 +1,132 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/SubjectTo.ipp + * \author Hans Joachim Ferreau + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of the inlined member functions of the SubjectTo class + * designed to manage working sets of constraints and bounds within a QProblem. + */ + + +/***************************************************************************** + * P U B L I C * + *****************************************************************************/ + + +/* + * g e t T y p e + */ +inline SubjectToType SubjectTo::getType( int i ) const +{ + if ( ( i >= 0 ) && ( i < size ) ) + return type[i]; + else + return ST_UNKNOWN; +} + + +/* + * g e t S t a t u s + */ +inline SubjectToStatus SubjectTo::getStatus( int i ) const +{ + if ( ( i >= 0 ) && ( i < size ) ) + return status[i]; + else + return ST_UNDEFINED; +} + + +/* + * s e t T y p e + */ +inline returnValue SubjectTo::setType( int i, SubjectToType value ) +{ + if ( ( i >= 0 ) && ( i < size ) ) + { + type[i] = value; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); +} + + +/* + * s e t S t a t u s + */ +inline returnValue SubjectTo::setStatus( int i, SubjectToStatus value ) +{ + if ( ( i >= 0 ) && ( i < size ) ) + { + status[i] = value; + return SUCCESSFUL_RETURN; + } + else + return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); +} + + +/* + * s e t N o L o w e r + */ +inline void SubjectTo::setNoLower( BooleanType _status ) +{ + noLower = _status; +} + + +/* + * s e t N o U p p e r + */ +inline void SubjectTo::setNoUpper( BooleanType _status ) +{ + noUpper = _status; +} + + +/* + * i s N o L o w e r + */ +inline BooleanType SubjectTo::isNoLower( ) const +{ + return noLower; +} + + +/* + * i s N o L o w e r + */ +inline BooleanType SubjectTo::isNoUpper( ) const +{ + return noUpper; +} + + +/* + * end of file + */ diff --git a/src/control/mpc_control/externals/qpoases/SRC/Utils.cpp b/src/control/mpc_control/externals/qpoases/SRC/Utils.cpp new file mode 100644 index 00000000..7a3d0a52 --- /dev/null +++ b/src/control/mpc_control/externals/qpoases/SRC/Utils.cpp @@ -0,0 +1,471 @@ +/* + * This file is part of qpOASES. + * + * qpOASES -- An Implementation of the Online Active Set Strategy. + * Copyright (C) 2007-2008 by Hans Joachim Ferreau et al. All rights reserved. + * + * qpOASES is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * qpOASES is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with qpOASES; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + + +/** + * \file SRC/Utils.cpp + * \author Hans Joachim Ferreau, Eckhard Arnold + * \version 1.3embedded + * \date 2007-2008 + * + * Implementation of some inlined utilities for working with the different QProblem + * classes. + */ + + +#include + +#if defined(__WIN32__) || defined(WIN32) + #include +#elif defined(LINUX) + #include + #include +#endif + +#ifdef __MATLAB__ + #include +#endif + + +#include + + + +#ifdef PC_DEBUG /* Define print functions only for debugging! */ +/* + * p r i n t + */ +returnValue print( const real_t* const v, int n ) +{ + int i; + char myPrintfString[160]; + + /* Print a vector. */ + myPrintf( "[\t" ); + for( i=0; ithrowError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + } + + /* 2) Read data from file. */ + for( i=0; ithrowError( RET_UNABLE_TO_READ_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + } + data[i*ncol + j] = ( (real_t) float_data ); + } + } + + /* 3) Close file. */ + fclose( datafile ); + + return SUCCESSFUL_RETURN; +} + + +/* + * r e a d F r o m F i l e + */ +returnValue readFromFile( real_t* data, int n, + const char* datafilename + ) +{ + return readFromFile( data, n, 1, datafilename ); +} + + + +/* + * r e a d F r o m F i l e + */ +returnValue readFromFile( int* data, int n, + const char* datafilename + ) +{ + int i; + myFILE* datafile; + + /* 1) Open file. */ + if ( ( datafile = fopen( datafilename, "r" ) ) == 0 ) + { + char errstr[80]; + sprintf( errstr,"(%s)",datafilename ); + return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + } + + /* 2) Read data from file. */ + for( i=0; ithrowError( RET_UNABLE_TO_READ_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + } + } + + /* 3) Close file. */ + fclose( datafile ); + + return SUCCESSFUL_RETURN; +} + + +/* + * w r i t e I n t o F i l e + */ +returnValue writeIntoFile( const real_t* const data, int nrow, int ncol, + const char* datafilename, BooleanType append + ) +{ + int i, j; + myFILE* datafile; + + /* 1) Open file. */ + if ( append == BT_TRUE ) + { + /* append data */ + if ( ( datafile = fopen( datafilename, "a" ) ) == 0 ) + { + char errstr[80]; + sprintf( errstr,"(%s)",datafilename ); + return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + } + } + else + { + /* do not append data */ + if ( ( datafile = fopen( datafilename, "w" ) ) == 0 ) + { + char errstr[80]; + sprintf( errstr,"(%s)",datafilename ); + return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + } + } + + /* 2) Write data into file. */ + for( i=0; ithrowError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + } + } + else + { + /* do not append data */ + if ( ( datafile = fopen( datafilename, "w" ) ) == 0 ) + { + char errstr[80]; + sprintf( errstr,"(%s)",datafilename ); + return getGlobalMessageHandler( )->throwError( RET_UNABLE_TO_OPEN_FILE,errstr,__FUNCTION__,__FILE__,__LINE__,VS_VISIBLE ); + } + } + + /* 2) Write data into file. */ + for( i=0; i +#include + +namespace utrilla_mpc { + +#include "acado_auxiliary_functions.h" +#include "acado_common.h" + +static constexpr int kSamples = ACADO_N; // number of samples +static constexpr int kStateSize = ACADO_NX; // number of states +static constexpr int kRefSize = ACADO_NY; // number of reference states +static constexpr int kEndRefSize = ACADO_NYN; // number of end reference states +static constexpr int kInputSize = ACADO_NU; // number of inputs +static constexpr int kCostSize = ACADO_NY - ACADO_NU; // number of state costs +static constexpr int kOdSize = ACADO_NOD; // number of online data + +ACADOvariables acadoVariables; +ACADOworkspace acadoWorkspace; + + +template +class UtrillaWrapper +{ + public: + + + UtrillaWrapper(); + + private: + +}; + + + +} // namespace MPC \ No newline at end of file diff --git a/src/control/mpc_control/model/CMakeCache.txt b/src/control/mpc_control/model/CMakeCache.txt new file mode 100644 index 00000000..a4d80d03 --- /dev/null +++ b/src/control/mpc_control/model/CMakeCache.txt @@ -0,0 +1,369 @@ +# This is the CMakeCache file. +# For build in directory: /home/alvaro/Videos/mpc_ws/src/DRIVERLESS/src/control/rpg_mpc/model +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is 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COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/src/control/mpc_control/model/CMakeFiles/3.16.3/CompilerIdC/a.out b/src/control/mpc_control/model/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100755 index 00000000..b5c91a37 Binary files /dev/null and b/src/control/mpc_control/model/CMakeFiles/3.16.3/CompilerIdC/a.out differ diff --git a/src/control/mpc_control/model/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/src/control/mpc_control/model/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 00000000..69cfdba6 --- /dev/null +++ b/src/control/mpc_control/model/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,660 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. 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b/src/control/mpc_control/model/FindACADO.cmake new file mode 100644 index 00000000..3625323c --- /dev/null +++ b/src/control/mpc_control/model/FindACADO.cmake @@ -0,0 +1,156 @@ +################################################################################ +# +# Description: +# ACADO Toolkit package configuration file +# +# Defines: +# - Variable: ACADO_INCLUDE_DIRS +# - Variable: ACADO_LIBRARY_DIRS +# - Variable: ACADO_STATIC_LIBS_FOUND +# - Variable: ACADO_STATIC_LIBRARIES +# - Variable: ACADO_SHARED_LIBS_FOUND +# - Variable: ACADO_SHARED_LIBRARIES +# +# Authors: +# Milan Vukov, milan.vukov@esat.kuleuven.be +# +# Year: +# 2011 - 2013. +# +# NOTE: +# - This script is for Linux/Unix use only. +# - Use this script only (and only :)) if you do not want to install ACADO +# toolkit. If you install ACADO toolkit you do not need this script. +# +# - PREREQUISITE: sourced acado_env.sh in your ~/.bashrc file. This script +# will try to find ACADO folders, libraries etc., but looking for them +# in enviromental variables. +# +# Usage: +# - Linux/Unix: TODO +# +################################################################################ + +################################################################################ +# +# Search for package components +# +################################################################################ + +MESSAGE( STATUS "********************************************************************************" ) +MESSAGE( STATUS "---> Looking for ACADO toolkit:" ) + +# +# Include folders +# +SET( ACADO_INCLUDE_DIRS $ENV{ACADO_ENV_INCLUDE_DIRS} ) +IF( ACADO_INCLUDE_DIRS ) + MESSAGE( STATUS "Found ACADO toolkit include directories: ${ACADO_INCLUDE_DIRS}" ) + SET( ACADO_INCLUDE_DIRS_FOUND TRUE ) +ELSE( ACADO_INCLUDE_DIRS ) + MESSAGE( STATUS "Could not find ACADO toolkit include directories" ) +ENDIF( ACADO_INCLUDE_DIRS ) + +# +# Library folders +# +SET( ACADO_LIBRARY_DIRS $ENV{ACADO_ENV_LIBRARY_DIRS} ) +IF( ACADO_LIBRARY_DIRS ) + MESSAGE( STATUS "Found ACADO toolkit library directories: ${ACADO_LIBRARY_DIRS}" ) + SET( ACADO_LIBRARY_DIRS_FOUND TRUE ) +ELSE( ACADO_LIBRARY_DIRS ) + MESSAGE( STATUS "Could not find ACADO toolkit library directories" ) +ENDIF( ACADO_LIBRARY_DIRS ) + +# +# Static libs +# + +SET ( STATIC_TMP $ENV{ACADO_ENV_STATIC_LIBRARIES}) +IF ( NOT STATIC_TMP ) + MESSAGE( STATUS "Could not find ACADO static library." ) + SET( ACADO_STATIC_LIBS_FOUND FALSE ) +ELSE() + SET( ACADO_STATIC_LIBS_FOUND TRUE ) + UNSET( ACADO_STATIC_LIBRARIES ) + FOREACH( LIB $ENV{ACADO_ENV_STATIC_LIBRARIES} ) + UNSET( ACADO_TOOLKIT_STATIC_${LIB} ) + + FIND_LIBRARY( ACADO_TOOLKIT_STATIC_${LIB} + NAMES ${LIB} + PATHS ${ACADO_LIBRARY_DIRS} + NO_DEFAULT_PATH + ) + + IF( ACADO_TOOLKIT_STATIC_${LIB} ) + MESSAGE( STATUS "Found ACADO static library: ${LIB}" ) + SET( ACADO_STATIC_LIBRARIES + ${ACADO_STATIC_LIBRARIES} ${ACADO_TOOLKIT_STATIC_${LIB}} + ) + ELSE( ) + MESSAGE( STATUS "Could not find ACADO static library: ${LIB}" ) + SET( ACADO_STATIC_LIBS_FOUND FALSE ) + ENDIF( ) + ENDFOREACH() +ENDIF() + +SET( ACADO_BUILD_STATIC ${ACADO_STATIC_LIBS_FOUND} ) + +IF( VERBOSE ) + MESSAGE( STATUS "Static libraries: ${ACADO_STATIC_LIBRARIES}\n" ) +ENDIF() + +# +# Shared libs +# +SET( SHARED_TMP $ENV{ACADO_ENV_SHARED_LIBRARIES} ) +IF ( NOT SHARED_TMP ) + MESSAGE( STATUS "Could not find ACADO shared library." ) + SET( ACADO_SHARED_LIBS_FOUND FALSE ) +ELSE() +SET( ACADO_SHARED_LIBS_FOUND TRUE ) + UNSET( ACADO_SHARED_LIBRARIES ) + FOREACH( LIB $ENV{ACADO_ENV_SHARED_LIBRARIES} ) + UNSET( ACADO_TOOLKIT_SHARED_${LIB} ) + + FIND_LIBRARY( ACADO_TOOLKIT_SHARED_${LIB} + NAMES ${LIB} + PATHS ${ACADO_LIBRARY_DIRS} + NO_DEFAULT_PATH + ) + + IF( ACADO_TOOLKIT_SHARED_${LIB} ) + MESSAGE( STATUS "Found ACADO shared library: ${LIB}" ) + SET( ACADO_SHARED_LIBRARIES + ${ACADO_SHARED_LIBRARIES} ${ACADO_TOOLKIT_SHARED_${LIB}} + ) + ELSE( ) + MESSAGE( STATUS "Could not find ACADO shared library: ${LIB}" ) + SET( ACADO_SHARED_LIBS_FOUND FALSE ) + ENDIF( ) + ENDFOREACH() +ENDIF() + +SET( ACADO_BUILD_SHARED ${ACADO_SHARED_LIBS_FOUND} ) + +IF( VERBOSE ) + MESSAGE( STATUS "${ACADO_SHARED_LIBRARIES}\n" ) +ENDIF() + +# +# qpOASES embedded source files and include folders +# TODO: checks +# +SET( ACADO_QPOASES_EMBEDDED_SOURCES $ENV{ACADO_ENV_QPOASES_EMBEDDED_SOURCES} ) +SET( ACADO_QPOASES_EMBEDDED_INC_DIRS $ENV{ACADO_ENV_QPOASES_EMBEDDED_INC_DIRS} ) + + +# +# And finally set found flag... +# +IF( ACADO_INCLUDE_DIRS_FOUND AND ACADO_LIBRARY_DIRS_FOUND + AND (ACADO_STATIC_LIBS_FOUND OR ACADO_SHARED_LIBS_FOUND) ) + SET( ACADO_FOUND TRUE ) +ENDIF() + +MESSAGE( STATUS "********************************************************************************" ) diff --git a/src/control/mpc_control/model/Makefile b/src/control/mpc_control/model/Makefile new file mode 100644 index 00000000..4acb9821 --- /dev/null +++ b/src/control/mpc_control/model/Makefile @@ -0,0 +1,178 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Install ACADO as described in http://acado.github.io/install_linux.html + +2. Source the file ACADO_ROOT/build/acdo_env.sh + +3. Go into rpg_mpc/model + +4. Prepare the make with "cmake ." + +5. Compile it with "make" + +6. Run the executable to generate all code "./quadrotor_model_codegen" \ No newline at end of file diff --git a/src/control/mpc_control/model/cmake_install.cmake b/src/control/mpc_control/model/cmake_install.cmake new file mode 100644 index 00000000..fad4f43f --- /dev/null +++ b/src/control/mpc_control/model/cmake_install.cmake @@ -0,0 +1,49 @@ +# Install script for directory: /home/alvaro/Videos/mpc_ws/src/DRIVERLESS/src/control/rpg_mpc/model + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if(CMAKE_INSTALL_COMPONENT) + set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +else() + set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/home/alvaro/Videos/mpc_ws/src/DRIVERLESS/src/control/rpg_mpc/model/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/src/control/mpc_control/model/prueba_kin.cpp b/src/control/mpc_control/model/prueba_kin.cpp new file mode 100644 index 00000000..b1a492e9 --- /dev/null +++ b/src/control/mpc_control/model/prueba_kin.cpp @@ -0,0 +1,142 @@ +#include + +USING_NAMESPACE_ACADO + +int main(int argc, char * const argv[ ]) +{ + // + // Variables + // + + DifferentialState s, mu, phi, vx, D, delta; + Control Dp, deltap; + + IntermediateState coef, delta_corrected; + IntermediateState sp, ax, r, vy; + IntermediateState T; + + OnlineData k; + + const double m = 300.0; + const double Cm = 230*45/11/0.202; + const double Cr = 0; + const double Cd = 0.5; + const double WB = 1.535; + const double l_R = 0.5*WB; + const double pi = 3.14; + + const double p1 = 1449; + const double q1 = 146.8; + const double q2 = -2438; + const double q3 = -0.5052; + const double q4 = 1457; + + coef = ((p1) / (pow(k,4) + q1*pow(k,3) + q2*pow(k,2) + q3*k + q4)); + delta_corrected = delta / coef; + + r = tan(delta_corrected)*vx/WB; + vy = r*l_R; + sp = (vx*cos(phi) - vy*sin(phi))/(1 - mu*k); + ax = (Cm*D - Cr - Cd*vx*vx)/m; + T = 1/sp; + + // + // Differential algebraic equation + // + + DifferentialEquation f; + + f << dot( s ) == sp; + f << dot( mu ) == vx*sin(phi) + vy*cos(phi); + f << dot( phi ) == r - sp*k; + f << dot( vx ) == ax; + f << dot( D ) == Dp; + f << dot( delta ) == deltap; + + // + // Weighting matrices and reference functions + // + + Function rf; + Function rfN; + + rf << mu << phi << deltap << Dp << T; + rfN << T << mu << phi; + + DMatrix W = eye( rf.getDim() ); + W(0,0) = 50; // Era 50 en la version estable + W(1,1) = 1; + W(2,2) = 100; // Era 100 en la version estable + W(3,3) = 1; + W(4,4) = 100; // Era 100 en la version estable + + + DMatrix WN = eye( rfN.getDim() ); + WN(0, 0) = 100; + WN(1, 1) = 3; + WN(2, 2) = 1; + + // + // Optimal Control Problem + // + + const int N = 50; + const int Ni = 4; + const double Ts = 0.1; + + OCP ocp(0, N * Ts, N); + + ocp.subjectTo( f ); + + ocp.minimizeLSQ(W, rf); + ocp.minimizeLSQEndTerm(WN, rfN); + + // Box restrictions + ocp.subjectTo(0.0 <= vx <= 20.0); + ocp.subjectTo(-0.6 <= mu <= 0.6); + ocp.subjectTo(-pi/4 <= delta <= pi/4); + ocp.subjectTo(-1.0 <= D <= 1.0); + ocp.subjectTo(-30.0 <= deltap <= 30.0); + ocp.subjectTo(-300 <= Dp <= 300); + ocp.subjectTo(0.0 <= sp); + ocp.subjectTo(-15<= vx*vx*k <= 15); + ocp.subjectTo( AT_END, 0.0 <= vx <= 10.0); + + + // + // Export the code: + // + OCPexport mpc( ocp ); + + mpc.set(HESSIAN_APPROXIMATION, GAUSS_NEWTON); + mpc.set(DISCRETIZATION_TYPE, MULTIPLE_SHOOTING); + + mpc.set(INTEGRATOR_TYPE, INT_RK4); + mpc.set(NUM_INTEGRATOR_STEPS, N * Ni); + +// mpc.set(SPARSE_QP_SOLUTION, FULL_CONDENSING); +// mpc.set(SPARSE_QP_SOLUTION, CONDENSING); + mpc.set(QP_SOLVER, QP_QPOASES); +// mpc.set(MAX_NUM_QP_ITERATIONS, 20); + mpc.set(HOTSTART_QP, YES); + +// mpc.set(SPARSE_QP_SOLUTION, SPARSE_SOLVER); +// mpc.set(QP_SOLVER, QP_FORCES); + +// mpc.set(LEVENBERG_MARQUARDT, 1.0e-10); + + mpc.set(GENERATE_TEST_FILE, YES); + mpc.set(GENERATE_MAKE_FILE, YES); + mpc.set(GENERATE_MATLAB_INTERFACE, NO); + +// mpc.set(USE_SINGLE_PRECISION, YES); +// mpc.set(CG_USE_OPENMP, YES); + + if (mpc.exportCode( "prueba_kin_export" ) != SUCCESSFUL_RETURN) + exit( EXIT_FAILURE ); + + mpc.printDimensionsQP( ); + + return EXIT_SUCCESS; +} + diff --git a/src/control/mpc_control/model/prueba_kin_codegen b/src/control/mpc_control/model/prueba_kin_codegen new file mode 100755 index 00000000..860efb55 Binary files /dev/null and b/src/control/mpc_control/model/prueba_kin_codegen differ diff --git a/src/control/mpc_control/model/prueba_kin_export/Makefile b/src/control/mpc_control/model/prueba_kin_export/Makefile new file mode 100644 index 00000000..2c30c7a3 --- /dev/null +++ b/src/control/mpc_control/model/prueba_kin_export/Makefile @@ -0,0 +1,70 @@ +# +# This file was auto-generated using the ACADO Toolkit. +# +# While ACADO Toolkit is free software released under the terms of +# the GNU Lesser General Public License (LGPL), the generated code +# as such remains the property of the user who used ACADO Toolkit +# to generate this code. In particular, user dependent data of the code +# do not inherit the GNU LGPL license. On the other hand, parts of the +# generated code that are a direct copy of source code from the +# ACADO Toolkit or the software tools it is based on, remain, as derived +# work, automatically covered by the LGPL license. +# +# ACADO Toolkit is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. +# + + +UNAME := $(shell uname) + +LDLIBS = -lm -lstdc++ +ifeq ($(UNAME), Linux) + LDLIBS += -lrt +endif + +CCACHE_APP := $(shell which ccache 2>/dev/null) + +CFLAGS = -O3 -finline-functions -I. -I./qpoases +CXXFLAGS = -O3 -finline-functions -I. -I./qpoases -I./qpoases/INCLUDE -I./qpoases/SRC +CC = $(CCACHE_APP) gcc +CXX = $(CCACHE_APP) g++ + +OBJECTS = \ + ./qpoases/SRC/Bounds.o \ + ./qpoases/SRC/Constraints.o \ + ./qpoases/SRC/CyclingManager.o \ + ./qpoases/SRC/Indexlist.o \ + ./qpoases/SRC/MessageHandling.o \ + ./qpoases/SRC/QProblem.o \ + ./qpoases/SRC/QProblemB.o \ + ./qpoases/SRC/SubjectTo.o \ + ./qpoases/SRC/Utils.o \ + ./qpoases/SRC/EXTRAS/SolutionAnalysis.o \ + acado_qpoases_interface.o \ + acado_integrator.o \ + acado_solver.o \ + acado_auxiliary_functions.o + +.PHONY: all +all: libacado_exported_rti.a test + +test: ${OBJECTS} test.o + +acado_qpoases_interface.o : acado_qpoases_interface.hpp +acado_solver.o : acado_common.h +acado_integrator.o : acado_common.h +acado_auxiliary_functions.o : acado_common.h \ + acado_auxiliary_functions.h +test.o : acado_common.h \ + acado_qpoases_interface.hpp \ + acado_auxiliary_functions.h + +libacado_exported_rti.a: ${OBJECTS} + ar r $@ $? + +${OBJECTS} : acado_qpoases_interface.hpp + +.PHONY : clean +clean : + -rm -f *.o *.a ./qpoases/*.o ./qpoases/SRC/*.o ./qpoases/SRC/*.a test diff --git a/src/control/mpc_control/model/prueba_kin_export/acado_auxiliary_functions.c b/src/control/mpc_control/model/prueba_kin_export/acado_auxiliary_functions.c new file mode 100644 index 00000000..6f0bb705 --- /dev/null +++ b/src/control/mpc_control/model/prueba_kin_export/acado_auxiliary_functions.c @@ -0,0 +1,212 @@ +/* + * This file was auto-generated using the ACADO Toolkit. + * + * While ACADO Toolkit is free software released under the terms of + * the GNU Lesser General Public License (LGPL), the generated code + * as such remains the property of the user who used ACADO Toolkit + * to generate this code. In particular, user dependent data of the code + * do not inherit the GNU LGPL license. On the other hand, parts of the + * generated code that are a direct copy of source code from the + * ACADO Toolkit or the software tools it is based on, remain, as derived + * work, automatically covered by the LGPL license. + * + * ACADO Toolkit is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * + */ + + +#include "acado_auxiliary_functions.h" + +#include + +real_t* acado_getVariablesX( ) +{ + return acadoVariables.x; +} + +real_t* acado_getVariablesU( ) +{ + return acadoVariables.u; +} + +#if ACADO_NY > 0 +real_t* acado_getVariablesY( ) +{ + return acadoVariables.y; +} +#endif + +#if ACADO_NYN > 0 +real_t* acado_getVariablesYN( ) +{ + return acadoVariables.yN; +} +#endif + +real_t* acado_getVariablesX0( ) +{ +#if ACADO_INITIAL_VALUE_FIXED + return acadoVariables.x0; +#else + return 0; +#endif +} + +/** Print differential variables. */ +void acado_printDifferentialVariables( ) +{ + int i, j; + printf("\nDifferential variables:\n[\n"); + for (i = 0; i < ACADO_N + 1; ++i) + { + for (j = 0; j < ACADO_NX; ++j) + printf("\t%e", acadoVariables.x[i * ACADO_NX + j]); + printf("\n"); + } + printf("]\n\n"); +} + +/** Print control variables. */ +void acado_printControlVariables( ) +{ + int i, j; + printf("\nControl variables:\n[\n"); + for (i = 0; i < ACADO_N; ++i) + { + for (j = 0; j < ACADO_NU; ++j) + printf("\t%e", acadoVariables.u[i * ACADO_NU + j]); + printf("\n"); + } + printf("]\n\n"); +} + +/** Print ACADO code generation notice. */ +void acado_printHeader( ) +{ + printf( + "\nACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.\n" + "Copyright (C) 2008-2015 by Boris Houska, Hans Joachim Ferreau,\n" + "Milan Vukov and Rien Quirynen, KU Leuven.\n" + ); + + printf( + "Developed within the Optimization in Engineering Center (OPTEC) under\n" + "supervision of Moritz Diehl. All rights reserved.\n\n" + "ACADO Toolkit is distributed under the terms of the GNU Lesser\n" + "General Public License 3 in the hope that it will be useful,\n" + "but WITHOUT ANY WARRANTY; without even the implied warranty of\n" + "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n" + "GNU Lesser General Public License for more details.\n\n" + ); +} + +#if !(defined _DSPACE) +#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__) + +void acado_tic( acado_timer* t ) +{ + QueryPerformanceFrequency(&t->freq); + QueryPerformanceCounter(&t->tic); +} + +real_t acado_toc( acado_timer* t ) +{ + QueryPerformanceCounter(&t->toc); + return ((t->toc.QuadPart - t->tic.QuadPart) / (real_t)t->freq.QuadPart); +} + + +#elif (defined __APPLE__) + +void acado_tic( acado_timer* t ) +{ + /* read current clock cycles */ + t->tic = mach_absolute_time(); +} + +real_t acado_toc( acado_timer* t ) +{ + + uint64_t duration; /* elapsed time in clock cycles*/ + + t->toc = mach_absolute_time(); + duration = t->toc - t->tic; + + /*conversion from clock cycles to nanoseconds*/ + mach_timebase_info(&(t->tinfo)); + duration *= t->tinfo.numer; + duration /= t->tinfo.denom; + + return (real_t)duration / 1e9; +} + +#else + +#if __STDC_VERSION__ >= 199901L +/* C99 mode */ + +/* read current time */ +void acado_tic( acado_timer* t ) +{ + gettimeofday(&t->tic, 0); +} + +/* return time passed since last call to tic on this timer */ +real_t acado_toc( acado_timer* t ) +{ + struct timeval temp; + + gettimeofday(&t->toc, 0); + + if ((t->toc.tv_usec - t->tic.tv_usec) < 0) + { + temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec - 1; + temp.tv_usec = 1000000 + t->toc.tv_usec - t->tic.tv_usec; + } + else + { + temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec; + temp.tv_usec = t->toc.tv_usec - t->tic.tv_usec; + } + + return (real_t)temp.tv_sec + (real_t)temp.tv_usec / 1e6; +} + +#else +/* ANSI */ + +/* read current time */ +void acado_tic( acado_timer* t ) +{ + clock_gettime(CLOCK_MONOTONIC, &t->tic); +} + + +/* return time passed since last call to tic on this timer */ +real_t acado_toc( acado_timer* t ) +{ + struct timespec temp; + + clock_gettime(CLOCK_MONOTONIC, &t->toc); + + if ((t->toc.tv_nsec - t->tic.tv_nsec) < 0) + { + temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec - 1; + temp.tv_nsec = 1000000000+t->toc.tv_nsec - t->tic.tv_nsec; + } + else + { + temp.tv_sec = t->toc.tv_sec - t->tic.tv_sec; + temp.tv_nsec = t->toc.tv_nsec - t->tic.tv_nsec; + } + + return (real_t)temp.tv_sec + (real_t)temp.tv_nsec / 1e9; +} + +#endif /* __STDC_VERSION__ >= 199901L */ + +#endif /* (defined _WIN32 || _WIN64) */ + +#endif diff --git a/src/control/mpc_control/model/prueba_kin_export/acado_auxiliary_functions.h b/src/control/mpc_control/model/prueba_kin_export/acado_auxiliary_functions.h new file mode 100644 index 00000000..b1be0a66 --- /dev/null +++ b/src/control/mpc_control/model/prueba_kin_export/acado_auxiliary_functions.h @@ -0,0 +1,138 @@ +/* + * This file was auto-generated using the ACADO Toolkit. + * + * While ACADO Toolkit is free software released under the terms of + * the GNU Lesser General Public License (LGPL), the generated code + * as such remains the property of the user who used ACADO Toolkit + * to generate this code. In particular, user dependent data of the code + * do not inherit the GNU LGPL license. On the other hand, parts of the + * generated code that are a direct copy of source code from the + * ACADO Toolkit or the software tools it is based on, remain, as derived + * work, automatically covered by the LGPL license. + * + * ACADO Toolkit is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * + */ + + +#ifndef ACADO_AUXILIARY_FUNCTIONS_H +#define ACADO_AUXILIARY_FUNCTIONS_H + +#include "acado_common.h" + +#ifndef __MATLAB__ +#ifdef __cplusplus +extern "C" +{ +#endif /* __cplusplus */ +#endif /* __MATLAB__ */ + +/** Get pointer to the matrix with differential variables. */ +real_t* acado_getVariablesX( ); + +/** Get pointer to the matrix with control variables. */ +real_t* acado_getVariablesU( ); + +#if ACADO_NY > 0 +/** Get pointer to the matrix with references/measurements. */ +real_t* acado_getVariablesY( ); +#endif + +#if ACADO_NYN > 0 +/** Get pointer to the vector with references/measurement on the last node. */ +real_t* acado_getVariablesYN( ); +#endif + +/** Get pointer to the current state feedback vector. Only applicable for NMPC. */ +real_t* acado_getVariablesX0( ); + +/** Print differential variables. */ +void acado_printDifferentialVariables( ); + +/** Print control variables. */ +void acado_printControlVariables( ); + +/** Print ACADO code generation notice. */ +void acado_printHeader( ); + +/* + * A huge thanks goes to Alexander Domahidi from ETHZ, Switzerland, for + * providing us with the following timing routines. + */ + +#if !(defined _DSPACE) +#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__) + +/* Use Windows QueryPerformanceCounter for timing. */ +#include + +/** A structure for keeping internal timer data. */ +typedef struct acado_timer_ +{ + LARGE_INTEGER tic; + LARGE_INTEGER toc; + LARGE_INTEGER freq; +} acado_timer; + + +#elif (defined __APPLE__) + +#include "unistd.h" +#include + +/** A structure for keeping internal timer data. */ +typedef struct acado_timer_ +{ + uint64_t tic; + uint64_t toc; + mach_timebase_info_data_t tinfo; +} acado_timer; + +#else + +/* Use POSIX clock_gettime() for timing on non-Windows machines. */ +#include + +#if __STDC_VERSION__ >= 199901L +/* C99 mode of operation. */ + +#include +#include + +typedef struct acado_timer_ +{ + struct timeval tic; + struct timeval toc; +} acado_timer; + +#else +/* ANSI C */ + +/** A structure for keeping internal timer data. */ +typedef struct acado_timer_ +{ + struct timespec tic; + struct timespec toc; +} acado_timer; + +#endif /* __STDC_VERSION__ >= 199901L */ + +#endif /* (defined _WIN32 || defined _WIN64) */ + +/** A function for measurement of the current time. */ +void acado_tic( acado_timer* t ); + +/** A function which returns the elapsed time. */ +real_t acado_toc( acado_timer* t ); + +#endif + +#ifndef __MATLAB__ +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ +#endif /* __MATLAB__ */ + +#endif /* ACADO_AUXILIARY_FUNCTIONS_H */ diff --git a/src/control/mpc_control/model/prueba_kin_export/acado_common.h b/src/control/mpc_control/model/prueba_kin_export/acado_common.h new file mode 100644 index 00000000..2d7a528e --- /dev/null +++ b/src/control/mpc_control/model/prueba_kin_export/acado_common.h @@ -0,0 +1,375 @@ +/* + * This file was auto-generated using the ACADO Toolkit. + * + * While ACADO Toolkit is free software released under the terms of + * the GNU Lesser General Public License (LGPL), the generated code + * as such remains the property of the user who used ACADO Toolkit + * to generate this code. In particular, user dependent data of the code + * do not inherit the GNU LGPL license. On the other hand, parts of the + * generated code that are a direct copy of source code from the + * ACADO Toolkit or the software tools it is based on, remain, as derived + * work, automatically covered by the LGPL license. + * + * ACADO Toolkit is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * + */ + + +#ifndef ACADO_COMMON_H +#define ACADO_COMMON_H + +#include +#include + +#ifndef __MATLAB__ +#ifdef __cplusplus +extern "C" +{ +#endif /* __cplusplus */ +#endif /* __MATLAB__ */ + +/** \defgroup ACADO ACADO CGT generated module. */ +/** @{ */ + +/** qpOASES QP solver indicator. */ +#define ACADO_QPOASES 0 +#define ACADO_QPOASES3 1 +/** FORCES QP solver indicator.*/ +#define ACADO_FORCES 2 +/** qpDUNES QP solver indicator.*/ +#define ACADO_QPDUNES 3 +/** HPMPC QP solver indicator. */ +#define ACADO_HPMPC 4 +#define ACADO_GENERIC 5 + +/** Indicator for determining the QP solver used by the ACADO solver code. */ +#define ACADO_QP_SOLVER ACADO_QPOASES + +#include "acado_qpoases_interface.hpp" + + +/* + * Common definitions + */ +/** User defined block based condensing. */ +#define ACADO_BLOCK_CONDENSING 0 +/** Compute covariance matrix of the last state estimate. */ +#define ACADO_COMPUTE_COVARIANCE_MATRIX 0 +/** Flag indicating whether constraint values are hard-coded or not. */ +#define ACADO_HARDCODED_CONSTRAINT_VALUES 1 +/** Indicator for fixed initial state. */ +#define ACADO_INITIAL_STATE_FIXED 1 +/** Number of control/estimation intervals. */ +#define ACADO_N 50 +/** Number of online data values. */ +#define ACADO_NOD 1 +/** Number of path constraints. */ +#define ACADO_NPAC 2 +/** Number of control variables. */ +#define ACADO_NU 2 +/** Number of differential variables. */ +#define ACADO_NX 6 +/** Number of algebraic variables. */ +#define ACADO_NXA 0 +/** Number of differential derivative variables. */ +#define ACADO_NXD 0 +/** Number of references/measurements per node on the first N nodes. */ +#define ACADO_NY 5 +/** Number of references/measurements on the last (N + 1)st node. */ +#define ACADO_NYN 3 +/** Total number of QP optimization variables. */ +#define ACADO_QP_NV 100 +/** Number of integration steps per shooting interval. */ +#define ACADO_RK_NIS 4 +/** Number of Runge-Kutta stages per integration step. */ +#define ACADO_RK_NSTAGES 4 +/** Single versus double precision data type representation. */ +#define ACADO_SINGLE_PRECISION 0 +/** Providing interface for arrival cost. */ +#define ACADO_USE_ARRIVAL_COST 0 +/** Indicator for usage of non-hard-coded linear terms in the objective. */ +#define ACADO_USE_LINEAR_TERMS 0 +/** Indicator for type of fixed weighting matrices. */ +#define ACADO_WEIGHTING_MATRICES_TYPE 0 + + +/* + * Globally used structure definitions + */ + +/** The structure containing the user data. + * + * Via this structure the user "communicates" with the solver code. + */ +typedef struct ACADOvariables_ +{ +int dummy; +/** Matrix of size: 51 x 6 (row major format) + * + * Matrix containing 51 differential variable vectors. + */ +real_t x[ 306 ]; + +/** Matrix of size: 50 x 2 (row major format) + * + * Matrix containing 50 control variable vectors. + */ +real_t u[ 100 ]; + +/** Column vector of size: 51 + * + * Matrix containing 51 online data vectors. + */ +real_t od[ 51 ]; + +/** Column vector of size: 250 + * + * Matrix containing 50 reference/measurement vectors of size 5 for first 50 nodes. + */ +real_t y[ 250 ]; + +/** Column vector of size: 3 + * + * Reference/measurement vector for the 51. node. + */ +real_t yN[ 3 ]; + +/** Column vector of size: 6 + * + * Current state feedback vector. + */ +real_t x0[ 6 ]; + + +} ACADOvariables; + +/** Private workspace used by the auto-generated code. + * + * Data members of this structure are private to the solver. + * In other words, the user code should not modify values of this + * structure. + */ +typedef struct ACADOworkspace_ +{ +/** Column vector of size: 192 */ +real_t rhs_aux[ 192 ]; + +real_t rk_ttt; + +/** Row vector of size: 57 */ +real_t rk_xxx[ 57 ]; + +/** Matrix of size: 4 x 54 (row major format) */ +real_t rk_kkk[ 216 ]; + +/** Row vector of size: 57 */ +real_t state[ 57 ]; + +/** Column vector of size: 300 */ +real_t d[ 300 ]; + +/** Column vector of size: 250 */ +real_t Dy[ 250 ]; + +/** Column vector of size: 3 */ +real_t DyN[ 3 ]; + +/** Matrix of size: 300 x 6 (row major format) */ +real_t evGx[ 1800 ]; + +/** Matrix of size: 300 x 2 (row major format) */ +real_t evGu[ 600 ]; + +/** Column vector of size: 38 */ +real_t objAuxVar[ 38 ]; + +/** Row vector of size: 9 */ +real_t objValueIn[ 9 ]; + +/** Row vector of size: 45 */ +real_t objValueOut[ 45 ]; + +/** Matrix of size: 300 x 6 (row major format) */ +real_t Q1[ 1800 ]; + +/** Matrix of size: 300 x 5 (row major format) */ +real_t Q2[ 1500 ]; + +/** Matrix of size: 100 x 2 (row major format) */ +real_t R1[ 200 ]; + +/** Matrix of size: 100 x 5 (row major format) */ +real_t R2[ 500 ]; + +/** Matrix of size: 6 x 6 (row major format) */ +real_t QN1[ 36 ]; + +/** Matrix of size: 6 x 3 (row major format) */ +real_t QN2[ 18 ]; + +/** Column vector of size: 53 */ +real_t conAuxVar[ 53 ]; + +/** Row vector of size: 9 */ +real_t conValueIn[ 9 ]; + +/** Row vector of size: 18 */ +real_t conValueOut[ 18 ]; + +/** Column vector of size: 100 */ +real_t evH[ 100 ]; + +/** Matrix of size: 100 x 6 (row major format) */ +real_t evHx[ 600 ]; + +/** Matrix of size: 100 x 2 (row major format) */ +real_t evHu[ 200 ]; + +/** Column vector of size: 2 */ +real_t evHxd[ 2 ]; + +/** Column vector of size: 6 */ +real_t Dx0[ 6 ]; + +/** Matrix of size: 6 x 6 (row major format) */ +real_t T[ 36 ]; + +/** Matrix of size: 7650 x 2 (row major format) */ +real_t E[ 15300 ]; + +/** Matrix of size: 7650 x 2 (row major format) */ +real_t QE[ 15300 ]; + +/** Column vector of size: 300 */ +real_t Qd[ 300 ]; + +/** Column vector of size: 306 */ +real_t QDy[ 306 ]; + +/** Matrix of size: 100 x 6 (row major format) */ +real_t H10[ 600 ]; + +/** Matrix of size: 100 x 6 (row major format) */ +real_t A01[ 600 ]; + +/** Column vector of size: 100 */ +real_t pacA01Dx0[ 100 ]; + +/** Matrix of size: 100 x 100 (row major format) */ +real_t H[ 10000 ]; + +/** Matrix of size: 300 x 100 (row major format) */ +real_t A[ 30000 ]; + +/** Column vector of size: 100 */ +real_t g[ 100 ]; + +/** Column vector of size: 100 */ +real_t lb[ 100 ]; + +/** Column vector of size: 100 */ +real_t ub[ 100 ]; + +/** Column vector of size: 300 */ +real_t lbA[ 300 ]; + +/** Column vector of size: 300 */ +real_t ubA[ 300 ]; + +/** Column vector of size: 100 */ +real_t x[ 100 ]; + +/** Column vector of size: 400 */ +real_t y[ 400 ]; + + +} ACADOworkspace; + +/* + * Forward function declarations. + */ + + +/** Performs the integration and sensitivity propagation for one shooting interval. + * + * \param rk_eta Working array to pass the input values and return the results. + * \param resetIntegrator The internal memory of the integrator can be reset. + * + * \return Status code of the integrator. + */ +int acado_integrate( real_t* const rk_eta, int resetIntegrator ); + +/** Export of an ACADO symbolic function. + * + * \param in Input to the exported function. + * \param out Output of the exported function. + */ +void acado_rhs_forw(const real_t* in, real_t* out); + +/** Preparation step of the RTI scheme. + * + * \return Status of the integration module. =0: OK, otherwise the error code. + */ +int acado_preparationStep( ); + +/** Feedback/estimation step of the RTI scheme. + * + * \return Status code of the qpOASES QP solver. + */ +int acado_feedbackStep( ); + +/** Solver initialization. Must be called once before any other function call. + * + * \return =0: OK, otherwise an error code of a QP solver. + */ +int acado_initializeSolver( ); + +/** Initialize shooting nodes by a forward simulation starting from the first node. + */ +void acado_initializeNodesByForwardSimulation( ); + +/** Shift differential variables vector by one interval. + * + * \param strategy Shifting strategy: 1. Initialize node 51 with xEnd. 2. Initialize node 51 by forward simulation. + * \param xEnd Value for the x vector on the last node. If =0 the old value is used. + * \param uEnd Value for the u vector on the second to last node. If =0 the old value is used. + */ +void acado_shiftStates( int strategy, real_t* const xEnd, real_t* const uEnd ); + +/** Shift controls vector by one interval. + * + * \param uEnd Value for the u vector on the second to last node. If =0 the old value is used. + */ +void acado_shiftControls( real_t* const uEnd ); + +/** Get the KKT tolerance of the current iterate. + * + * \return The KKT tolerance value. + */ +real_t acado_getKKT( ); + +/** Calculate the objective value. + * + * \return Value of the objective function. + */ +real_t acado_getObjective( ); + + +/* + * Extern declarations. + */ + +extern ACADOworkspace acadoWorkspace; +extern ACADOvariables acadoVariables; + +/** @} */ + +#ifndef __MATLAB__ +#ifdef __cplusplus +} /* extern "C" */ +#endif /* __cplusplus */ +#endif /* __MATLAB__ */ + +#endif /* ACADO_COMMON_H */ diff --git a/src/control/mpc_control/model/prueba_kin_export/acado_integrator.c b/src/control/mpc_control/model/prueba_kin_export/acado_integrator.c new file mode 100644 index 00000000..f2170369 --- /dev/null +++ b/src/control/mpc_control/model/prueba_kin_export/acado_integrator.c @@ -0,0 +1,622 @@ +/* + * This file was auto-generated using the ACADO Toolkit. + * + * While ACADO Toolkit is free software released under the terms of + * the GNU Lesser General Public License (LGPL), the generated code + * as such remains the property of the user who used ACADO Toolkit + * to generate this code. In particular, user dependent data of the code + * do not inherit the GNU LGPL license. On the other hand, parts of the + * generated code that are a direct copy of source code from the + * ACADO Toolkit or the software tools it is based on, remain, as derived + * work, automatically covered by the LGPL license. + * + * ACADO Toolkit is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * + */ + + +#include "acado_common.h" + + +void acado_rhs_forw(const real_t* in, real_t* out) +{ +const real_t* xd = in; +const real_t* u = in + 54; +const real_t* od = in + 56; +/* Vector of auxiliary variables; number of elements: 192. */ +real_t* a = acadoWorkspace.rhs_aux; + +/* Compute intermediate quantities: */ +a[0] = (cos(xd[2])); +a[1] = (pow(od[0],4)); +a[2] = (pow(od[0],3)); +a[3] = ((od[0])*(od[0])); +a[4] = ((real_t)(1.4490000000000000e+03)/((((a[1]+((real_t)(1.4680000000000001e+02)*a[2]))+((real_t)(-2.4380000000000000e+03)*a[3]))+((real_t)(-5.0519999999999998e-01)*od[0]))+(real_t)(1.4570000000000000e+03))); +a[5] = (xd[5]/a[4]); +a[6] = (tan(a[5])); +a[7] = ((a[6]*xd[3])/(real_t)(1.5349999999999999e+00)); +a[8] = (a[7]*(real_t)(7.6749999999999996e-01)); +a[9] = (sin(xd[2])); +a[10] = (((xd[3]*a[0])-(a[8]*a[9]))/((real_t)(1.0000000000000000e+00)-(xd[1]*od[0]))); +a[11] = (sin(xd[2])); +a[12] = (cos(xd[2])); +a[13] = ((((real_t)(4.6534653465346528e+03)*xd[4])-(((real_t)(5.0000000000000000e-01)*xd[3])*xd[3]))/(real_t)(3.0000000000000000e+02)); +a[14] = ((real_t)(-1.0000000000000000e+00)*(sin(xd[2]))); +a[15] = (xd[18]*a[14]); +a[16] = ((real_t)(1.0000000000000000e+00)/a[4]); +a[17] = (xd[36]*a[16]); +a[18] = ((real_t)(1.0000000000000000e+00)/(pow((cos(a[5])),2))); +a[19] = (a[17]*a[18]); +a[20] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.5349999999999999e+00)); +a[21] = (((a[19]*xd[3])+(a[6]*xd[24]))*a[20]); +a[22] = (a[21]*(real_t)(7.6749999999999996e-01)); +a[23] = (cos(xd[2])); +a[24] = (xd[18]*a[23]); +a[25] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)-(xd[1]*od[0]))); +a[26] = (a[25]*a[25]); +a[27] = (((((xd[24]*a[0])+(xd[3]*a[15]))-((a[22]*a[9])+(a[8]*a[24])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[12]*od[0])))*a[26])); +a[28] = (xd[19]*a[14]); +a[29] = (xd[37]*a[16]); +a[30] = (a[29]*a[18]); +a[31] = (((a[30]*xd[3])+(a[6]*xd[25]))*a[20]); +a[32] = (a[31]*(real_t)(7.6749999999999996e-01)); +a[33] = (xd[19]*a[23]); +a[34] = (((((xd[25]*a[0])+(xd[3]*a[28]))-((a[32]*a[9])+(a[8]*a[33])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[13]*od[0])))*a[26])); +a[35] = (xd[20]*a[14]); +a[36] = (xd[38]*a[16]); +a[37] = (a[36]*a[18]); +a[38] = (((a[37]*xd[3])+(a[6]*xd[26]))*a[20]); +a[39] = (a[38]*(real_t)(7.6749999999999996e-01)); +a[40] = (xd[20]*a[23]); +a[41] = (((((xd[26]*a[0])+(xd[3]*a[35]))-((a[39]*a[9])+(a[8]*a[40])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[14]*od[0])))*a[26])); +a[42] = (xd[21]*a[14]); +a[43] = (xd[39]*a[16]); +a[44] = (a[43]*a[18]); +a[45] = (((a[44]*xd[3])+(a[6]*xd[27]))*a[20]); +a[46] = (a[45]*(real_t)(7.6749999999999996e-01)); +a[47] = (xd[21]*a[23]); +a[48] = (((((xd[27]*a[0])+(xd[3]*a[42]))-((a[46]*a[9])+(a[8]*a[47])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[15]*od[0])))*a[26])); +a[49] = (xd[22]*a[14]); +a[50] = (xd[40]*a[16]); +a[51] = (a[50]*a[18]); +a[52] = (((a[51]*xd[3])+(a[6]*xd[28]))*a[20]); +a[53] = (a[52]*(real_t)(7.6749999999999996e-01)); +a[54] = (xd[22]*a[23]); +a[55] = (((((xd[28]*a[0])+(xd[3]*a[49]))-((a[53]*a[9])+(a[8]*a[54])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[16]*od[0])))*a[26])); +a[56] = (xd[23]*a[14]); +a[57] = (xd[41]*a[16]); +a[58] = (a[57]*a[18]); +a[59] = (((a[58]*xd[3])+(a[6]*xd[29]))*a[20]); +a[60] = (a[59]*(real_t)(7.6749999999999996e-01)); +a[61] = (xd[23]*a[23]); +a[62] = (((((xd[29]*a[0])+(xd[3]*a[56]))-((a[60]*a[9])+(a[8]*a[61])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[17]*od[0])))*a[26])); +a[63] = (cos(xd[2])); +a[64] = (xd[18]*a[63]); +a[65] = (xd[36]*a[16]); +a[66] = (a[65]*a[18]); +a[67] = (((a[66]*xd[3])+(a[6]*xd[24]))*a[20]); +a[68] = (a[67]*(real_t)(7.6749999999999996e-01)); +a[69] = ((real_t)(-1.0000000000000000e+00)*(sin(xd[2]))); +a[70] = (xd[18]*a[69]); +a[71] = (xd[19]*a[63]); +a[72] = (xd[37]*a[16]); +a[73] = (a[72]*a[18]); +a[74] = (((a[73]*xd[3])+(a[6]*xd[25]))*a[20]); +a[75] = (a[74]*(real_t)(7.6749999999999996e-01)); +a[76] = (xd[19]*a[69]); +a[77] = (xd[20]*a[63]); +a[78] = (xd[38]*a[16]); +a[79] = (a[78]*a[18]); +a[80] = (((a[79]*xd[3])+(a[6]*xd[26]))*a[20]); +a[81] = (a[80]*(real_t)(7.6749999999999996e-01)); +a[82] = (xd[20]*a[69]); +a[83] = (xd[21]*a[63]); +a[84] = (xd[39]*a[16]); +a[85] = (a[84]*a[18]); +a[86] = (((a[85]*xd[3])+(a[6]*xd[27]))*a[20]); +a[87] = (a[86]*(real_t)(7.6749999999999996e-01)); +a[88] = (xd[21]*a[69]); +a[89] = (xd[22]*a[63]); +a[90] = (xd[40]*a[16]); +a[91] = (a[90]*a[18]); +a[92] = (((a[91]*xd[3])+(a[6]*xd[28]))*a[20]); +a[93] = (a[92]*(real_t)(7.6749999999999996e-01)); +a[94] = (xd[22]*a[69]); +a[95] = (xd[23]*a[63]); +a[96] = (xd[41]*a[16]); +a[97] = (a[96]*a[18]); +a[98] = (((a[97]*xd[3])+(a[6]*xd[29]))*a[20]); +a[99] = (a[98]*(real_t)(7.6749999999999996e-01)); +a[100] = (xd[23]*a[69]); +a[101] = (xd[36]*a[16]); +a[102] = (a[101]*a[18]); +a[103] = (((a[102]*xd[3])+(a[6]*xd[24]))*a[20]); +a[104] = (xd[18]*a[14]); +a[105] = (a[103]*(real_t)(7.6749999999999996e-01)); +a[106] = (xd[18]*a[23]); +a[107] = (((((xd[24]*a[0])+(xd[3]*a[104]))-((a[105]*a[9])+(a[8]*a[106])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[12]*od[0])))*a[26])); +a[108] = (xd[37]*a[16]); +a[109] = (a[108]*a[18]); +a[110] = (((a[109]*xd[3])+(a[6]*xd[25]))*a[20]); +a[111] = (xd[19]*a[14]); +a[112] = (a[110]*(real_t)(7.6749999999999996e-01)); +a[113] = (xd[19]*a[23]); +a[114] = (((((xd[25]*a[0])+(xd[3]*a[111]))-((a[112]*a[9])+(a[8]*a[113])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[13]*od[0])))*a[26])); +a[115] = (xd[38]*a[16]); +a[116] = (a[115]*a[18]); +a[117] = (((a[116]*xd[3])+(a[6]*xd[26]))*a[20]); +a[118] = (xd[20]*a[14]); +a[119] = (a[117]*(real_t)(7.6749999999999996e-01)); +a[120] = (xd[20]*a[23]); +a[121] = (((((xd[26]*a[0])+(xd[3]*a[118]))-((a[119]*a[9])+(a[8]*a[120])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[14]*od[0])))*a[26])); +a[122] = (xd[39]*a[16]); +a[123] = (a[122]*a[18]); +a[124] = (((a[123]*xd[3])+(a[6]*xd[27]))*a[20]); +a[125] = (xd[21]*a[14]); +a[126] = (a[124]*(real_t)(7.6749999999999996e-01)); +a[127] = (xd[21]*a[23]); +a[128] = (((((xd[27]*a[0])+(xd[3]*a[125]))-((a[126]*a[9])+(a[8]*a[127])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[15]*od[0])))*a[26])); +a[129] = (xd[40]*a[16]); +a[130] = (a[129]*a[18]); +a[131] = (((a[130]*xd[3])+(a[6]*xd[28]))*a[20]); +a[132] = (xd[22]*a[14]); +a[133] = (a[131]*(real_t)(7.6749999999999996e-01)); +a[134] = (xd[22]*a[23]); +a[135] = (((((xd[28]*a[0])+(xd[3]*a[132]))-((a[133]*a[9])+(a[8]*a[134])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[16]*od[0])))*a[26])); +a[136] = (xd[41]*a[16]); +a[137] = (a[136]*a[18]); +a[138] = (((a[137]*xd[3])+(a[6]*xd[29]))*a[20]); +a[139] = (xd[23]*a[14]); +a[140] = (a[138]*(real_t)(7.6749999999999996e-01)); +a[141] = (xd[23]*a[23]); +a[142] = (((((xd[29]*a[0])+(xd[3]*a[139]))-((a[140]*a[9])+(a[8]*a[141])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[17]*od[0])))*a[26])); +a[143] = ((real_t)(1.0000000000000000e+00)/(real_t)(3.0000000000000000e+02)); +a[144] = ((((real_t)(4.6534653465346528e+03)*xd[30])-((((real_t)(5.0000000000000000e-01)*xd[24])*xd[3])+(((real_t)(5.0000000000000000e-01)*xd[3])*xd[24])))*a[143]); +a[145] = ((((real_t)(4.6534653465346528e+03)*xd[31])-((((real_t)(5.0000000000000000e-01)*xd[25])*xd[3])+(((real_t)(5.0000000000000000e-01)*xd[3])*xd[25])))*a[143]); +a[146] = ((((real_t)(4.6534653465346528e+03)*xd[32])-((((real_t)(5.0000000000000000e-01)*xd[26])*xd[3])+(((real_t)(5.0000000000000000e-01)*xd[3])*xd[26])))*a[143]); +a[147] = ((((real_t)(4.6534653465346528e+03)*xd[33])-((((real_t)(5.0000000000000000e-01)*xd[27])*xd[3])+(((real_t)(5.0000000000000000e-01)*xd[3])*xd[27])))*a[143]); +a[148] = ((((real_t)(4.6534653465346528e+03)*xd[34])-((((real_t)(5.0000000000000000e-01)*xd[28])*xd[3])+(((real_t)(5.0000000000000000e-01)*xd[3])*xd[28])))*a[143]); +a[149] = ((((real_t)(4.6534653465346528e+03)*xd[35])-((((real_t)(5.0000000000000000e-01)*xd[29])*xd[3])+(((real_t)(5.0000000000000000e-01)*xd[3])*xd[29])))*a[143]); +a[150] = (xd[46]*a[14]); +a[151] = (xd[52]*a[16]); +a[152] = (a[151]*a[18]); +a[153] = (((a[152]*xd[3])+(a[6]*xd[48]))*a[20]); +a[154] = (a[153]*(real_t)(7.6749999999999996e-01)); +a[155] = (xd[46]*a[23]); +a[156] = (((((xd[48]*a[0])+(xd[3]*a[150]))-((a[154]*a[9])+(a[8]*a[155])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[44]*od[0])))*a[26])); +a[157] = (xd[47]*a[14]); +a[158] = (xd[53]*a[16]); +a[159] = (a[158]*a[18]); +a[160] = (((a[159]*xd[3])+(a[6]*xd[49]))*a[20]); +a[161] = (a[160]*(real_t)(7.6749999999999996e-01)); +a[162] = (xd[47]*a[23]); +a[163] = (((((xd[49]*a[0])+(xd[3]*a[157]))-((a[161]*a[9])+(a[8]*a[162])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[45]*od[0])))*a[26])); +a[164] = (xd[46]*a[63]); +a[165] = (xd[52]*a[16]); +a[166] = (a[165]*a[18]); +a[167] = (((a[166]*xd[3])+(a[6]*xd[48]))*a[20]); +a[168] = (a[167]*(real_t)(7.6749999999999996e-01)); +a[169] = (xd[46]*a[69]); +a[170] = (xd[47]*a[63]); +a[171] = (xd[53]*a[16]); +a[172] = (a[171]*a[18]); +a[173] = (((a[172]*xd[3])+(a[6]*xd[49]))*a[20]); +a[174] = (a[173]*(real_t)(7.6749999999999996e-01)); +a[175] = (xd[47]*a[69]); +a[176] = (xd[52]*a[16]); +a[177] = (a[176]*a[18]); +a[178] = (((a[177]*xd[3])+(a[6]*xd[48]))*a[20]); +a[179] = (xd[46]*a[14]); +a[180] = (a[178]*(real_t)(7.6749999999999996e-01)); +a[181] = (xd[46]*a[23]); +a[182] = (((((xd[48]*a[0])+(xd[3]*a[179]))-((a[180]*a[9])+(a[8]*a[181])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[44]*od[0])))*a[26])); +a[183] = (xd[53]*a[16]); +a[184] = (a[183]*a[18]); +a[185] = (((a[184]*xd[3])+(a[6]*xd[49]))*a[20]); +a[186] = (xd[47]*a[14]); +a[187] = (a[185]*(real_t)(7.6749999999999996e-01)); +a[188] = (xd[47]*a[23]); +a[189] = (((((xd[49]*a[0])+(xd[3]*a[186]))-((a[187]*a[9])+(a[8]*a[188])))*a[25])-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-(xd[45]*od[0])))*a[26])); +a[190] = ((((real_t)(4.6534653465346528e+03)*xd[50])-((((real_t)(5.0000000000000000e-01)*xd[48])*xd[3])+(((real_t)(5.0000000000000000e-01)*xd[3])*xd[48])))*a[143]); +a[191] = ((((real_t)(4.6534653465346528e+03)*xd[51])-((((real_t)(5.0000000000000000e-01)*xd[49])*xd[3])+(((real_t)(5.0000000000000000e-01)*xd[3])*xd[49])))*a[143]); + +/* Compute outputs: */ +out[0] = a[10]; +out[1] = ((xd[3]*a[11])+(a[8]*a[12])); +out[2] = (a[7]-(a[10]*od[0])); +out[3] = a[13]; +out[4] = u[0]; +out[5] = u[1]; +out[6] = a[27]; +out[7] = a[34]; +out[8] = a[41]; +out[9] = a[48]; +out[10] = a[55]; +out[11] = a[62]; +out[12] = (((xd[24]*a[11])+(xd[3]*a[64]))+((a[68]*a[12])+(a[8]*a[70]))); +out[13] = (((xd[25]*a[11])+(xd[3]*a[71]))+((a[75]*a[12])+(a[8]*a[76]))); +out[14] = (((xd[26]*a[11])+(xd[3]*a[77]))+((a[81]*a[12])+(a[8]*a[82]))); +out[15] = (((xd[27]*a[11])+(xd[3]*a[83]))+((a[87]*a[12])+(a[8]*a[88]))); +out[16] = (((xd[28]*a[11])+(xd[3]*a[89]))+((a[93]*a[12])+(a[8]*a[94]))); +out[17] = (((xd[29]*a[11])+(xd[3]*a[95]))+((a[99]*a[12])+(a[8]*a[100]))); +out[18] = (a[103]-(a[107]*od[0])); +out[19] = (a[110]-(a[114]*od[0])); +out[20] = (a[117]-(a[121]*od[0])); +out[21] = (a[124]-(a[128]*od[0])); +out[22] = (a[131]-(a[135]*od[0])); +out[23] = (a[138]-(a[142]*od[0])); +out[24] = a[144]; +out[25] = a[145]; +out[26] = a[146]; +out[27] = a[147]; +out[28] = a[148]; +out[29] = a[149]; +out[30] = (real_t)(0.0000000000000000e+00); +out[31] = (real_t)(0.0000000000000000e+00); +out[32] = (real_t)(0.0000000000000000e+00); +out[33] = (real_t)(0.0000000000000000e+00); +out[34] = (real_t)(0.0000000000000000e+00); +out[35] = (real_t)(0.0000000000000000e+00); +out[36] = (real_t)(0.0000000000000000e+00); +out[37] = (real_t)(0.0000000000000000e+00); +out[38] = (real_t)(0.0000000000000000e+00); +out[39] = (real_t)(0.0000000000000000e+00); +out[40] = (real_t)(0.0000000000000000e+00); +out[41] = (real_t)(0.0000000000000000e+00); +out[42] = a[156]; +out[43] = a[163]; +out[44] = (((xd[48]*a[11])+(xd[3]*a[164]))+((a[168]*a[12])+(a[8]*a[169]))); +out[45] = (((xd[49]*a[11])+(xd[3]*a[170]))+((a[174]*a[12])+(a[8]*a[175]))); +out[46] = (a[178]-(a[182]*od[0])); +out[47] = (a[185]-(a[189]*od[0])); +out[48] = a[190]; +out[49] = a[191]; +out[50] = (real_t)(1.0000000000000000e+00); +out[51] = (real_t)(0.0000000000000000e+00); +out[52] = (real_t)(0.0000000000000000e+00); +out[53] = (real_t)(1.0000000000000000e+00); +} + +/* Fixed step size:0.025 */ +int acado_integrate( real_t* const rk_eta, int resetIntegrator ) +{ +int error; + +int run1; +acadoWorkspace.rk_ttt = 0.0000000000000000e+00; +rk_eta[6] = 1.0000000000000000e+00; +rk_eta[7] = 0.0000000000000000e+00; +rk_eta[8] = 0.0000000000000000e+00; +rk_eta[9] = 0.0000000000000000e+00; +rk_eta[10] = 0.0000000000000000e+00; +rk_eta[11] = 0.0000000000000000e+00; +rk_eta[12] = 0.0000000000000000e+00; +rk_eta[13] = 1.0000000000000000e+00; +rk_eta[14] = 0.0000000000000000e+00; +rk_eta[15] = 0.0000000000000000e+00; +rk_eta[16] = 0.0000000000000000e+00; +rk_eta[17] = 0.0000000000000000e+00; +rk_eta[18] = 0.0000000000000000e+00; +rk_eta[19] = 0.0000000000000000e+00; +rk_eta[20] = 1.0000000000000000e+00; +rk_eta[21] = 0.0000000000000000e+00; +rk_eta[22] = 0.0000000000000000e+00; +rk_eta[23] = 0.0000000000000000e+00; +rk_eta[24] = 0.0000000000000000e+00; +rk_eta[25] = 0.0000000000000000e+00; +rk_eta[26] = 0.0000000000000000e+00; +rk_eta[27] = 1.0000000000000000e+00; +rk_eta[28] = 0.0000000000000000e+00; +rk_eta[29] = 0.0000000000000000e+00; +rk_eta[30] = 0.0000000000000000e+00; +rk_eta[31] = 0.0000000000000000e+00; +rk_eta[32] = 0.0000000000000000e+00; +rk_eta[33] = 0.0000000000000000e+00; +rk_eta[34] = 1.0000000000000000e+00; +rk_eta[35] = 0.0000000000000000e+00; +rk_eta[36] = 0.0000000000000000e+00; +rk_eta[37] = 0.0000000000000000e+00; +rk_eta[38] = 0.0000000000000000e+00; +rk_eta[39] = 0.0000000000000000e+00; +rk_eta[40] = 0.0000000000000000e+00; +rk_eta[41] = 1.0000000000000000e+00; +rk_eta[42] = 0.0000000000000000e+00; +rk_eta[43] = 0.0000000000000000e+00; +rk_eta[44] = 0.0000000000000000e+00; +rk_eta[45] = 0.0000000000000000e+00; +rk_eta[46] = 0.0000000000000000e+00; +rk_eta[47] = 0.0000000000000000e+00; +rk_eta[48] = 0.0000000000000000e+00; +rk_eta[49] = 0.0000000000000000e+00; +rk_eta[50] = 0.0000000000000000e+00; +rk_eta[51] = 0.0000000000000000e+00; +rk_eta[52] = 0.0000000000000000e+00; +rk_eta[53] = 0.0000000000000000e+00; +acadoWorkspace.rk_xxx[54] = rk_eta[54]; +acadoWorkspace.rk_xxx[55] = rk_eta[55]; +acadoWorkspace.rk_xxx[56] = rk_eta[56]; + +for (run1 = 0; run1 < 4; ++run1) +{ +acadoWorkspace.rk_xxx[0] = + rk_eta[0]; +acadoWorkspace.rk_xxx[1] = + rk_eta[1]; +acadoWorkspace.rk_xxx[2] = + rk_eta[2]; +acadoWorkspace.rk_xxx[3] = + rk_eta[3]; +acadoWorkspace.rk_xxx[4] = + rk_eta[4]; +acadoWorkspace.rk_xxx[5] = + rk_eta[5]; +acadoWorkspace.rk_xxx[6] = + rk_eta[6]; +acadoWorkspace.rk_xxx[7] = + rk_eta[7]; +acadoWorkspace.rk_xxx[8] = + rk_eta[8]; +acadoWorkspace.rk_xxx[9] = + rk_eta[9]; +acadoWorkspace.rk_xxx[10] = + rk_eta[10]; +acadoWorkspace.rk_xxx[11] = + rk_eta[11]; +acadoWorkspace.rk_xxx[12] = + rk_eta[12]; +acadoWorkspace.rk_xxx[13] = + rk_eta[13]; +acadoWorkspace.rk_xxx[14] = + rk_eta[14]; +acadoWorkspace.rk_xxx[15] = + rk_eta[15]; +acadoWorkspace.rk_xxx[16] = + rk_eta[16]; +acadoWorkspace.rk_xxx[17] = + rk_eta[17]; +acadoWorkspace.rk_xxx[18] = + rk_eta[18]; +acadoWorkspace.rk_xxx[19] = + rk_eta[19]; +acadoWorkspace.rk_xxx[20] = + rk_eta[20]; +acadoWorkspace.rk_xxx[21] = + rk_eta[21]; +acadoWorkspace.rk_xxx[22] = + rk_eta[22]; +acadoWorkspace.rk_xxx[23] = + rk_eta[23]; +acadoWorkspace.rk_xxx[24] = + rk_eta[24]; +acadoWorkspace.rk_xxx[25] = + rk_eta[25]; +acadoWorkspace.rk_xxx[26] = + rk_eta[26]; +acadoWorkspace.rk_xxx[27] = + rk_eta[27]; +acadoWorkspace.rk_xxx[28] = + rk_eta[28]; +acadoWorkspace.rk_xxx[29] = + rk_eta[29]; +acadoWorkspace.rk_xxx[30] = + rk_eta[30]; +acadoWorkspace.rk_xxx[31] = + rk_eta[31]; +acadoWorkspace.rk_xxx[32] = + rk_eta[32]; +acadoWorkspace.rk_xxx[33] = + rk_eta[33]; +acadoWorkspace.rk_xxx[34] = + rk_eta[34]; +acadoWorkspace.rk_xxx[35] = + rk_eta[35]; +acadoWorkspace.rk_xxx[36] = + rk_eta[36]; +acadoWorkspace.rk_xxx[37] = + rk_eta[37]; +acadoWorkspace.rk_xxx[38] = + rk_eta[38]; +acadoWorkspace.rk_xxx[39] = + rk_eta[39]; +acadoWorkspace.rk_xxx[40] = + rk_eta[40]; +acadoWorkspace.rk_xxx[41] = + rk_eta[41]; +acadoWorkspace.rk_xxx[42] = + rk_eta[42]; +acadoWorkspace.rk_xxx[43] = + rk_eta[43]; +acadoWorkspace.rk_xxx[44] = + rk_eta[44]; +acadoWorkspace.rk_xxx[45] = + rk_eta[45]; +acadoWorkspace.rk_xxx[46] = + rk_eta[46]; +acadoWorkspace.rk_xxx[47] = + rk_eta[47]; +acadoWorkspace.rk_xxx[48] = + rk_eta[48]; +acadoWorkspace.rk_xxx[49] = + rk_eta[49]; +acadoWorkspace.rk_xxx[50] = + rk_eta[50]; +acadoWorkspace.rk_xxx[51] = + rk_eta[51]; +acadoWorkspace.rk_xxx[52] = + rk_eta[52]; +acadoWorkspace.rk_xxx[53] = + rk_eta[53]; +acado_rhs_forw( acadoWorkspace.rk_xxx, acadoWorkspace.rk_kkk ); +acadoWorkspace.rk_xxx[0] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[0] + rk_eta[0]; +acadoWorkspace.rk_xxx[1] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[1] + rk_eta[1]; +acadoWorkspace.rk_xxx[2] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[2] + rk_eta[2]; +acadoWorkspace.rk_xxx[3] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[3] + rk_eta[3]; +acadoWorkspace.rk_xxx[4] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[4] + rk_eta[4]; +acadoWorkspace.rk_xxx[5] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[5] + rk_eta[5]; +acadoWorkspace.rk_xxx[6] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[6] + rk_eta[6]; +acadoWorkspace.rk_xxx[7] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[7] + rk_eta[7]; +acadoWorkspace.rk_xxx[8] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[8] + rk_eta[8]; +acadoWorkspace.rk_xxx[9] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[9] + rk_eta[9]; +acadoWorkspace.rk_xxx[10] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[10] + rk_eta[10]; +acadoWorkspace.rk_xxx[11] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[11] + rk_eta[11]; +acadoWorkspace.rk_xxx[12] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[12] + rk_eta[12]; +acadoWorkspace.rk_xxx[13] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[13] + rk_eta[13]; +acadoWorkspace.rk_xxx[14] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[14] + rk_eta[14]; +acadoWorkspace.rk_xxx[15] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[15] + rk_eta[15]; +acadoWorkspace.rk_xxx[16] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[16] + rk_eta[16]; +acadoWorkspace.rk_xxx[17] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[17] + rk_eta[17]; +acadoWorkspace.rk_xxx[18] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[18] + rk_eta[18]; +acadoWorkspace.rk_xxx[19] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[19] + rk_eta[19]; +acadoWorkspace.rk_xxx[20] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[20] + rk_eta[20]; +acadoWorkspace.rk_xxx[21] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[21] + rk_eta[21]; +acadoWorkspace.rk_xxx[22] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[22] + rk_eta[22]; +acadoWorkspace.rk_xxx[23] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[23] + rk_eta[23]; +acadoWorkspace.rk_xxx[24] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[24] + rk_eta[24]; +acadoWorkspace.rk_xxx[25] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[25] + rk_eta[25]; +acadoWorkspace.rk_xxx[26] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[26] + rk_eta[26]; +acadoWorkspace.rk_xxx[27] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[27] + rk_eta[27]; +acadoWorkspace.rk_xxx[28] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[28] + rk_eta[28]; +acadoWorkspace.rk_xxx[29] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[29] + rk_eta[29]; +acadoWorkspace.rk_xxx[30] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[30] + rk_eta[30]; +acadoWorkspace.rk_xxx[31] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[31] + rk_eta[31]; +acadoWorkspace.rk_xxx[32] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[32] + rk_eta[32]; +acadoWorkspace.rk_xxx[33] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[33] + rk_eta[33]; +acadoWorkspace.rk_xxx[34] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[34] + rk_eta[34]; +acadoWorkspace.rk_xxx[35] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[35] + rk_eta[35]; +acadoWorkspace.rk_xxx[36] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[36] + rk_eta[36]; +acadoWorkspace.rk_xxx[37] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[37] + rk_eta[37]; +acadoWorkspace.rk_xxx[38] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[38] + rk_eta[38]; +acadoWorkspace.rk_xxx[39] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[39] + rk_eta[39]; +acadoWorkspace.rk_xxx[40] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[40] + rk_eta[40]; +acadoWorkspace.rk_xxx[41] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[41] + rk_eta[41]; +acadoWorkspace.rk_xxx[42] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[42] + rk_eta[42]; +acadoWorkspace.rk_xxx[43] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[43] + rk_eta[43]; +acadoWorkspace.rk_xxx[44] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[44] + rk_eta[44]; +acadoWorkspace.rk_xxx[45] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[45] + rk_eta[45]; +acadoWorkspace.rk_xxx[46] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[46] + rk_eta[46]; +acadoWorkspace.rk_xxx[47] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[47] + rk_eta[47]; +acadoWorkspace.rk_xxx[48] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[48] + rk_eta[48]; +acadoWorkspace.rk_xxx[49] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[49] + rk_eta[49]; +acadoWorkspace.rk_xxx[50] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[50] + rk_eta[50]; +acadoWorkspace.rk_xxx[51] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[51] + rk_eta[51]; +acadoWorkspace.rk_xxx[52] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[52] + rk_eta[52]; +acadoWorkspace.rk_xxx[53] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[53] + rk_eta[53]; +acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 54 ]) ); +acadoWorkspace.rk_xxx[0] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[54] + rk_eta[0]; +acadoWorkspace.rk_xxx[1] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[55] + rk_eta[1]; +acadoWorkspace.rk_xxx[2] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[56] + rk_eta[2]; +acadoWorkspace.rk_xxx[3] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[57] + rk_eta[3]; +acadoWorkspace.rk_xxx[4] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[58] + rk_eta[4]; +acadoWorkspace.rk_xxx[5] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[59] + rk_eta[5]; +acadoWorkspace.rk_xxx[6] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[60] + rk_eta[6]; +acadoWorkspace.rk_xxx[7] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[61] + rk_eta[7]; +acadoWorkspace.rk_xxx[8] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[62] + rk_eta[8]; +acadoWorkspace.rk_xxx[9] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[63] + rk_eta[9]; +acadoWorkspace.rk_xxx[10] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[64] + rk_eta[10]; +acadoWorkspace.rk_xxx[11] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[65] + rk_eta[11]; +acadoWorkspace.rk_xxx[12] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[66] + rk_eta[12]; +acadoWorkspace.rk_xxx[13] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[67] + rk_eta[13]; +acadoWorkspace.rk_xxx[14] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[68] + rk_eta[14]; +acadoWorkspace.rk_xxx[15] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[69] + rk_eta[15]; +acadoWorkspace.rk_xxx[16] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[70] + rk_eta[16]; +acadoWorkspace.rk_xxx[17] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[71] + rk_eta[17]; +acadoWorkspace.rk_xxx[18] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[72] + rk_eta[18]; +acadoWorkspace.rk_xxx[19] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[73] + rk_eta[19]; +acadoWorkspace.rk_xxx[20] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[74] + rk_eta[20]; +acadoWorkspace.rk_xxx[21] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[75] + rk_eta[21]; +acadoWorkspace.rk_xxx[22] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[76] + rk_eta[22]; +acadoWorkspace.rk_xxx[23] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[77] + rk_eta[23]; +acadoWorkspace.rk_xxx[24] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[78] + rk_eta[24]; +acadoWorkspace.rk_xxx[25] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[79] + rk_eta[25]; +acadoWorkspace.rk_xxx[26] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[80] + rk_eta[26]; +acadoWorkspace.rk_xxx[27] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[81] + rk_eta[27]; +acadoWorkspace.rk_xxx[28] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[82] + rk_eta[28]; +acadoWorkspace.rk_xxx[29] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[83] + rk_eta[29]; +acadoWorkspace.rk_xxx[30] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[84] + rk_eta[30]; +acadoWorkspace.rk_xxx[31] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[85] + rk_eta[31]; +acadoWorkspace.rk_xxx[32] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[86] + rk_eta[32]; +acadoWorkspace.rk_xxx[33] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[87] + rk_eta[33]; +acadoWorkspace.rk_xxx[34] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[88] + rk_eta[34]; +acadoWorkspace.rk_xxx[35] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[89] + rk_eta[35]; +acadoWorkspace.rk_xxx[36] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[90] + rk_eta[36]; +acadoWorkspace.rk_xxx[37] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[91] + rk_eta[37]; +acadoWorkspace.rk_xxx[38] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[92] + rk_eta[38]; +acadoWorkspace.rk_xxx[39] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[93] + rk_eta[39]; +acadoWorkspace.rk_xxx[40] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[94] + rk_eta[40]; +acadoWorkspace.rk_xxx[41] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[95] + rk_eta[41]; +acadoWorkspace.rk_xxx[42] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[96] + rk_eta[42]; +acadoWorkspace.rk_xxx[43] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[97] + rk_eta[43]; +acadoWorkspace.rk_xxx[44] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[98] + rk_eta[44]; +acadoWorkspace.rk_xxx[45] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[99] + rk_eta[45]; +acadoWorkspace.rk_xxx[46] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[100] + rk_eta[46]; +acadoWorkspace.rk_xxx[47] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[101] + rk_eta[47]; +acadoWorkspace.rk_xxx[48] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[102] + rk_eta[48]; +acadoWorkspace.rk_xxx[49] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[103] + rk_eta[49]; +acadoWorkspace.rk_xxx[50] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[104] + rk_eta[50]; +acadoWorkspace.rk_xxx[51] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[105] + rk_eta[51]; +acadoWorkspace.rk_xxx[52] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[106] + rk_eta[52]; +acadoWorkspace.rk_xxx[53] = + (real_t)1.2500000000000001e-02*acadoWorkspace.rk_kkk[107] + rk_eta[53]; +acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 108 ]) ); +acadoWorkspace.rk_xxx[0] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[108] + rk_eta[0]; +acadoWorkspace.rk_xxx[1] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[109] + rk_eta[1]; +acadoWorkspace.rk_xxx[2] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[110] + rk_eta[2]; +acadoWorkspace.rk_xxx[3] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[111] + rk_eta[3]; +acadoWorkspace.rk_xxx[4] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[112] + rk_eta[4]; +acadoWorkspace.rk_xxx[5] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[113] + rk_eta[5]; +acadoWorkspace.rk_xxx[6] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[114] + rk_eta[6]; +acadoWorkspace.rk_xxx[7] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[115] + rk_eta[7]; +acadoWorkspace.rk_xxx[8] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[116] + rk_eta[8]; +acadoWorkspace.rk_xxx[9] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[117] + rk_eta[9]; +acadoWorkspace.rk_xxx[10] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[118] + rk_eta[10]; +acadoWorkspace.rk_xxx[11] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[119] + rk_eta[11]; +acadoWorkspace.rk_xxx[12] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[120] + rk_eta[12]; +acadoWorkspace.rk_xxx[13] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[121] + rk_eta[13]; +acadoWorkspace.rk_xxx[14] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[122] + rk_eta[14]; +acadoWorkspace.rk_xxx[15] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[123] + rk_eta[15]; +acadoWorkspace.rk_xxx[16] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[124] + rk_eta[16]; +acadoWorkspace.rk_xxx[17] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[125] + rk_eta[17]; +acadoWorkspace.rk_xxx[18] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[126] + rk_eta[18]; +acadoWorkspace.rk_xxx[19] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[127] + rk_eta[19]; +acadoWorkspace.rk_xxx[20] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[128] + rk_eta[20]; +acadoWorkspace.rk_xxx[21] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[129] + rk_eta[21]; +acadoWorkspace.rk_xxx[22] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[130] + rk_eta[22]; +acadoWorkspace.rk_xxx[23] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[131] + rk_eta[23]; +acadoWorkspace.rk_xxx[24] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[132] + rk_eta[24]; +acadoWorkspace.rk_xxx[25] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[133] + rk_eta[25]; +acadoWorkspace.rk_xxx[26] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[134] + rk_eta[26]; +acadoWorkspace.rk_xxx[27] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[135] + rk_eta[27]; +acadoWorkspace.rk_xxx[28] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[136] + rk_eta[28]; +acadoWorkspace.rk_xxx[29] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[137] + rk_eta[29]; +acadoWorkspace.rk_xxx[30] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[138] + rk_eta[30]; +acadoWorkspace.rk_xxx[31] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[139] + rk_eta[31]; +acadoWorkspace.rk_xxx[32] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[140] + rk_eta[32]; +acadoWorkspace.rk_xxx[33] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[141] + rk_eta[33]; +acadoWorkspace.rk_xxx[34] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[142] + rk_eta[34]; +acadoWorkspace.rk_xxx[35] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[143] + rk_eta[35]; +acadoWorkspace.rk_xxx[36] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[144] + rk_eta[36]; +acadoWorkspace.rk_xxx[37] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[145] + rk_eta[37]; +acadoWorkspace.rk_xxx[38] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[146] + rk_eta[38]; +acadoWorkspace.rk_xxx[39] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[147] + rk_eta[39]; +acadoWorkspace.rk_xxx[40] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[148] + rk_eta[40]; +acadoWorkspace.rk_xxx[41] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[149] + rk_eta[41]; +acadoWorkspace.rk_xxx[42] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[150] + rk_eta[42]; +acadoWorkspace.rk_xxx[43] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[151] + rk_eta[43]; +acadoWorkspace.rk_xxx[44] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[152] + rk_eta[44]; +acadoWorkspace.rk_xxx[45] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[153] + rk_eta[45]; +acadoWorkspace.rk_xxx[46] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[154] + rk_eta[46]; +acadoWorkspace.rk_xxx[47] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[155] + rk_eta[47]; +acadoWorkspace.rk_xxx[48] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[156] + rk_eta[48]; +acadoWorkspace.rk_xxx[49] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[157] + rk_eta[49]; +acadoWorkspace.rk_xxx[50] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[158] + rk_eta[50]; +acadoWorkspace.rk_xxx[51] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[159] + rk_eta[51]; +acadoWorkspace.rk_xxx[52] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[160] + rk_eta[52]; +acadoWorkspace.rk_xxx[53] = + (real_t)2.5000000000000001e-02*acadoWorkspace.rk_kkk[161] + rk_eta[53]; +acado_rhs_forw( acadoWorkspace.rk_xxx, &(acadoWorkspace.rk_kkk[ 162 ]) ); +rk_eta[0] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[0] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[54] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[108] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[162]; +rk_eta[1] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[1] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[55] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[109] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[163]; +rk_eta[2] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[2] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[56] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[110] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[164]; +rk_eta[3] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[3] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[57] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[111] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[165]; +rk_eta[4] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[4] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[58] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[112] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[166]; +rk_eta[5] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[5] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[59] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[113] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[167]; +rk_eta[6] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[6] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[60] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[114] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[168]; +rk_eta[7] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[7] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[61] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[115] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[169]; +rk_eta[8] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[8] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[62] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[116] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[170]; +rk_eta[9] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[9] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[63] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[117] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[171]; +rk_eta[10] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[10] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[64] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[118] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[172]; +rk_eta[11] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[11] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[65] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[119] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[173]; +rk_eta[12] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[12] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[66] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[120] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[174]; +rk_eta[13] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[13] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[67] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[121] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[175]; +rk_eta[14] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[14] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[68] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[122] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[176]; +rk_eta[15] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[15] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[69] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[123] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[177]; +rk_eta[16] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[16] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[70] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[124] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[178]; +rk_eta[17] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[17] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[71] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[125] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[179]; +rk_eta[18] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[18] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[72] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[126] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[180]; +rk_eta[19] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[19] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[73] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[127] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[181]; +rk_eta[20] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[20] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[74] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[128] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[182]; +rk_eta[21] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[21] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[75] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[129] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[183]; +rk_eta[22] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[22] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[76] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[130] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[184]; +rk_eta[23] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[23] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[77] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[131] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[185]; +rk_eta[24] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[24] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[78] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[132] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[186]; +rk_eta[25] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[25] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[79] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[133] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[187]; +rk_eta[26] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[26] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[80] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[134] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[188]; +rk_eta[27] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[27] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[81] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[135] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[189]; +rk_eta[28] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[28] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[82] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[136] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[190]; +rk_eta[29] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[29] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[83] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[137] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[191]; +rk_eta[30] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[30] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[84] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[138] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[192]; +rk_eta[31] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[31] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[85] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[139] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[193]; +rk_eta[32] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[32] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[86] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[140] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[194]; +rk_eta[33] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[33] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[87] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[141] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[195]; +rk_eta[34] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[34] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[88] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[142] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[196]; +rk_eta[35] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[35] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[89] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[143] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[197]; +rk_eta[36] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[36] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[90] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[144] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[198]; +rk_eta[37] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[37] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[91] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[145] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[199]; +rk_eta[38] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[38] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[92] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[146] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[200]; +rk_eta[39] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[39] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[93] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[147] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[201]; +rk_eta[40] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[40] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[94] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[148] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[202]; +rk_eta[41] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[41] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[95] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[149] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[203]; +rk_eta[42] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[42] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[96] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[150] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[204]; +rk_eta[43] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[43] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[97] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[151] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[205]; +rk_eta[44] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[44] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[98] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[152] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[206]; +rk_eta[45] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[45] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[99] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[153] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[207]; +rk_eta[46] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[46] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[100] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[154] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[208]; +rk_eta[47] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[47] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[101] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[155] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[209]; +rk_eta[48] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[48] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[102] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[156] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[210]; +rk_eta[49] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[49] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[103] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[157] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[211]; +rk_eta[50] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[50] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[104] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[158] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[212]; +rk_eta[51] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[51] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[105] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[159] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[213]; +rk_eta[52] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[52] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[106] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[160] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[214]; +rk_eta[53] += + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[53] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[107] + (real_t)8.3333333333333332e-03*acadoWorkspace.rk_kkk[161] + (real_t)4.1666666666666666e-03*acadoWorkspace.rk_kkk[215]; +acadoWorkspace.rk_ttt += 2.5000000000000000e-01; +} +error = 0; +return error; +} + diff --git a/src/control/mpc_control/model/prueba_kin_export/acado_qpoases_interface.cpp b/src/control/mpc_control/model/prueba_kin_export/acado_qpoases_interface.cpp new file mode 100644 index 00000000..50aac611 --- /dev/null +++ b/src/control/mpc_control/model/prueba_kin_export/acado_qpoases_interface.cpp @@ -0,0 +1,70 @@ +/* + * This file was auto-generated using the ACADO Toolkit. + * + * While ACADO Toolkit is free software released under the terms of + * the GNU Lesser General Public License (LGPL), the generated code + * as such remains the property of the user who used ACADO Toolkit + * to generate this code. In particular, user dependent data of the code + * do not inherit the GNU LGPL license. On the other hand, parts of the + * generated code that are a direct copy of source code from the + * ACADO Toolkit or the software tools it is based on, remain, as derived + * work, automatically covered by the LGPL license. + * + * ACADO Toolkit is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * + */ + + +extern "C" +{ +#include "acado_common.h" +} + +#include "INCLUDE/QProblem.hpp" + +#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1 +#include "INCLUDE/EXTRAS/SolutionAnalysis.hpp" +#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */ + +static int acado_nWSR; + + + +#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1 +static SolutionAnalysis acado_sa; +#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */ + +int acado_solve( void ) +{ + acado_nWSR = QPOASES_NWSRMAX; + + QProblem qp(100, 300); + + returnValue retVal = qp.init(acadoWorkspace.H, acadoWorkspace.g, acadoWorkspace.A, acadoWorkspace.lb, acadoWorkspace.ub, acadoWorkspace.lbA, acadoWorkspace.ubA, acado_nWSR, acadoWorkspace.y); + + qp.getPrimalSolution( acadoWorkspace.x ); + qp.getDualSolution( acadoWorkspace.y ); + +#if ACADO_COMPUTE_COVARIANCE_MATRIX == 1 + + if (retVal != SUCCESSFUL_RETURN) + return (int)retVal; + + retVal = acado_sa.getHessianInverse( &qp,var ); + +#endif /* ACADO_COMPUTE_COVARIANCE_MATRIX */ + + return (int)retVal; +} + +int acado_getNWSR( void ) +{ + return acado_nWSR; +} + +const char* acado_getErrorString( int error ) +{ + return MessageHandling::getErrorString( error ); +} diff --git a/src/control/mpc_control/model/prueba_kin_export/acado_qpoases_interface.hpp b/src/control/mpc_control/model/prueba_kin_export/acado_qpoases_interface.hpp new file mode 100644 index 00000000..02622e40 --- /dev/null +++ b/src/control/mpc_control/model/prueba_kin_export/acado_qpoases_interface.hpp @@ -0,0 +1,65 @@ +/* + * This file was auto-generated using the ACADO Toolkit. + * + * While ACADO Toolkit is free software released under the terms of + * the GNU Lesser General Public License (LGPL), the generated code + * as such remains the property of the user who used ACADO Toolkit + * to generate this code. In particular, user dependent data of the code + * do not inherit the GNU LGPL license. On the other hand, parts of the + * generated code that are a direct copy of source code from the + * ACADO Toolkit or the software tools it is based on, remain, as derived + * work, automatically covered by the LGPL license. + * + * ACADO Toolkit is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * + */ + + +#ifndef QPOASES_HEADER +#define QPOASES_HEADER + +#ifdef PC_DEBUG +#include +#endif /* PC_DEBUG */ + +#include + +#ifdef __cplusplus +#define EXTERNC extern "C" +#else +#define EXTERNC +#endif + +/* + * A set of options for qpOASES + */ + +/** Maximum number of optimization variables. */ +#define QPOASES_NVMAX 100 +/** Maximum number of constraints. */ +#define QPOASES_NCMAX 300 +/** Maximum number of working set recalculations. */ +#define QPOASES_NWSRMAX 1200 +/** Print level for qpOASES. */ +#define QPOASES_PRINTLEVEL PL_NONE +/** The value of EPS */ +#define QPOASES_EPS 2.221e-16 +/** Internally used floating point type */ +typedef double real_t; + +/* + * Forward function declarations + */ + +/** A function that calls the QP solver */ +EXTERNC int acado_solve( void ); + +/** Get the number of active set changes */ +EXTERNC int acado_getNWSR( void ); + +/** Get the error string. */ +const char* acado_getErrorString( int error ); + +#endif /* QPOASES_HEADER */ diff --git a/src/control/mpc_control/model/prueba_kin_export/acado_solver.c b/src/control/mpc_control/model/prueba_kin_export/acado_solver.c new file mode 100644 index 00000000..233fb1a0 --- /dev/null +++ b/src/control/mpc_control/model/prueba_kin_export/acado_solver.c @@ -0,0 +1,3724 @@ +/* + * This file was auto-generated using the ACADO Toolkit. + * + * While ACADO Toolkit is free software released under the terms of + * the GNU Lesser General Public License (LGPL), the generated code + * as such remains the property of the user who used ACADO Toolkit + * to generate this code. In particular, user dependent data of the code + * do not inherit the GNU LGPL license. On the other hand, parts of the + * generated code that are a direct copy of source code from the + * ACADO Toolkit or the software tools it is based on, remain, as derived + * work, automatically covered by the LGPL license. + * + * ACADO Toolkit is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * + */ + + +#include "acado_common.h" + + + + +/******************************************************************************/ +/* */ +/* ACADO code generation */ +/* */ +/******************************************************************************/ + + +int acado_modelSimulation( ) +{ +int ret; + +int lRun1; +ret = 0; +for (lRun1 = 0; lRun1 < 50; ++lRun1) +{ +acadoWorkspace.state[0] = acadoVariables.x[lRun1 * 6]; +acadoWorkspace.state[1] = acadoVariables.x[lRun1 * 6 + 1]; +acadoWorkspace.state[2] = acadoVariables.x[lRun1 * 6 + 2]; +acadoWorkspace.state[3] = acadoVariables.x[lRun1 * 6 + 3]; +acadoWorkspace.state[4] = acadoVariables.x[lRun1 * 6 + 4]; +acadoWorkspace.state[5] = acadoVariables.x[lRun1 * 6 + 5]; + +acadoWorkspace.state[54] = acadoVariables.u[lRun1 * 2]; +acadoWorkspace.state[55] = acadoVariables.u[lRun1 * 2 + 1]; +acadoWorkspace.state[56] = acadoVariables.od[lRun1]; + +ret = acado_integrate(acadoWorkspace.state, 1); + +acadoWorkspace.d[lRun1 * 6] = acadoWorkspace.state[0] - acadoVariables.x[lRun1 * 6 + 6]; +acadoWorkspace.d[lRun1 * 6 + 1] = acadoWorkspace.state[1] - acadoVariables.x[lRun1 * 6 + 7]; +acadoWorkspace.d[lRun1 * 6 + 2] = acadoWorkspace.state[2] - acadoVariables.x[lRun1 * 6 + 8]; +acadoWorkspace.d[lRun1 * 6 + 3] = acadoWorkspace.state[3] - acadoVariables.x[lRun1 * 6 + 9]; +acadoWorkspace.d[lRun1 * 6 + 4] = acadoWorkspace.state[4] - acadoVariables.x[lRun1 * 6 + 10]; +acadoWorkspace.d[lRun1 * 6 + 5] = acadoWorkspace.state[5] - acadoVariables.x[lRun1 * 6 + 11]; + +acadoWorkspace.evGx[lRun1 * 36] = acadoWorkspace.state[6]; +acadoWorkspace.evGx[lRun1 * 36 + 1] = acadoWorkspace.state[7]; +acadoWorkspace.evGx[lRun1 * 36 + 2] = acadoWorkspace.state[8]; +acadoWorkspace.evGx[lRun1 * 36 + 3] = acadoWorkspace.state[9]; +acadoWorkspace.evGx[lRun1 * 36 + 4] = acadoWorkspace.state[10]; +acadoWorkspace.evGx[lRun1 * 36 + 5] = acadoWorkspace.state[11]; +acadoWorkspace.evGx[lRun1 * 36 + 6] = acadoWorkspace.state[12]; +acadoWorkspace.evGx[lRun1 * 36 + 7] = acadoWorkspace.state[13]; +acadoWorkspace.evGx[lRun1 * 36 + 8] = acadoWorkspace.state[14]; +acadoWorkspace.evGx[lRun1 * 36 + 9] = acadoWorkspace.state[15]; +acadoWorkspace.evGx[lRun1 * 36 + 10] = acadoWorkspace.state[16]; +acadoWorkspace.evGx[lRun1 * 36 + 11] = acadoWorkspace.state[17]; +acadoWorkspace.evGx[lRun1 * 36 + 12] = acadoWorkspace.state[18]; +acadoWorkspace.evGx[lRun1 * 36 + 13] = acadoWorkspace.state[19]; +acadoWorkspace.evGx[lRun1 * 36 + 14] = acadoWorkspace.state[20]; +acadoWorkspace.evGx[lRun1 * 36 + 15] = acadoWorkspace.state[21]; +acadoWorkspace.evGx[lRun1 * 36 + 16] = acadoWorkspace.state[22]; +acadoWorkspace.evGx[lRun1 * 36 + 17] = acadoWorkspace.state[23]; +acadoWorkspace.evGx[lRun1 * 36 + 18] = acadoWorkspace.state[24]; +acadoWorkspace.evGx[lRun1 * 36 + 19] = acadoWorkspace.state[25]; +acadoWorkspace.evGx[lRun1 * 36 + 20] = acadoWorkspace.state[26]; +acadoWorkspace.evGx[lRun1 * 36 + 21] = acadoWorkspace.state[27]; +acadoWorkspace.evGx[lRun1 * 36 + 22] = acadoWorkspace.state[28]; +acadoWorkspace.evGx[lRun1 * 36 + 23] = acadoWorkspace.state[29]; +acadoWorkspace.evGx[lRun1 * 36 + 24] = acadoWorkspace.state[30]; +acadoWorkspace.evGx[lRun1 * 36 + 25] = acadoWorkspace.state[31]; +acadoWorkspace.evGx[lRun1 * 36 + 26] = acadoWorkspace.state[32]; +acadoWorkspace.evGx[lRun1 * 36 + 27] = acadoWorkspace.state[33]; +acadoWorkspace.evGx[lRun1 * 36 + 28] = acadoWorkspace.state[34]; +acadoWorkspace.evGx[lRun1 * 36 + 29] = acadoWorkspace.state[35]; +acadoWorkspace.evGx[lRun1 * 36 + 30] = acadoWorkspace.state[36]; +acadoWorkspace.evGx[lRun1 * 36 + 31] = acadoWorkspace.state[37]; +acadoWorkspace.evGx[lRun1 * 36 + 32] = acadoWorkspace.state[38]; +acadoWorkspace.evGx[lRun1 * 36 + 33] = acadoWorkspace.state[39]; +acadoWorkspace.evGx[lRun1 * 36 + 34] = acadoWorkspace.state[40]; +acadoWorkspace.evGx[lRun1 * 36 + 35] = acadoWorkspace.state[41]; + +acadoWorkspace.evGu[lRun1 * 12] = acadoWorkspace.state[42]; +acadoWorkspace.evGu[lRun1 * 12 + 1] = acadoWorkspace.state[43]; +acadoWorkspace.evGu[lRun1 * 12 + 2] = acadoWorkspace.state[44]; +acadoWorkspace.evGu[lRun1 * 12 + 3] = acadoWorkspace.state[45]; +acadoWorkspace.evGu[lRun1 * 12 + 4] = acadoWorkspace.state[46]; +acadoWorkspace.evGu[lRun1 * 12 + 5] = acadoWorkspace.state[47]; +acadoWorkspace.evGu[lRun1 * 12 + 6] = acadoWorkspace.state[48]; +acadoWorkspace.evGu[lRun1 * 12 + 7] = acadoWorkspace.state[49]; +acadoWorkspace.evGu[lRun1 * 12 + 8] = acadoWorkspace.state[50]; +acadoWorkspace.evGu[lRun1 * 12 + 9] = acadoWorkspace.state[51]; +acadoWorkspace.evGu[lRun1 * 12 + 10] = acadoWorkspace.state[52]; +acadoWorkspace.evGu[lRun1 * 12 + 11] = acadoWorkspace.state[53]; +} +return ret; +} + +void acado_evaluateLSQ(const real_t* in, real_t* out) +{ +const real_t* xd = in; +const real_t* u = in + 6; +const real_t* od = in + 8; +/* Vector of auxiliary variables; number of elements: 38. */ +real_t* a = acadoWorkspace.objAuxVar; + +/* Compute intermediate quantities: */ +a[0] = (cos(xd[2])); +a[1] = (pow(od[0],4)); +a[2] = (pow(od[0],3)); +a[3] = ((od[0])*(od[0])); +a[4] = ((real_t)(1.4490000000000000e+03)/((((a[1]+((real_t)(1.4680000000000001e+02)*a[2]))+((real_t)(-2.4380000000000000e+03)*a[3]))+((real_t)(-5.0519999999999998e-01)*od[0]))+(real_t)(1.4570000000000000e+03))); +a[5] = (xd[5]/a[4]); +a[6] = (tan(a[5])); +a[7] = ((a[6]*xd[3])/(real_t)(1.5349999999999999e+00)); +a[8] = (a[7]*(real_t)(7.6749999999999996e-01)); +a[9] = (sin(xd[2])); +a[10] = (((xd[3]*a[0])-(a[8]*a[9]))/((real_t)(1.0000000000000000e+00)-(xd[1]*od[0]))); +a[11] = ((real_t)(1.0000000000000000e+00)/a[10]); +a[12] = (real_t)(0.0000000000000000e+00); +a[13] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)-(xd[1]*od[0]))); +a[14] = (a[13]*a[13]); +a[15] = ((real_t)(0.0000000000000000e+00)-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-od[0]))*a[14])); +a[16] = ((real_t)(1.0000000000000000e+00)/a[10]); +a[17] = (a[16]*a[16]); +a[18] = ((real_t)(0.0000000000000000e+00)-(a[15]*a[17])); +a[19] = ((real_t)(-1.0000000000000000e+00)*(sin(xd[2]))); +a[20] = (cos(xd[2])); +a[21] = (((xd[3]*a[19])-(a[8]*a[20]))*a[13]); +a[22] = ((real_t)(0.0000000000000000e+00)-(a[21]*a[17])); +a[23] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.5349999999999999e+00)); +a[24] = (a[6]*a[23]); +a[25] = (a[24]*(real_t)(7.6749999999999996e-01)); +a[26] = ((a[0]-(a[25]*a[9]))*a[13]); +a[27] = ((real_t)(0.0000000000000000e+00)-(a[26]*a[17])); +a[28] = (real_t)(0.0000000000000000e+00); +a[29] = ((real_t)(1.0000000000000000e+00)/a[4]); +a[30] = ((real_t)(1.0000000000000000e+00)/(pow((cos(a[5])),2))); +a[31] = (a[29]*a[30]); +a[32] = ((a[31]*xd[3])*a[23]); +a[33] = (a[32]*(real_t)(7.6749999999999996e-01)); +a[34] = (((real_t)(0.0000000000000000e+00)-(a[33]*a[9]))*a[13]); +a[35] = ((real_t)(0.0000000000000000e+00)-(a[34]*a[17])); +a[36] = (real_t)(0.0000000000000000e+00); +a[37] = (real_t)(0.0000000000000000e+00); + +/* Compute outputs: */ +out[0] = xd[1]; +out[1] = xd[2]; +out[2] = u[1]; +out[3] = u[0]; +out[4] = a[11]; +out[5] = (real_t)(0.0000000000000000e+00); +out[6] = (real_t)(1.0000000000000000e+00); +out[7] = (real_t)(0.0000000000000000e+00); +out[8] = (real_t)(0.0000000000000000e+00); +out[9] = (real_t)(0.0000000000000000e+00); +out[10] = (real_t)(0.0000000000000000e+00); +out[11] = (real_t)(0.0000000000000000e+00); +out[12] = (real_t)(0.0000000000000000e+00); +out[13] = (real_t)(1.0000000000000000e+00); +out[14] = (real_t)(0.0000000000000000e+00); +out[15] = (real_t)(0.0000000000000000e+00); +out[16] = (real_t)(0.0000000000000000e+00); +out[17] = (real_t)(0.0000000000000000e+00); +out[18] = (real_t)(0.0000000000000000e+00); +out[19] = (real_t)(0.0000000000000000e+00); +out[20] = (real_t)(0.0000000000000000e+00); +out[21] = (real_t)(0.0000000000000000e+00); +out[22] = (real_t)(0.0000000000000000e+00); +out[23] = (real_t)(0.0000000000000000e+00); +out[24] = (real_t)(0.0000000000000000e+00); +out[25] = (real_t)(0.0000000000000000e+00); +out[26] = (real_t)(0.0000000000000000e+00); +out[27] = (real_t)(0.0000000000000000e+00); +out[28] = (real_t)(0.0000000000000000e+00); +out[29] = a[12]; +out[30] = a[18]; +out[31] = a[22]; +out[32] = a[27]; +out[33] = a[28]; +out[34] = a[35]; +out[35] = (real_t)(0.0000000000000000e+00); +out[36] = (real_t)(0.0000000000000000e+00); +out[37] = (real_t)(0.0000000000000000e+00); +out[38] = (real_t)(0.0000000000000000e+00); +out[39] = (real_t)(0.0000000000000000e+00); +out[40] = (real_t)(1.0000000000000000e+00); +out[41] = (real_t)(1.0000000000000000e+00); +out[42] = (real_t)(0.0000000000000000e+00); +out[43] = a[36]; +out[44] = a[37]; +} + +void acado_evaluateLSQEndTerm(const real_t* in, real_t* out) +{ +const real_t* xd = in; +const real_t* od = in + 6; +/* Vector of auxiliary variables; number of elements: 36. */ +real_t* a = acadoWorkspace.objAuxVar; + +/* Compute intermediate quantities: */ +a[0] = (cos(xd[2])); +a[1] = (pow(od[0],4)); +a[2] = (pow(od[0],3)); +a[3] = ((od[0])*(od[0])); +a[4] = ((real_t)(1.4490000000000000e+03)/((((a[1]+((real_t)(1.4680000000000001e+02)*a[2]))+((real_t)(-2.4380000000000000e+03)*a[3]))+((real_t)(-5.0519999999999998e-01)*od[0]))+(real_t)(1.4570000000000000e+03))); +a[5] = (xd[5]/a[4]); +a[6] = (tan(a[5])); +a[7] = ((a[6]*xd[3])/(real_t)(1.5349999999999999e+00)); +a[8] = (a[7]*(real_t)(7.6749999999999996e-01)); +a[9] = (sin(xd[2])); +a[10] = (((xd[3]*a[0])-(a[8]*a[9]))/((real_t)(1.0000000000000000e+00)-(xd[1]*od[0]))); +a[11] = ((real_t)(1.0000000000000000e+00)/a[10]); +a[12] = (real_t)(0.0000000000000000e+00); +a[13] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)-(xd[1]*od[0]))); +a[14] = (a[13]*a[13]); +a[15] = ((real_t)(0.0000000000000000e+00)-((((xd[3]*a[0])-(a[8]*a[9]))*((real_t)(0.0000000000000000e+00)-od[0]))*a[14])); +a[16] = ((real_t)(1.0000000000000000e+00)/a[10]); +a[17] = (a[16]*a[16]); +a[18] = ((real_t)(0.0000000000000000e+00)-(a[15]*a[17])); +a[19] = ((real_t)(-1.0000000000000000e+00)*(sin(xd[2]))); +a[20] = (cos(xd[2])); +a[21] = (((xd[3]*a[19])-(a[8]*a[20]))*a[13]); +a[22] = ((real_t)(0.0000000000000000e+00)-(a[21]*a[17])); +a[23] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.5349999999999999e+00)); +a[24] = (a[6]*a[23]); +a[25] = (a[24]*(real_t)(7.6749999999999996e-01)); +a[26] = ((a[0]-(a[25]*a[9]))*a[13]); +a[27] = ((real_t)(0.0000000000000000e+00)-(a[26]*a[17])); +a[28] = (real_t)(0.0000000000000000e+00); +a[29] = ((real_t)(1.0000000000000000e+00)/a[4]); +a[30] = ((real_t)(1.0000000000000000e+00)/(pow((cos(a[5])),2))); +a[31] = (a[29]*a[30]); +a[32] = ((a[31]*xd[3])*a[23]); +a[33] = (a[32]*(real_t)(7.6749999999999996e-01)); +a[34] = (((real_t)(0.0000000000000000e+00)-(a[33]*a[9]))*a[13]); +a[35] = ((real_t)(0.0000000000000000e+00)-(a[34]*a[17])); + +/* Compute outputs: */ +out[0] = a[11]; +out[1] = xd[1]; +out[2] = xd[2]; +out[3] = a[12]; +out[4] = a[18]; +out[5] = a[22]; +out[6] = a[27]; +out[7] = a[28]; +out[8] = a[35]; +out[9] = (real_t)(0.0000000000000000e+00); +out[10] = (real_t)(1.0000000000000000e+00); +out[11] = (real_t)(0.0000000000000000e+00); +out[12] = (real_t)(0.0000000000000000e+00); +out[13] = (real_t)(0.0000000000000000e+00); +out[14] = (real_t)(0.0000000000000000e+00); +out[15] = (real_t)(0.0000000000000000e+00); +out[16] = (real_t)(0.0000000000000000e+00); +out[17] = (real_t)(1.0000000000000000e+00); +out[18] = (real_t)(0.0000000000000000e+00); +out[19] = (real_t)(0.0000000000000000e+00); +out[20] = (real_t)(0.0000000000000000e+00); +} + +void acado_setObjQ1Q2( real_t* const tmpFx, real_t* const tmpQ1, real_t* const tmpQ2 ) +{ +tmpQ2[0] = + tmpFx[0]*(real_t)5.0000000000000000e+01; +tmpQ2[1] = + tmpFx[6]; +tmpQ2[2] = + tmpFx[12]*(real_t)1.0000000000000000e+02; +tmpQ2[3] = + tmpFx[18]; +tmpQ2[4] = + tmpFx[24]*(real_t)1.0000000000000000e+02; +tmpQ2[5] = + tmpFx[1]*(real_t)5.0000000000000000e+01; +tmpQ2[6] = + tmpFx[7]; +tmpQ2[7] = + tmpFx[13]*(real_t)1.0000000000000000e+02; +tmpQ2[8] = + tmpFx[19]; +tmpQ2[9] = + tmpFx[25]*(real_t)1.0000000000000000e+02; +tmpQ2[10] = + tmpFx[2]*(real_t)5.0000000000000000e+01; +tmpQ2[11] = + tmpFx[8]; +tmpQ2[12] = + tmpFx[14]*(real_t)1.0000000000000000e+02; +tmpQ2[13] = + tmpFx[20]; +tmpQ2[14] = + tmpFx[26]*(real_t)1.0000000000000000e+02; +tmpQ2[15] = + tmpFx[3]*(real_t)5.0000000000000000e+01; +tmpQ2[16] = + tmpFx[9]; +tmpQ2[17] = + tmpFx[15]*(real_t)1.0000000000000000e+02; +tmpQ2[18] = + tmpFx[21]; +tmpQ2[19] = + tmpFx[27]*(real_t)1.0000000000000000e+02; +tmpQ2[20] = + tmpFx[4]*(real_t)5.0000000000000000e+01; +tmpQ2[21] = + tmpFx[10]; +tmpQ2[22] = + tmpFx[16]*(real_t)1.0000000000000000e+02; +tmpQ2[23] = + tmpFx[22]; +tmpQ2[24] = + tmpFx[28]*(real_t)1.0000000000000000e+02; +tmpQ2[25] = + tmpFx[5]*(real_t)5.0000000000000000e+01; +tmpQ2[26] = + tmpFx[11]; +tmpQ2[27] = + tmpFx[17]*(real_t)1.0000000000000000e+02; +tmpQ2[28] = + tmpFx[23]; +tmpQ2[29] = + tmpFx[29]*(real_t)1.0000000000000000e+02; +tmpQ1[0] = + tmpQ2[0]*tmpFx[0] + tmpQ2[1]*tmpFx[6] + tmpQ2[2]*tmpFx[12] + tmpQ2[3]*tmpFx[18] + tmpQ2[4]*tmpFx[24]; +tmpQ1[1] = + tmpQ2[0]*tmpFx[1] + tmpQ2[1]*tmpFx[7] + tmpQ2[2]*tmpFx[13] + tmpQ2[3]*tmpFx[19] + tmpQ2[4]*tmpFx[25]; +tmpQ1[2] = + tmpQ2[0]*tmpFx[2] + tmpQ2[1]*tmpFx[8] + tmpQ2[2]*tmpFx[14] + tmpQ2[3]*tmpFx[20] + tmpQ2[4]*tmpFx[26]; +tmpQ1[3] = + tmpQ2[0]*tmpFx[3] + tmpQ2[1]*tmpFx[9] + tmpQ2[2]*tmpFx[15] + tmpQ2[3]*tmpFx[21] + tmpQ2[4]*tmpFx[27]; +tmpQ1[4] = + tmpQ2[0]*tmpFx[4] + tmpQ2[1]*tmpFx[10] + tmpQ2[2]*tmpFx[16] + tmpQ2[3]*tmpFx[22] + tmpQ2[4]*tmpFx[28]; +tmpQ1[5] = + tmpQ2[0]*tmpFx[5] + tmpQ2[1]*tmpFx[11] + tmpQ2[2]*tmpFx[17] + tmpQ2[3]*tmpFx[23] + tmpQ2[4]*tmpFx[29]; +tmpQ1[6] = + tmpQ2[5]*tmpFx[0] + tmpQ2[6]*tmpFx[6] + tmpQ2[7]*tmpFx[12] + tmpQ2[8]*tmpFx[18] + tmpQ2[9]*tmpFx[24]; +tmpQ1[7] = + tmpQ2[5]*tmpFx[1] + tmpQ2[6]*tmpFx[7] + tmpQ2[7]*tmpFx[13] + tmpQ2[8]*tmpFx[19] + tmpQ2[9]*tmpFx[25]; +tmpQ1[8] = + tmpQ2[5]*tmpFx[2] + tmpQ2[6]*tmpFx[8] + tmpQ2[7]*tmpFx[14] + tmpQ2[8]*tmpFx[20] + tmpQ2[9]*tmpFx[26]; +tmpQ1[9] = + tmpQ2[5]*tmpFx[3] + tmpQ2[6]*tmpFx[9] + tmpQ2[7]*tmpFx[15] + tmpQ2[8]*tmpFx[21] + tmpQ2[9]*tmpFx[27]; +tmpQ1[10] = + tmpQ2[5]*tmpFx[4] + tmpQ2[6]*tmpFx[10] + tmpQ2[7]*tmpFx[16] + tmpQ2[8]*tmpFx[22] + tmpQ2[9]*tmpFx[28]; +tmpQ1[11] = + tmpQ2[5]*tmpFx[5] + tmpQ2[6]*tmpFx[11] + tmpQ2[7]*tmpFx[17] + tmpQ2[8]*tmpFx[23] + tmpQ2[9]*tmpFx[29]; +tmpQ1[12] = + tmpQ2[10]*tmpFx[0] + tmpQ2[11]*tmpFx[6] + tmpQ2[12]*tmpFx[12] + tmpQ2[13]*tmpFx[18] + tmpQ2[14]*tmpFx[24]; +tmpQ1[13] = + tmpQ2[10]*tmpFx[1] + tmpQ2[11]*tmpFx[7] + tmpQ2[12]*tmpFx[13] + tmpQ2[13]*tmpFx[19] + tmpQ2[14]*tmpFx[25]; +tmpQ1[14] = + tmpQ2[10]*tmpFx[2] + tmpQ2[11]*tmpFx[8] + tmpQ2[12]*tmpFx[14] + tmpQ2[13]*tmpFx[20] + tmpQ2[14]*tmpFx[26]; +tmpQ1[15] = + tmpQ2[10]*tmpFx[3] + tmpQ2[11]*tmpFx[9] + tmpQ2[12]*tmpFx[15] + tmpQ2[13]*tmpFx[21] + tmpQ2[14]*tmpFx[27]; +tmpQ1[16] = + tmpQ2[10]*tmpFx[4] + tmpQ2[11]*tmpFx[10] + tmpQ2[12]*tmpFx[16] + tmpQ2[13]*tmpFx[22] + tmpQ2[14]*tmpFx[28]; +tmpQ1[17] = + tmpQ2[10]*tmpFx[5] + tmpQ2[11]*tmpFx[11] + tmpQ2[12]*tmpFx[17] + tmpQ2[13]*tmpFx[23] + tmpQ2[14]*tmpFx[29]; +tmpQ1[18] = + tmpQ2[15]*tmpFx[0] + tmpQ2[16]*tmpFx[6] + tmpQ2[17]*tmpFx[12] + tmpQ2[18]*tmpFx[18] + tmpQ2[19]*tmpFx[24]; +tmpQ1[19] = + tmpQ2[15]*tmpFx[1] + tmpQ2[16]*tmpFx[7] + tmpQ2[17]*tmpFx[13] + tmpQ2[18]*tmpFx[19] + tmpQ2[19]*tmpFx[25]; +tmpQ1[20] = + tmpQ2[15]*tmpFx[2] + tmpQ2[16]*tmpFx[8] + tmpQ2[17]*tmpFx[14] + tmpQ2[18]*tmpFx[20] + tmpQ2[19]*tmpFx[26]; +tmpQ1[21] = + tmpQ2[15]*tmpFx[3] + tmpQ2[16]*tmpFx[9] + tmpQ2[17]*tmpFx[15] + tmpQ2[18]*tmpFx[21] + tmpQ2[19]*tmpFx[27]; +tmpQ1[22] = + tmpQ2[15]*tmpFx[4] + tmpQ2[16]*tmpFx[10] + tmpQ2[17]*tmpFx[16] + tmpQ2[18]*tmpFx[22] + tmpQ2[19]*tmpFx[28]; +tmpQ1[23] = + tmpQ2[15]*tmpFx[5] + tmpQ2[16]*tmpFx[11] + tmpQ2[17]*tmpFx[17] + tmpQ2[18]*tmpFx[23] + tmpQ2[19]*tmpFx[29]; +tmpQ1[24] = + tmpQ2[20]*tmpFx[0] + tmpQ2[21]*tmpFx[6] + tmpQ2[22]*tmpFx[12] + tmpQ2[23]*tmpFx[18] + tmpQ2[24]*tmpFx[24]; +tmpQ1[25] = + tmpQ2[20]*tmpFx[1] + tmpQ2[21]*tmpFx[7] + tmpQ2[22]*tmpFx[13] + tmpQ2[23]*tmpFx[19] + tmpQ2[24]*tmpFx[25]; +tmpQ1[26] = + tmpQ2[20]*tmpFx[2] + tmpQ2[21]*tmpFx[8] + tmpQ2[22]*tmpFx[14] + tmpQ2[23]*tmpFx[20] + tmpQ2[24]*tmpFx[26]; +tmpQ1[27] = + tmpQ2[20]*tmpFx[3] + tmpQ2[21]*tmpFx[9] + tmpQ2[22]*tmpFx[15] + tmpQ2[23]*tmpFx[21] + tmpQ2[24]*tmpFx[27]; +tmpQ1[28] = + tmpQ2[20]*tmpFx[4] + tmpQ2[21]*tmpFx[10] + tmpQ2[22]*tmpFx[16] + tmpQ2[23]*tmpFx[22] + tmpQ2[24]*tmpFx[28]; +tmpQ1[29] = + tmpQ2[20]*tmpFx[5] + tmpQ2[21]*tmpFx[11] + tmpQ2[22]*tmpFx[17] + tmpQ2[23]*tmpFx[23] + tmpQ2[24]*tmpFx[29]; +tmpQ1[30] = + tmpQ2[25]*tmpFx[0] + tmpQ2[26]*tmpFx[6] + tmpQ2[27]*tmpFx[12] + tmpQ2[28]*tmpFx[18] + tmpQ2[29]*tmpFx[24]; +tmpQ1[31] = + tmpQ2[25]*tmpFx[1] + tmpQ2[26]*tmpFx[7] + tmpQ2[27]*tmpFx[13] + tmpQ2[28]*tmpFx[19] + tmpQ2[29]*tmpFx[25]; +tmpQ1[32] = + tmpQ2[25]*tmpFx[2] + tmpQ2[26]*tmpFx[8] + tmpQ2[27]*tmpFx[14] + tmpQ2[28]*tmpFx[20] + tmpQ2[29]*tmpFx[26]; +tmpQ1[33] = + tmpQ2[25]*tmpFx[3] + tmpQ2[26]*tmpFx[9] + tmpQ2[27]*tmpFx[15] + tmpQ2[28]*tmpFx[21] + tmpQ2[29]*tmpFx[27]; +tmpQ1[34] = + tmpQ2[25]*tmpFx[4] + tmpQ2[26]*tmpFx[10] + tmpQ2[27]*tmpFx[16] + tmpQ2[28]*tmpFx[22] + tmpQ2[29]*tmpFx[28]; +tmpQ1[35] = + tmpQ2[25]*tmpFx[5] + tmpQ2[26]*tmpFx[11] + tmpQ2[27]*tmpFx[17] + tmpQ2[28]*tmpFx[23] + tmpQ2[29]*tmpFx[29]; +} + +void acado_setObjR1R2( real_t* const tmpFu, real_t* const tmpR1, real_t* const tmpR2 ) +{ +tmpR2[0] = + tmpFu[0]*(real_t)5.0000000000000000e+01; +tmpR2[1] = + tmpFu[2]; +tmpR2[2] = + tmpFu[4]*(real_t)1.0000000000000000e+02; +tmpR2[3] = + tmpFu[6]; +tmpR2[4] = + tmpFu[8]*(real_t)1.0000000000000000e+02; +tmpR2[5] = + tmpFu[1]*(real_t)5.0000000000000000e+01; +tmpR2[6] = + tmpFu[3]; +tmpR2[7] = + tmpFu[5]*(real_t)1.0000000000000000e+02; +tmpR2[8] = + tmpFu[7]; +tmpR2[9] = + tmpFu[9]*(real_t)1.0000000000000000e+02; +tmpR1[0] = + tmpR2[0]*tmpFu[0] + tmpR2[1]*tmpFu[2] + tmpR2[2]*tmpFu[4] + tmpR2[3]*tmpFu[6] + tmpR2[4]*tmpFu[8]; +tmpR1[1] = + tmpR2[0]*tmpFu[1] + tmpR2[1]*tmpFu[3] + tmpR2[2]*tmpFu[5] + tmpR2[3]*tmpFu[7] + tmpR2[4]*tmpFu[9]; +tmpR1[2] = + tmpR2[5]*tmpFu[0] + tmpR2[6]*tmpFu[2] + tmpR2[7]*tmpFu[4] + tmpR2[8]*tmpFu[6] + tmpR2[9]*tmpFu[8]; +tmpR1[3] = + tmpR2[5]*tmpFu[1] + tmpR2[6]*tmpFu[3] + tmpR2[7]*tmpFu[5] + tmpR2[8]*tmpFu[7] + tmpR2[9]*tmpFu[9]; +} + +void acado_setObjQN1QN2( real_t* const tmpFx, real_t* const tmpQN1, real_t* const tmpQN2 ) +{ +tmpQN2[0] = + tmpFx[0]*(real_t)1.0000000000000000e+02; +tmpQN2[1] = + tmpFx[6]*(real_t)3.0000000000000000e+00; +tmpQN2[2] = + tmpFx[12]; +tmpQN2[3] = + tmpFx[1]*(real_t)1.0000000000000000e+02; +tmpQN2[4] = + tmpFx[7]*(real_t)3.0000000000000000e+00; +tmpQN2[5] = + tmpFx[13]; +tmpQN2[6] = + tmpFx[2]*(real_t)1.0000000000000000e+02; +tmpQN2[7] = + tmpFx[8]*(real_t)3.0000000000000000e+00; +tmpQN2[8] = + tmpFx[14]; +tmpQN2[9] = + tmpFx[3]*(real_t)1.0000000000000000e+02; +tmpQN2[10] = + tmpFx[9]*(real_t)3.0000000000000000e+00; +tmpQN2[11] = + tmpFx[15]; +tmpQN2[12] = + tmpFx[4]*(real_t)1.0000000000000000e+02; +tmpQN2[13] = + tmpFx[10]*(real_t)3.0000000000000000e+00; +tmpQN2[14] = + tmpFx[16]; +tmpQN2[15] = + tmpFx[5]*(real_t)1.0000000000000000e+02; +tmpQN2[16] = + tmpFx[11]*(real_t)3.0000000000000000e+00; +tmpQN2[17] = + tmpFx[17]; +tmpQN1[0] = + tmpQN2[0]*tmpFx[0] + tmpQN2[1]*tmpFx[6] + tmpQN2[2]*tmpFx[12]; +tmpQN1[1] = + tmpQN2[0]*tmpFx[1] + tmpQN2[1]*tmpFx[7] + tmpQN2[2]*tmpFx[13]; +tmpQN1[2] = + tmpQN2[0]*tmpFx[2] + tmpQN2[1]*tmpFx[8] + tmpQN2[2]*tmpFx[14]; +tmpQN1[3] = + tmpQN2[0]*tmpFx[3] + tmpQN2[1]*tmpFx[9] + tmpQN2[2]*tmpFx[15]; +tmpQN1[4] = + tmpQN2[0]*tmpFx[4] + tmpQN2[1]*tmpFx[10] + tmpQN2[2]*tmpFx[16]; +tmpQN1[5] = + tmpQN2[0]*tmpFx[5] + tmpQN2[1]*tmpFx[11] + tmpQN2[2]*tmpFx[17]; +tmpQN1[6] = + tmpQN2[3]*tmpFx[0] + tmpQN2[4]*tmpFx[6] + tmpQN2[5]*tmpFx[12]; +tmpQN1[7] = + tmpQN2[3]*tmpFx[1] + tmpQN2[4]*tmpFx[7] + tmpQN2[5]*tmpFx[13]; +tmpQN1[8] = + tmpQN2[3]*tmpFx[2] + tmpQN2[4]*tmpFx[8] + tmpQN2[5]*tmpFx[14]; +tmpQN1[9] = + tmpQN2[3]*tmpFx[3] + tmpQN2[4]*tmpFx[9] + tmpQN2[5]*tmpFx[15]; +tmpQN1[10] = + tmpQN2[3]*tmpFx[4] + tmpQN2[4]*tmpFx[10] + tmpQN2[5]*tmpFx[16]; +tmpQN1[11] = + tmpQN2[3]*tmpFx[5] + tmpQN2[4]*tmpFx[11] + tmpQN2[5]*tmpFx[17]; +tmpQN1[12] = + tmpQN2[6]*tmpFx[0] + tmpQN2[7]*tmpFx[6] + tmpQN2[8]*tmpFx[12]; +tmpQN1[13] = + tmpQN2[6]*tmpFx[1] + tmpQN2[7]*tmpFx[7] + tmpQN2[8]*tmpFx[13]; +tmpQN1[14] = + tmpQN2[6]*tmpFx[2] + tmpQN2[7]*tmpFx[8] + tmpQN2[8]*tmpFx[14]; +tmpQN1[15] = + tmpQN2[6]*tmpFx[3] + tmpQN2[7]*tmpFx[9] + tmpQN2[8]*tmpFx[15]; +tmpQN1[16] = + tmpQN2[6]*tmpFx[4] + tmpQN2[7]*tmpFx[10] + tmpQN2[8]*tmpFx[16]; +tmpQN1[17] = + tmpQN2[6]*tmpFx[5] + tmpQN2[7]*tmpFx[11] + tmpQN2[8]*tmpFx[17]; +tmpQN1[18] = + tmpQN2[9]*tmpFx[0] + tmpQN2[10]*tmpFx[6] + tmpQN2[11]*tmpFx[12]; +tmpQN1[19] = + tmpQN2[9]*tmpFx[1] + tmpQN2[10]*tmpFx[7] + tmpQN2[11]*tmpFx[13]; +tmpQN1[20] = + tmpQN2[9]*tmpFx[2] + tmpQN2[10]*tmpFx[8] + tmpQN2[11]*tmpFx[14]; +tmpQN1[21] = + tmpQN2[9]*tmpFx[3] + tmpQN2[10]*tmpFx[9] + tmpQN2[11]*tmpFx[15]; +tmpQN1[22] = + tmpQN2[9]*tmpFx[4] + tmpQN2[10]*tmpFx[10] + tmpQN2[11]*tmpFx[16]; +tmpQN1[23] = + tmpQN2[9]*tmpFx[5] + tmpQN2[10]*tmpFx[11] + tmpQN2[11]*tmpFx[17]; +tmpQN1[24] = + tmpQN2[12]*tmpFx[0] + tmpQN2[13]*tmpFx[6] + tmpQN2[14]*tmpFx[12]; +tmpQN1[25] = + tmpQN2[12]*tmpFx[1] + tmpQN2[13]*tmpFx[7] + tmpQN2[14]*tmpFx[13]; +tmpQN1[26] = + tmpQN2[12]*tmpFx[2] + tmpQN2[13]*tmpFx[8] + tmpQN2[14]*tmpFx[14]; +tmpQN1[27] = + tmpQN2[12]*tmpFx[3] + tmpQN2[13]*tmpFx[9] + tmpQN2[14]*tmpFx[15]; +tmpQN1[28] = + tmpQN2[12]*tmpFx[4] + tmpQN2[13]*tmpFx[10] + tmpQN2[14]*tmpFx[16]; +tmpQN1[29] = + tmpQN2[12]*tmpFx[5] + tmpQN2[13]*tmpFx[11] + tmpQN2[14]*tmpFx[17]; +tmpQN1[30] = + tmpQN2[15]*tmpFx[0] + tmpQN2[16]*tmpFx[6] + tmpQN2[17]*tmpFx[12]; +tmpQN1[31] = + tmpQN2[15]*tmpFx[1] + tmpQN2[16]*tmpFx[7] + tmpQN2[17]*tmpFx[13]; +tmpQN1[32] = + tmpQN2[15]*tmpFx[2] + tmpQN2[16]*tmpFx[8] + tmpQN2[17]*tmpFx[14]; +tmpQN1[33] = + tmpQN2[15]*tmpFx[3] + tmpQN2[16]*tmpFx[9] + tmpQN2[17]*tmpFx[15]; +tmpQN1[34] = + tmpQN2[15]*tmpFx[4] + tmpQN2[16]*tmpFx[10] + tmpQN2[17]*tmpFx[16]; +tmpQN1[35] = + tmpQN2[15]*tmpFx[5] + tmpQN2[16]*tmpFx[11] + tmpQN2[17]*tmpFx[17]; +} + +void acado_evaluateObjective( ) +{ +int runObj; +for (runObj = 0; runObj < 50; ++runObj) +{ +acadoWorkspace.objValueIn[0] = acadoVariables.x[runObj * 6]; +acadoWorkspace.objValueIn[1] = acadoVariables.x[runObj * 6 + 1]; +acadoWorkspace.objValueIn[2] = acadoVariables.x[runObj * 6 + 2]; +acadoWorkspace.objValueIn[3] = acadoVariables.x[runObj * 6 + 3]; +acadoWorkspace.objValueIn[4] = acadoVariables.x[runObj * 6 + 4]; +acadoWorkspace.objValueIn[5] = acadoVariables.x[runObj * 6 + 5]; +acadoWorkspace.objValueIn[6] = acadoVariables.u[runObj * 2]; +acadoWorkspace.objValueIn[7] = acadoVariables.u[runObj * 2 + 1]; +acadoWorkspace.objValueIn[8] = acadoVariables.od[runObj]; + +acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut ); +acadoWorkspace.Dy[runObj * 5] = acadoWorkspace.objValueOut[0]; +acadoWorkspace.Dy[runObj * 5 + 1] = acadoWorkspace.objValueOut[1]; +acadoWorkspace.Dy[runObj * 5 + 2] = acadoWorkspace.objValueOut[2]; +acadoWorkspace.Dy[runObj * 5 + 3] = acadoWorkspace.objValueOut[3]; +acadoWorkspace.Dy[runObj * 5 + 4] = acadoWorkspace.objValueOut[4]; + +acado_setObjQ1Q2( &(acadoWorkspace.objValueOut[ 5 ]), &(acadoWorkspace.Q1[ runObj * 36 ]), &(acadoWorkspace.Q2[ runObj * 30 ]) ); + +acado_setObjR1R2( &(acadoWorkspace.objValueOut[ 35 ]), &(acadoWorkspace.R1[ runObj * 4 ]), &(acadoWorkspace.R2[ runObj * 10 ]) ); + +} +acadoWorkspace.objValueIn[0] = acadoVariables.x[300]; +acadoWorkspace.objValueIn[1] = acadoVariables.x[301]; +acadoWorkspace.objValueIn[2] = acadoVariables.x[302]; +acadoWorkspace.objValueIn[3] = acadoVariables.x[303]; +acadoWorkspace.objValueIn[4] = acadoVariables.x[304]; +acadoWorkspace.objValueIn[5] = acadoVariables.x[305]; +acadoWorkspace.objValueIn[6] = acadoVariables.od[50]; +acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut ); + +acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0]; +acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1]; +acadoWorkspace.DyN[2] = acadoWorkspace.objValueOut[2]; + +acado_setObjQN1QN2( &(acadoWorkspace.objValueOut[ 3 ]), acadoWorkspace.QN1, acadoWorkspace.QN2 ); + +} + +void acado_multGxd( real_t* const dOld, real_t* const Gx1, real_t* const dNew ) +{ +dNew[0] += + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2] + Gx1[3]*dOld[3] + Gx1[4]*dOld[4] + Gx1[5]*dOld[5]; +dNew[1] += + Gx1[6]*dOld[0] + Gx1[7]*dOld[1] + Gx1[8]*dOld[2] + Gx1[9]*dOld[3] + Gx1[10]*dOld[4] + Gx1[11]*dOld[5]; +dNew[2] += + Gx1[12]*dOld[0] + Gx1[13]*dOld[1] + Gx1[14]*dOld[2] + Gx1[15]*dOld[3] + Gx1[16]*dOld[4] + Gx1[17]*dOld[5]; +dNew[3] += + Gx1[18]*dOld[0] + Gx1[19]*dOld[1] + Gx1[20]*dOld[2] + Gx1[21]*dOld[3] + Gx1[22]*dOld[4] + Gx1[23]*dOld[5]; +dNew[4] += + Gx1[24]*dOld[0] + Gx1[25]*dOld[1] + Gx1[26]*dOld[2] + Gx1[27]*dOld[3] + Gx1[28]*dOld[4] + Gx1[29]*dOld[5]; +dNew[5] += + Gx1[30]*dOld[0] + Gx1[31]*dOld[1] + Gx1[32]*dOld[2] + Gx1[33]*dOld[3] + Gx1[34]*dOld[4] + Gx1[35]*dOld[5]; +} + +void acado_moveGxT( real_t* const Gx1, real_t* const Gx2 ) +{ +Gx2[0] = Gx1[0]; +Gx2[1] = Gx1[1]; +Gx2[2] = Gx1[2]; +Gx2[3] = Gx1[3]; +Gx2[4] = Gx1[4]; +Gx2[5] = Gx1[5]; +Gx2[6] = Gx1[6]; +Gx2[7] = Gx1[7]; +Gx2[8] = Gx1[8]; +Gx2[9] = Gx1[9]; +Gx2[10] = Gx1[10]; +Gx2[11] = Gx1[11]; +Gx2[12] = Gx1[12]; +Gx2[13] = Gx1[13]; +Gx2[14] = Gx1[14]; +Gx2[15] = Gx1[15]; +Gx2[16] = Gx1[16]; +Gx2[17] = Gx1[17]; +Gx2[18] = Gx1[18]; +Gx2[19] = Gx1[19]; +Gx2[20] = Gx1[20]; +Gx2[21] = Gx1[21]; +Gx2[22] = Gx1[22]; +Gx2[23] = Gx1[23]; +Gx2[24] = Gx1[24]; +Gx2[25] = Gx1[25]; +Gx2[26] = Gx1[26]; +Gx2[27] = Gx1[27]; +Gx2[28] = Gx1[28]; +Gx2[29] = Gx1[29]; +Gx2[30] = Gx1[30]; +Gx2[31] = Gx1[31]; +Gx2[32] = Gx1[32]; +Gx2[33] = Gx1[33]; +Gx2[34] = Gx1[34]; +Gx2[35] = Gx1[35]; +} + +void acado_multGxGx( real_t* const Gx1, real_t* const Gx2, real_t* const Gx3 ) +{ +Gx3[0] = + Gx1[0]*Gx2[0] + Gx1[1]*Gx2[6] + Gx1[2]*Gx2[12] + Gx1[3]*Gx2[18] + Gx1[4]*Gx2[24] + Gx1[5]*Gx2[30]; +Gx3[1] = + Gx1[0]*Gx2[1] + Gx1[1]*Gx2[7] + Gx1[2]*Gx2[13] + Gx1[3]*Gx2[19] + Gx1[4]*Gx2[25] + Gx1[5]*Gx2[31]; +Gx3[2] = + Gx1[0]*Gx2[2] + Gx1[1]*Gx2[8] + Gx1[2]*Gx2[14] + Gx1[3]*Gx2[20] + Gx1[4]*Gx2[26] + Gx1[5]*Gx2[32]; +Gx3[3] = + Gx1[0]*Gx2[3] + Gx1[1]*Gx2[9] + Gx1[2]*Gx2[15] + Gx1[3]*Gx2[21] + Gx1[4]*Gx2[27] + Gx1[5]*Gx2[33]; +Gx3[4] = + Gx1[0]*Gx2[4] + Gx1[1]*Gx2[10] + Gx1[2]*Gx2[16] + Gx1[3]*Gx2[22] + Gx1[4]*Gx2[28] + Gx1[5]*Gx2[34]; +Gx3[5] = + Gx1[0]*Gx2[5] + Gx1[1]*Gx2[11] + Gx1[2]*Gx2[17] + Gx1[3]*Gx2[23] + Gx1[4]*Gx2[29] + Gx1[5]*Gx2[35]; +Gx3[6] = + Gx1[6]*Gx2[0] + Gx1[7]*Gx2[6] + Gx1[8]*Gx2[12] + Gx1[9]*Gx2[18] + Gx1[10]*Gx2[24] + Gx1[11]*Gx2[30]; +Gx3[7] = + Gx1[6]*Gx2[1] + Gx1[7]*Gx2[7] + Gx1[8]*Gx2[13] + Gx1[9]*Gx2[19] + Gx1[10]*Gx2[25] + Gx1[11]*Gx2[31]; +Gx3[8] = + Gx1[6]*Gx2[2] + Gx1[7]*Gx2[8] + Gx1[8]*Gx2[14] + Gx1[9]*Gx2[20] + Gx1[10]*Gx2[26] + Gx1[11]*Gx2[32]; +Gx3[9] = + Gx1[6]*Gx2[3] + Gx1[7]*Gx2[9] + Gx1[8]*Gx2[15] + Gx1[9]*Gx2[21] + Gx1[10]*Gx2[27] + Gx1[11]*Gx2[33]; +Gx3[10] = + Gx1[6]*Gx2[4] + Gx1[7]*Gx2[10] + Gx1[8]*Gx2[16] + Gx1[9]*Gx2[22] + Gx1[10]*Gx2[28] + Gx1[11]*Gx2[34]; +Gx3[11] = + Gx1[6]*Gx2[5] + Gx1[7]*Gx2[11] + Gx1[8]*Gx2[17] + Gx1[9]*Gx2[23] + Gx1[10]*Gx2[29] + Gx1[11]*Gx2[35]; +Gx3[12] = + Gx1[12]*Gx2[0] + Gx1[13]*Gx2[6] + Gx1[14]*Gx2[12] + Gx1[15]*Gx2[18] + Gx1[16]*Gx2[24] + Gx1[17]*Gx2[30]; +Gx3[13] = + Gx1[12]*Gx2[1] + Gx1[13]*Gx2[7] + Gx1[14]*Gx2[13] + Gx1[15]*Gx2[19] + Gx1[16]*Gx2[25] + Gx1[17]*Gx2[31]; +Gx3[14] = + Gx1[12]*Gx2[2] + Gx1[13]*Gx2[8] + Gx1[14]*Gx2[14] + Gx1[15]*Gx2[20] + Gx1[16]*Gx2[26] + Gx1[17]*Gx2[32]; +Gx3[15] = + Gx1[12]*Gx2[3] + Gx1[13]*Gx2[9] + Gx1[14]*Gx2[15] + Gx1[15]*Gx2[21] + Gx1[16]*Gx2[27] + Gx1[17]*Gx2[33]; +Gx3[16] = + Gx1[12]*Gx2[4] + Gx1[13]*Gx2[10] + Gx1[14]*Gx2[16] + Gx1[15]*Gx2[22] + Gx1[16]*Gx2[28] + Gx1[17]*Gx2[34]; +Gx3[17] = + Gx1[12]*Gx2[5] + Gx1[13]*Gx2[11] + Gx1[14]*Gx2[17] + Gx1[15]*Gx2[23] + Gx1[16]*Gx2[29] + Gx1[17]*Gx2[35]; +Gx3[18] = + Gx1[18]*Gx2[0] + Gx1[19]*Gx2[6] + Gx1[20]*Gx2[12] + Gx1[21]*Gx2[18] + Gx1[22]*Gx2[24] + Gx1[23]*Gx2[30]; +Gx3[19] = + Gx1[18]*Gx2[1] + Gx1[19]*Gx2[7] + Gx1[20]*Gx2[13] + Gx1[21]*Gx2[19] + Gx1[22]*Gx2[25] + Gx1[23]*Gx2[31]; +Gx3[20] = + Gx1[18]*Gx2[2] + Gx1[19]*Gx2[8] + Gx1[20]*Gx2[14] + Gx1[21]*Gx2[20] + Gx1[22]*Gx2[26] + Gx1[23]*Gx2[32]; +Gx3[21] = + Gx1[18]*Gx2[3] + Gx1[19]*Gx2[9] + Gx1[20]*Gx2[15] + Gx1[21]*Gx2[21] + Gx1[22]*Gx2[27] + Gx1[23]*Gx2[33]; +Gx3[22] = + Gx1[18]*Gx2[4] + Gx1[19]*Gx2[10] + Gx1[20]*Gx2[16] + Gx1[21]*Gx2[22] + Gx1[22]*Gx2[28] + Gx1[23]*Gx2[34]; +Gx3[23] = + Gx1[18]*Gx2[5] + Gx1[19]*Gx2[11] + Gx1[20]*Gx2[17] + Gx1[21]*Gx2[23] + Gx1[22]*Gx2[29] + Gx1[23]*Gx2[35]; +Gx3[24] = + Gx1[24]*Gx2[0] + Gx1[25]*Gx2[6] + Gx1[26]*Gx2[12] + Gx1[27]*Gx2[18] + Gx1[28]*Gx2[24] + Gx1[29]*Gx2[30]; +Gx3[25] = + Gx1[24]*Gx2[1] + Gx1[25]*Gx2[7] + Gx1[26]*Gx2[13] + Gx1[27]*Gx2[19] + Gx1[28]*Gx2[25] + Gx1[29]*Gx2[31]; +Gx3[26] = + Gx1[24]*Gx2[2] + Gx1[25]*Gx2[8] + Gx1[26]*Gx2[14] + Gx1[27]*Gx2[20] + Gx1[28]*Gx2[26] + Gx1[29]*Gx2[32]; +Gx3[27] = + Gx1[24]*Gx2[3] + Gx1[25]*Gx2[9] + Gx1[26]*Gx2[15] + Gx1[27]*Gx2[21] + Gx1[28]*Gx2[27] + Gx1[29]*Gx2[33]; +Gx3[28] = + Gx1[24]*Gx2[4] + Gx1[25]*Gx2[10] + Gx1[26]*Gx2[16] + Gx1[27]*Gx2[22] + Gx1[28]*Gx2[28] + Gx1[29]*Gx2[34]; +Gx3[29] = + Gx1[24]*Gx2[5] + Gx1[25]*Gx2[11] + Gx1[26]*Gx2[17] + Gx1[27]*Gx2[23] + Gx1[28]*Gx2[29] + Gx1[29]*Gx2[35]; +Gx3[30] = + Gx1[30]*Gx2[0] + Gx1[31]*Gx2[6] + Gx1[32]*Gx2[12] + Gx1[33]*Gx2[18] + Gx1[34]*Gx2[24] + Gx1[35]*Gx2[30]; +Gx3[31] = + Gx1[30]*Gx2[1] + Gx1[31]*Gx2[7] + Gx1[32]*Gx2[13] + Gx1[33]*Gx2[19] + Gx1[34]*Gx2[25] + Gx1[35]*Gx2[31]; +Gx3[32] = + Gx1[30]*Gx2[2] + Gx1[31]*Gx2[8] + Gx1[32]*Gx2[14] + Gx1[33]*Gx2[20] + Gx1[34]*Gx2[26] + Gx1[35]*Gx2[32]; +Gx3[33] = + Gx1[30]*Gx2[3] + Gx1[31]*Gx2[9] + Gx1[32]*Gx2[15] + Gx1[33]*Gx2[21] + Gx1[34]*Gx2[27] + Gx1[35]*Gx2[33]; +Gx3[34] = + Gx1[30]*Gx2[4] + Gx1[31]*Gx2[10] + Gx1[32]*Gx2[16] + Gx1[33]*Gx2[22] + Gx1[34]*Gx2[28] + Gx1[35]*Gx2[34]; +Gx3[35] = + Gx1[30]*Gx2[5] + Gx1[31]*Gx2[11] + Gx1[32]*Gx2[17] + Gx1[33]*Gx2[23] + Gx1[34]*Gx2[29] + Gx1[35]*Gx2[35]; +} + +void acado_multGxGu( real_t* const Gx1, real_t* const Gu1, real_t* const Gu2 ) +{ +Gu2[0] = + Gx1[0]*Gu1[0] + Gx1[1]*Gu1[2] + Gx1[2]*Gu1[4] + Gx1[3]*Gu1[6] + Gx1[4]*Gu1[8] + Gx1[5]*Gu1[10]; +Gu2[1] = + Gx1[0]*Gu1[1] + Gx1[1]*Gu1[3] + Gx1[2]*Gu1[5] + Gx1[3]*Gu1[7] + Gx1[4]*Gu1[9] + Gx1[5]*Gu1[11]; +Gu2[2] = + Gx1[6]*Gu1[0] + Gx1[7]*Gu1[2] + Gx1[8]*Gu1[4] + Gx1[9]*Gu1[6] + Gx1[10]*Gu1[8] + Gx1[11]*Gu1[10]; +Gu2[3] = + Gx1[6]*Gu1[1] + Gx1[7]*Gu1[3] + Gx1[8]*Gu1[5] + Gx1[9]*Gu1[7] + Gx1[10]*Gu1[9] + Gx1[11]*Gu1[11]; +Gu2[4] = + Gx1[12]*Gu1[0] + Gx1[13]*Gu1[2] + Gx1[14]*Gu1[4] + Gx1[15]*Gu1[6] + Gx1[16]*Gu1[8] + Gx1[17]*Gu1[10]; +Gu2[5] = + Gx1[12]*Gu1[1] + Gx1[13]*Gu1[3] + Gx1[14]*Gu1[5] + Gx1[15]*Gu1[7] + Gx1[16]*Gu1[9] + Gx1[17]*Gu1[11]; +Gu2[6] = + Gx1[18]*Gu1[0] + Gx1[19]*Gu1[2] + Gx1[20]*Gu1[4] + Gx1[21]*Gu1[6] + Gx1[22]*Gu1[8] + Gx1[23]*Gu1[10]; +Gu2[7] = + Gx1[18]*Gu1[1] + Gx1[19]*Gu1[3] + Gx1[20]*Gu1[5] + Gx1[21]*Gu1[7] + Gx1[22]*Gu1[9] + Gx1[23]*Gu1[11]; +Gu2[8] = + Gx1[24]*Gu1[0] + Gx1[25]*Gu1[2] + Gx1[26]*Gu1[4] + Gx1[27]*Gu1[6] + Gx1[28]*Gu1[8] + Gx1[29]*Gu1[10]; +Gu2[9] = + Gx1[24]*Gu1[1] + Gx1[25]*Gu1[3] + Gx1[26]*Gu1[5] + Gx1[27]*Gu1[7] + Gx1[28]*Gu1[9] + Gx1[29]*Gu1[11]; +Gu2[10] = + Gx1[30]*Gu1[0] + Gx1[31]*Gu1[2] + Gx1[32]*Gu1[4] + Gx1[33]*Gu1[6] + Gx1[34]*Gu1[8] + Gx1[35]*Gu1[10]; +Gu2[11] = + Gx1[30]*Gu1[1] + Gx1[31]*Gu1[3] + Gx1[32]*Gu1[5] + Gx1[33]*Gu1[7] + Gx1[34]*Gu1[9] + Gx1[35]*Gu1[11]; +} + +void acado_moveGuE( real_t* const Gu1, real_t* const Gu2 ) +{ +Gu2[0] = Gu1[0]; +Gu2[1] = Gu1[1]; +Gu2[2] = Gu1[2]; +Gu2[3] = Gu1[3]; +Gu2[4] = Gu1[4]; +Gu2[5] = Gu1[5]; +Gu2[6] = Gu1[6]; +Gu2[7] = Gu1[7]; +Gu2[8] = Gu1[8]; +Gu2[9] = Gu1[9]; +Gu2[10] = Gu1[10]; +Gu2[11] = Gu1[11]; +} + +void acado_setBlockH11( int iRow, int iCol, real_t* const Gu1, real_t* const Gu2 ) +{ +acadoWorkspace.H[(iRow * 200) + (iCol * 2)] += + Gu1[0]*Gu2[0] + Gu1[2]*Gu2[2] + Gu1[4]*Gu2[4] + Gu1[6]*Gu2[6] + Gu1[8]*Gu2[8] + Gu1[10]*Gu2[10]; +acadoWorkspace.H[(iRow * 200) + (iCol * 2 + 1)] += + Gu1[0]*Gu2[1] + Gu1[2]*Gu2[3] + Gu1[4]*Gu2[5] + Gu1[6]*Gu2[7] + Gu1[8]*Gu2[9] + Gu1[10]*Gu2[11]; +acadoWorkspace.H[(iRow * 200 + 100) + (iCol * 2)] += + Gu1[1]*Gu2[0] + Gu1[3]*Gu2[2] + Gu1[5]*Gu2[4] + Gu1[7]*Gu2[6] + Gu1[9]*Gu2[8] + Gu1[11]*Gu2[10]; +acadoWorkspace.H[(iRow * 200 + 100) + (iCol * 2 + 1)] += + Gu1[1]*Gu2[1] + Gu1[3]*Gu2[3] + Gu1[5]*Gu2[5] + Gu1[7]*Gu2[7] + Gu1[9]*Gu2[9] + Gu1[11]*Gu2[11]; +} + +void acado_setBlockH11_R1( int iRow, int iCol, real_t* const R11 ) +{ +acadoWorkspace.H[(iRow * 200) + (iCol * 2)] = R11[0]; +acadoWorkspace.H[(iRow * 200) + (iCol * 2 + 1)] = R11[1]; +acadoWorkspace.H[(iRow * 200 + 100) + (iCol * 2)] = R11[2]; +acadoWorkspace.H[(iRow * 200 + 100) + (iCol * 2 + 1)] = R11[3]; +} + +void acado_zeroBlockH11( int iRow, int iCol ) +{ +acadoWorkspace.H[(iRow * 200) + (iCol * 2)] = 0.0000000000000000e+00; +acadoWorkspace.H[(iRow * 200) + (iCol * 2 + 1)] = 0.0000000000000000e+00; +acadoWorkspace.H[(iRow * 200 + 100) + (iCol * 2)] = 0.0000000000000000e+00; +acadoWorkspace.H[(iRow * 200 + 100) + (iCol * 2 + 1)] = 0.0000000000000000e+00; +} + +void acado_copyHTH( int iRow, int iCol ) +{ +acadoWorkspace.H[(iRow * 200) + (iCol * 2)] = acadoWorkspace.H[(iCol * 200) + (iRow * 2)]; +acadoWorkspace.H[(iRow * 200) + (iCol * 2 + 1)] = acadoWorkspace.H[(iCol * 200 + 100) + (iRow * 2)]; +acadoWorkspace.H[(iRow * 200 + 100) + (iCol * 2)] = acadoWorkspace.H[(iCol * 200) + (iRow * 2 + 1)]; +acadoWorkspace.H[(iRow * 200 + 100) + (iCol * 2 + 1)] = acadoWorkspace.H[(iCol * 200 + 100) + (iRow * 2 + 1)]; +} + +void acado_multQ1d( real_t* const Gx1, real_t* const dOld, real_t* const dNew ) +{ +dNew[0] = + Gx1[0]*dOld[0] + Gx1[1]*dOld[1] + Gx1[2]*dOld[2] + Gx1[3]*dOld[3] + Gx1[4]*dOld[4] + Gx1[5]*dOld[5]; +dNew[1] = + Gx1[6]*dOld[0] + Gx1[7]*dOld[1] + Gx1[8]*dOld[2] + Gx1[9]*dOld[3] + Gx1[10]*dOld[4] + Gx1[11]*dOld[5]; +dNew[2] = + Gx1[12]*dOld[0] + Gx1[13]*dOld[1] + Gx1[14]*dOld[2] + Gx1[15]*dOld[3] + Gx1[16]*dOld[4] + Gx1[17]*dOld[5]; +dNew[3] = + Gx1[18]*dOld[0] + Gx1[19]*dOld[1] + Gx1[20]*dOld[2] + Gx1[21]*dOld[3] + Gx1[22]*dOld[4] + Gx1[23]*dOld[5]; +dNew[4] = + Gx1[24]*dOld[0] + Gx1[25]*dOld[1] + Gx1[26]*dOld[2] + Gx1[27]*dOld[3] + Gx1[28]*dOld[4] + Gx1[29]*dOld[5]; +dNew[5] = + Gx1[30]*dOld[0] + Gx1[31]*dOld[1] + Gx1[32]*dOld[2] + Gx1[33]*dOld[3] + Gx1[34]*dOld[4] + Gx1[35]*dOld[5]; +} + +void acado_multQN1d( real_t* const QN1, real_t* const dOld, real_t* const dNew ) +{ +dNew[0] = + acadoWorkspace.QN1[0]*dOld[0] + acadoWorkspace.QN1[1]*dOld[1] + acadoWorkspace.QN1[2]*dOld[2] + acadoWorkspace.QN1[3]*dOld[3] + acadoWorkspace.QN1[4]*dOld[4] + acadoWorkspace.QN1[5]*dOld[5]; +dNew[1] = + acadoWorkspace.QN1[6]*dOld[0] + acadoWorkspace.QN1[7]*dOld[1] + acadoWorkspace.QN1[8]*dOld[2] + acadoWorkspace.QN1[9]*dOld[3] + acadoWorkspace.QN1[10]*dOld[4] + acadoWorkspace.QN1[11]*dOld[5]; +dNew[2] = + acadoWorkspace.QN1[12]*dOld[0] + acadoWorkspace.QN1[13]*dOld[1] + acadoWorkspace.QN1[14]*dOld[2] + acadoWorkspace.QN1[15]*dOld[3] + acadoWorkspace.QN1[16]*dOld[4] + acadoWorkspace.QN1[17]*dOld[5]; +dNew[3] = + acadoWorkspace.QN1[18]*dOld[0] + acadoWorkspace.QN1[19]*dOld[1] + acadoWorkspace.QN1[20]*dOld[2] + acadoWorkspace.QN1[21]*dOld[3] + acadoWorkspace.QN1[22]*dOld[4] + acadoWorkspace.QN1[23]*dOld[5]; +dNew[4] = + acadoWorkspace.QN1[24]*dOld[0] + acadoWorkspace.QN1[25]*dOld[1] + acadoWorkspace.QN1[26]*dOld[2] + acadoWorkspace.QN1[27]*dOld[3] + acadoWorkspace.QN1[28]*dOld[4] + acadoWorkspace.QN1[29]*dOld[5]; +dNew[5] = + acadoWorkspace.QN1[30]*dOld[0] + acadoWorkspace.QN1[31]*dOld[1] + acadoWorkspace.QN1[32]*dOld[2] + acadoWorkspace.QN1[33]*dOld[3] + acadoWorkspace.QN1[34]*dOld[4] + acadoWorkspace.QN1[35]*dOld[5]; +} + +void acado_multRDy( real_t* const R2, real_t* const Dy1, real_t* const RDy1 ) +{ +RDy1[0] = + R2[0]*Dy1[0] + R2[1]*Dy1[1] + R2[2]*Dy1[2] + R2[3]*Dy1[3] + R2[4]*Dy1[4]; +RDy1[1] = + R2[5]*Dy1[0] + R2[6]*Dy1[1] + R2[7]*Dy1[2] + R2[8]*Dy1[3] + R2[9]*Dy1[4]; +} + +void acado_multQDy( real_t* const Q2, real_t* const Dy1, real_t* const QDy1 ) +{ +QDy1[0] = + Q2[0]*Dy1[0] + Q2[1]*Dy1[1] + Q2[2]*Dy1[2] + Q2[3]*Dy1[3] + Q2[4]*Dy1[4]; +QDy1[1] = + Q2[5]*Dy1[0] + Q2[6]*Dy1[1] + Q2[7]*Dy1[2] + Q2[8]*Dy1[3] + Q2[9]*Dy1[4]; +QDy1[2] = + Q2[10]*Dy1[0] + Q2[11]*Dy1[1] + Q2[12]*Dy1[2] + Q2[13]*Dy1[3] + Q2[14]*Dy1[4]; +QDy1[3] = + Q2[15]*Dy1[0] + Q2[16]*Dy1[1] + Q2[17]*Dy1[2] + Q2[18]*Dy1[3] + Q2[19]*Dy1[4]; +QDy1[4] = + Q2[20]*Dy1[0] + Q2[21]*Dy1[1] + Q2[22]*Dy1[2] + Q2[23]*Dy1[3] + Q2[24]*Dy1[4]; +QDy1[5] = + Q2[25]*Dy1[0] + Q2[26]*Dy1[1] + Q2[27]*Dy1[2] + Q2[28]*Dy1[3] + Q2[29]*Dy1[4]; +} + +void acado_multEQDy( real_t* const E1, real_t* const QDy1, real_t* const U1 ) +{ +U1[0] += + E1[0]*QDy1[0] + E1[2]*QDy1[1] + E1[4]*QDy1[2] + E1[6]*QDy1[3] + E1[8]*QDy1[4] + E1[10]*QDy1[5]; +U1[1] += + E1[1]*QDy1[0] + E1[3]*QDy1[1] + E1[5]*QDy1[2] + E1[7]*QDy1[3] + E1[9]*QDy1[4] + E1[11]*QDy1[5]; +} + +void acado_multQETGx( real_t* const E1, real_t* const Gx1, real_t* const H101 ) +{ +H101[0] += + E1[0]*Gx1[0] + E1[2]*Gx1[6] + E1[4]*Gx1[12] + E1[6]*Gx1[18] + E1[8]*Gx1[24] + E1[10]*Gx1[30]; +H101[1] += + E1[0]*Gx1[1] + E1[2]*Gx1[7] + E1[4]*Gx1[13] + E1[6]*Gx1[19] + E1[8]*Gx1[25] + E1[10]*Gx1[31]; +H101[2] += + E1[0]*Gx1[2] + E1[2]*Gx1[8] + E1[4]*Gx1[14] + E1[6]*Gx1[20] + E1[8]*Gx1[26] + E1[10]*Gx1[32]; +H101[3] += + E1[0]*Gx1[3] + E1[2]*Gx1[9] + E1[4]*Gx1[15] + E1[6]*Gx1[21] + E1[8]*Gx1[27] + E1[10]*Gx1[33]; +H101[4] += + E1[0]*Gx1[4] + E1[2]*Gx1[10] + E1[4]*Gx1[16] + E1[6]*Gx1[22] + E1[8]*Gx1[28] + E1[10]*Gx1[34]; +H101[5] += + E1[0]*Gx1[5] + E1[2]*Gx1[11] + E1[4]*Gx1[17] + E1[6]*Gx1[23] + E1[8]*Gx1[29] + E1[10]*Gx1[35]; +H101[6] += + E1[1]*Gx1[0] + E1[3]*Gx1[6] + E1[5]*Gx1[12] + E1[7]*Gx1[18] + E1[9]*Gx1[24] + E1[11]*Gx1[30]; +H101[7] += + E1[1]*Gx1[1] + E1[3]*Gx1[7] + E1[5]*Gx1[13] + E1[7]*Gx1[19] + E1[9]*Gx1[25] + E1[11]*Gx1[31]; +H101[8] += + E1[1]*Gx1[2] + E1[3]*Gx1[8] + E1[5]*Gx1[14] + E1[7]*Gx1[20] + E1[9]*Gx1[26] + E1[11]*Gx1[32]; +H101[9] += + E1[1]*Gx1[3] + E1[3]*Gx1[9] + E1[5]*Gx1[15] + E1[7]*Gx1[21] + E1[9]*Gx1[27] + E1[11]*Gx1[33]; +H101[10] += + E1[1]*Gx1[4] + E1[3]*Gx1[10] + E1[5]*Gx1[16] + E1[7]*Gx1[22] + E1[9]*Gx1[28] + E1[11]*Gx1[34]; +H101[11] += + E1[1]*Gx1[5] + E1[3]*Gx1[11] + E1[5]*Gx1[17] + E1[7]*Gx1[23] + E1[9]*Gx1[29] + E1[11]*Gx1[35]; +} + +void acado_zeroBlockH10( real_t* const H101 ) +{ +{ int lCopy; for (lCopy = 0; lCopy < 12; lCopy++) H101[ lCopy ] = 0; } +} + +void acado_multEDu( real_t* const E1, real_t* const U1, real_t* const dNew ) +{ +dNew[0] += + E1[0]*U1[0] + E1[1]*U1[1]; +dNew[1] += + E1[2]*U1[0] + E1[3]*U1[1]; +dNew[2] += + E1[4]*U1[0] + E1[5]*U1[1]; +dNew[3] += + E1[6]*U1[0] + E1[7]*U1[1]; +dNew[4] += + E1[8]*U1[0] + E1[9]*U1[1]; +dNew[5] += + E1[10]*U1[0] + E1[11]*U1[1]; +} + +void acado_multHxC( real_t* const Hx, real_t* const Gx, real_t* const A01 ) +{ +A01[0] = + Hx[0]*Gx[0] + Hx[1]*Gx[6] + Hx[2]*Gx[12] + Hx[3]*Gx[18] + Hx[4]*Gx[24] + Hx[5]*Gx[30]; +A01[1] = + Hx[0]*Gx[1] + Hx[1]*Gx[7] + Hx[2]*Gx[13] + Hx[3]*Gx[19] + Hx[4]*Gx[25] + Hx[5]*Gx[31]; +A01[2] = + Hx[0]*Gx[2] + Hx[1]*Gx[8] + Hx[2]*Gx[14] + Hx[3]*Gx[20] + Hx[4]*Gx[26] + Hx[5]*Gx[32]; +A01[3] = + Hx[0]*Gx[3] + Hx[1]*Gx[9] + Hx[2]*Gx[15] + Hx[3]*Gx[21] + Hx[4]*Gx[27] + Hx[5]*Gx[33]; +A01[4] = + Hx[0]*Gx[4] + Hx[1]*Gx[10] + Hx[2]*Gx[16] + Hx[3]*Gx[22] + Hx[4]*Gx[28] + Hx[5]*Gx[34]; +A01[5] = + Hx[0]*Gx[5] + Hx[1]*Gx[11] + Hx[2]*Gx[17] + Hx[3]*Gx[23] + Hx[4]*Gx[29] + Hx[5]*Gx[35]; +A01[6] = + Hx[6]*Gx[0] + Hx[7]*Gx[6] + Hx[8]*Gx[12] + Hx[9]*Gx[18] + Hx[10]*Gx[24] + Hx[11]*Gx[30]; +A01[7] = + Hx[6]*Gx[1] + Hx[7]*Gx[7] + Hx[8]*Gx[13] + Hx[9]*Gx[19] + Hx[10]*Gx[25] + Hx[11]*Gx[31]; +A01[8] = + Hx[6]*Gx[2] + Hx[7]*Gx[8] + Hx[8]*Gx[14] + Hx[9]*Gx[20] + Hx[10]*Gx[26] + Hx[11]*Gx[32]; +A01[9] = + Hx[6]*Gx[3] + Hx[7]*Gx[9] + Hx[8]*Gx[15] + Hx[9]*Gx[21] + Hx[10]*Gx[27] + Hx[11]*Gx[33]; +A01[10] = + Hx[6]*Gx[4] + Hx[7]*Gx[10] + Hx[8]*Gx[16] + Hx[9]*Gx[22] + Hx[10]*Gx[28] + Hx[11]*Gx[34]; +A01[11] = + Hx[6]*Gx[5] + Hx[7]*Gx[11] + Hx[8]*Gx[17] + Hx[9]*Gx[23] + Hx[10]*Gx[29] + Hx[11]*Gx[35]; +} + +void acado_multHxE( real_t* const Hx, real_t* const E, int row, int col ) +{ +acadoWorkspace.A[(row * 200 + 20000) + (col * 2)] = + Hx[0]*E[0] + Hx[1]*E[2] + Hx[2]*E[4] + Hx[3]*E[6] + Hx[4]*E[8] + Hx[5]*E[10]; +acadoWorkspace.A[(row * 200 + 20000) + (col * 2 + 1)] = + Hx[0]*E[1] + Hx[1]*E[3] + Hx[2]*E[5] + Hx[3]*E[7] + Hx[4]*E[9] + Hx[5]*E[11]; +acadoWorkspace.A[(row * 200 + 20100) + (col * 2)] = + Hx[6]*E[0] + Hx[7]*E[2] + Hx[8]*E[4] + Hx[9]*E[6] + Hx[10]*E[8] + Hx[11]*E[10]; +acadoWorkspace.A[(row * 200 + 20100) + (col * 2 + 1)] = + Hx[6]*E[1] + Hx[7]*E[3] + Hx[8]*E[5] + Hx[9]*E[7] + Hx[10]*E[9] + Hx[11]*E[11]; +} + +void acado_macHxd( real_t* const Hx, real_t* const tmpd, real_t* const lbA, real_t* const ubA ) +{ +acadoWorkspace.evHxd[0] = + Hx[0]*tmpd[0] + Hx[1]*tmpd[1] + Hx[2]*tmpd[2] + Hx[3]*tmpd[3] + Hx[4]*tmpd[4] + Hx[5]*tmpd[5]; +acadoWorkspace.evHxd[1] = + Hx[6]*tmpd[0] + Hx[7]*tmpd[1] + Hx[8]*tmpd[2] + Hx[9]*tmpd[3] + Hx[10]*tmpd[4] + Hx[11]*tmpd[5]; +lbA[0] -= acadoWorkspace.evHxd[0]; +lbA[1] -= acadoWorkspace.evHxd[1]; +ubA[0] -= acadoWorkspace.evHxd[0]; +ubA[1] -= acadoWorkspace.evHxd[1]; +} + +void acado_evaluatePathConstraints(const real_t* in, real_t* out) +{ +const real_t* xd = in; +const real_t* od = in + 8; +/* Vector of auxiliary variables; number of elements: 53. */ +real_t* a = acadoWorkspace.conAuxVar; + +/* Compute intermediate quantities: */ +a[0] = (cos(xd[2])); +a[1] = (pow(od[0],4)); +a[2] = (pow(od[0],3)); +a[3] = ((od[0])*(od[0])); +a[4] = ((real_t)(1.4490000000000000e+03)/((((a[1]+((real_t)(1.4680000000000001e+02)*a[2]))+((real_t)(-2.4380000000000000e+03)*a[3]))+((real_t)(-5.0519999999999998e-01)*od[0]))+(real_t)(1.4570000000000000e+03))); +a[5] = (xd[5]/a[4]); +a[6] = (tan(a[5])); +a[7] = ((a[6]*xd[3])/(real_t)(1.5349999999999999e+00)); +a[8] = (a[7]*(real_t)(7.6749999999999996e-01)); +a[9] = (sin(xd[2])); +a[10] = (((xd[3]*a[0])-(a[8]*a[9]))/((real_t)(1.0000000000000000e+00)-(xd[1]*od[0]))); +a[11] = (real_t)(0.0000000000000000e+00); +a[12] = (real_t)(-1.0000000000000000e+00); +a[13] = (od[0]*a[12]); +a[14] = ((real_t)(1.0000000000000000e+00)/((real_t)(1.0000000000000000e+00)-(xd[1]*od[0]))); +a[15] = (a[14]*a[14]); +a[16] = ((real_t)(-1.0000000000000000e+00)*a[15]); +a[17] = (a[16]*((xd[3]*a[0])-(a[8]*a[9]))); +a[18] = (a[13]*a[17]); +a[19] = ((real_t)(-1.0000000000000000e+00)*(sin(xd[2]))); +a[20] = (a[19]*xd[3]); +a[21] = (cos(xd[2])); +a[22] = (a[21]*a[8]); +a[23] = (real_t)(-1.0000000000000000e+00); +a[24] = (a[22]*a[23]); +a[25] = ((a[20]+a[24])*a[14]); +a[26] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.5349999999999999e+00)); +a[27] = (a[6]*a[26]); +a[28] = (real_t)(7.6749999999999996e-01); +a[29] = (a[27]*a[28]); +a[30] = (a[29]*a[9]); +a[31] = (a[30]*a[23]); +a[32] = ((a[0]+a[31])*a[14]); +a[33] = (real_t)(0.0000000000000000e+00); +a[34] = ((real_t)(1.0000000000000000e+00)/a[4]); +a[35] = ((real_t)(1.0000000000000000e+00)/(pow((cos(a[5])),2))); +a[36] = (a[34]*a[35]); +a[37] = (a[36]*xd[3]); +a[38] = (a[37]*a[26]); +a[39] = (a[38]*a[28]); +a[40] = (a[39]*a[9]); +a[41] = (a[40]*a[23]); +a[42] = (a[41]*a[14]); +a[43] = (real_t)(0.0000000000000000e+00); +a[44] = (real_t)(0.0000000000000000e+00); +a[45] = (real_t)(0.0000000000000000e+00); +a[46] = ((xd[3]+xd[3])*od[0]); +a[47] = (real_t)(0.0000000000000000e+00); +a[48] = (real_t)(0.0000000000000000e+00); +a[49] = (real_t)(0.0000000000000000e+00); +a[50] = (real_t)(0.0000000000000000e+00); +a[51] = (real_t)(0.0000000000000000e+00); +a[52] = (real_t)(0.0000000000000000e+00); + +/* Compute outputs: */ +out[0] = a[10]; +out[1] = ((xd[3]*xd[3])*od[0]); +out[2] = a[11]; +out[3] = a[18]; +out[4] = a[25]; +out[5] = a[32]; +out[6] = a[33]; +out[7] = a[42]; +out[8] = a[43]; +out[9] = a[44]; +out[10] = a[45]; +out[11] = a[46]; +out[12] = a[47]; +out[13] = a[48]; +out[14] = a[49]; +out[15] = a[50]; +out[16] = a[51]; +out[17] = a[52]; +} + +void acado_macETSlu( real_t* const E0, real_t* const g1 ) +{ +g1[0] += 0.0; +; +g1[1] += 0.0; +; +} + +void acado_condensePrep( ) +{ +int lRun1; +int lRun2; +int lRun3; +int lRun4; +int lRun5; +/** Row vector of size: 200 */ +static const int xBoundIndices[ 200 ] = +{ 7, 9, 10, 11, 13, 15, 16, 17, 19, 21, 22, 23, 25, 27, 28, 29, 31, 33, 34, 35, 37, 39, 40, 41, 43, 45, 46, 47, 49, 51, 52, 53, 55, 57, 58, 59, 61, 63, 64, 65, 67, 69, 70, 71, 73, 75, 76, 77, 79, 81, 82, 83, 85, 87, 88, 89, 91, 93, 94, 95, 97, 99, 100, 101, 103, 105, 106, 107, 109, 111, 112, 113, 115, 117, 118, 119, 121, 123, 124, 125, 127, 129, 130, 131, 133, 135, 136, 137, 139, 141, 142, 143, 145, 147, 148, 149, 151, 153, 154, 155, 157, 159, 160, 161, 163, 165, 166, 167, 169, 171, 172, 173, 175, 177, 178, 179, 181, 183, 184, 185, 187, 189, 190, 191, 193, 195, 196, 197, 199, 201, 202, 203, 205, 207, 208, 209, 211, 213, 214, 215, 217, 219, 220, 221, 223, 225, 226, 227, 229, 231, 232, 233, 235, 237, 238, 239, 241, 243, 244, 245, 247, 249, 250, 251, 253, 255, 256, 257, 259, 261, 262, 263, 265, 267, 268, 269, 271, 273, 274, 275, 277, 279, 280, 281, 283, 285, 286, 287, 289, 291, 292, 293, 295, 297, 298, 299, 301, 303, 304, 305 }; +acado_moveGuE( acadoWorkspace.evGu, acadoWorkspace.E ); +for (lRun1 = 1; lRun1 < 50; ++lRun1) +{ +acado_moveGxT( &(acadoWorkspace.evGx[ lRun1 * 36 ]), acadoWorkspace.T ); +acado_multGxd( &(acadoWorkspace.d[ lRun1 * 6-6 ]), &(acadoWorkspace.evGx[ lRun1 * 36 ]), &(acadoWorkspace.d[ lRun1 * 6 ]) ); +acado_multGxGx( acadoWorkspace.T, &(acadoWorkspace.evGx[ lRun1 * 36-36 ]), &(acadoWorkspace.evGx[ lRun1 * 36 ]) ); +for (lRun2 = 0; lRun2 < lRun1; ++lRun2) +{ +lRun4 = (((lRun1) * (lRun1-1)) / (2)) + (lRun2); +lRun3 = (((lRun1 + 1) * (lRun1)) / (2)) + (lRun2); +acado_multGxGu( acadoWorkspace.T, &(acadoWorkspace.E[ lRun4 * 12 ]), &(acadoWorkspace.E[ lRun3 * 12 ]) ); +} +lRun3 = (((lRun1 + 1) * (lRun1)) / (2)) + (lRun2); +acado_moveGuE( &(acadoWorkspace.evGu[ lRun1 * 12 ]), &(acadoWorkspace.E[ lRun3 * 12 ]) ); +} + +for (lRun1 = 0; lRun1 < 49; ++lRun1) +{ +for (lRun2 = 0; lRun2 < lRun1 + 1; ++lRun2) +{ +lRun3 = (((lRun1 + 1) * (lRun1)) / (2)) + (lRun2); +acado_multGxGu( &(acadoWorkspace.Q1[ lRun1 * 36 + 36 ]), &(acadoWorkspace.E[ lRun3 * 12 ]), &(acadoWorkspace.QE[ lRun3 * 12 ]) ); +} +} + +for (lRun2 = 0; lRun2 < lRun1 + 1; ++lRun2) +{ +lRun3 = (((lRun1 + 1) * (lRun1)) / (2)) + (lRun2); +acado_multGxGu( acadoWorkspace.QN1, &(acadoWorkspace.E[ lRun3 * 12 ]), &(acadoWorkspace.QE[ lRun3 * 12 ]) ); +} + +for (lRun1 = 0; lRun1 < 50; ++lRun1) +{ +acado_zeroBlockH10( &(acadoWorkspace.H10[ lRun1 * 12 ]) ); +for (lRun2 = lRun1; lRun2 < 50; ++lRun2) +{ +lRun3 = (((lRun2 + 1) * (lRun2)) / (2)) + (lRun1); +acado_multQETGx( &(acadoWorkspace.QE[ lRun3 * 12 ]), &(acadoWorkspace.evGx[ lRun2 * 36 ]), &(acadoWorkspace.H10[ lRun1 * 12 ]) ); +} +} + +for (lRun1 = 0; lRun1 < 50; ++lRun1) +{ +acado_setBlockH11_R1( lRun1, lRun1, &(acadoWorkspace.R1[ lRun1 * 4 ]) ); +lRun2 = lRun1; +for (lRun3 = lRun1; lRun3 < 50; ++lRun3) +{ +lRun4 = (((lRun3 + 1) * (lRun3)) / (2)) + (lRun1); +lRun5 = (((lRun3 + 1) * (lRun3)) / (2)) + (lRun2); +acado_setBlockH11( lRun1, lRun2, &(acadoWorkspace.E[ lRun4 * 12 ]), &(acadoWorkspace.QE[ lRun5 * 12 ]) ); +} +for (lRun2 = lRun1 + 1; lRun2 < 50; ++lRun2) +{ +acado_zeroBlockH11( lRun1, lRun2 ); +for (lRun3 = lRun2; lRun3 < 50; ++lRun3) +{ +lRun4 = (((lRun3 + 1) * (lRun3)) / (2)) + (lRun1); +lRun5 = (((lRun3 + 1) * (lRun3)) / (2)) + (lRun2); +acado_setBlockH11( lRun1, lRun2, &(acadoWorkspace.E[ lRun4 * 12 ]), &(acadoWorkspace.QE[ lRun5 * 12 ]) ); +} +} +} + +for (lRun1 = 0; lRun1 < 50; ++lRun1) +{ +for (lRun2 = 0; lRun2 < lRun1; ++lRun2) +{ +acado_copyHTH( lRun1, lRun2 ); +} +} + +acado_multQ1d( &(acadoWorkspace.Q1[ 36 ]), acadoWorkspace.d, acadoWorkspace.Qd ); +acado_multQ1d( &(acadoWorkspace.Q1[ 72 ]), &(acadoWorkspace.d[ 6 ]), &(acadoWorkspace.Qd[ 6 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 108 ]), &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.Qd[ 12 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 144 ]), &(acadoWorkspace.d[ 18 ]), &(acadoWorkspace.Qd[ 18 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 180 ]), &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.Qd[ 24 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 216 ]), &(acadoWorkspace.d[ 30 ]), &(acadoWorkspace.Qd[ 30 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 252 ]), &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.Qd[ 36 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 288 ]), &(acadoWorkspace.d[ 42 ]), &(acadoWorkspace.Qd[ 42 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 324 ]), &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.Qd[ 48 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 360 ]), &(acadoWorkspace.d[ 54 ]), &(acadoWorkspace.Qd[ 54 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 396 ]), &(acadoWorkspace.d[ 60 ]), &(acadoWorkspace.Qd[ 60 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 432 ]), &(acadoWorkspace.d[ 66 ]), &(acadoWorkspace.Qd[ 66 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 468 ]), &(acadoWorkspace.d[ 72 ]), &(acadoWorkspace.Qd[ 72 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 504 ]), &(acadoWorkspace.d[ 78 ]), &(acadoWorkspace.Qd[ 78 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 540 ]), &(acadoWorkspace.d[ 84 ]), &(acadoWorkspace.Qd[ 84 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 576 ]), &(acadoWorkspace.d[ 90 ]), &(acadoWorkspace.Qd[ 90 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 612 ]), &(acadoWorkspace.d[ 96 ]), &(acadoWorkspace.Qd[ 96 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 648 ]), &(acadoWorkspace.d[ 102 ]), &(acadoWorkspace.Qd[ 102 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 684 ]), &(acadoWorkspace.d[ 108 ]), &(acadoWorkspace.Qd[ 108 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 720 ]), &(acadoWorkspace.d[ 114 ]), &(acadoWorkspace.Qd[ 114 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 756 ]), &(acadoWorkspace.d[ 120 ]), &(acadoWorkspace.Qd[ 120 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 792 ]), &(acadoWorkspace.d[ 126 ]), &(acadoWorkspace.Qd[ 126 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 828 ]), &(acadoWorkspace.d[ 132 ]), &(acadoWorkspace.Qd[ 132 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 864 ]), &(acadoWorkspace.d[ 138 ]), &(acadoWorkspace.Qd[ 138 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 900 ]), &(acadoWorkspace.d[ 144 ]), &(acadoWorkspace.Qd[ 144 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 936 ]), &(acadoWorkspace.d[ 150 ]), &(acadoWorkspace.Qd[ 150 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 972 ]), &(acadoWorkspace.d[ 156 ]), &(acadoWorkspace.Qd[ 156 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1008 ]), &(acadoWorkspace.d[ 162 ]), &(acadoWorkspace.Qd[ 162 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1044 ]), &(acadoWorkspace.d[ 168 ]), &(acadoWorkspace.Qd[ 168 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1080 ]), &(acadoWorkspace.d[ 174 ]), &(acadoWorkspace.Qd[ 174 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1116 ]), &(acadoWorkspace.d[ 180 ]), &(acadoWorkspace.Qd[ 180 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1152 ]), &(acadoWorkspace.d[ 186 ]), &(acadoWorkspace.Qd[ 186 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1188 ]), &(acadoWorkspace.d[ 192 ]), &(acadoWorkspace.Qd[ 192 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1224 ]), &(acadoWorkspace.d[ 198 ]), &(acadoWorkspace.Qd[ 198 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1260 ]), &(acadoWorkspace.d[ 204 ]), &(acadoWorkspace.Qd[ 204 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1296 ]), &(acadoWorkspace.d[ 210 ]), &(acadoWorkspace.Qd[ 210 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1332 ]), &(acadoWorkspace.d[ 216 ]), &(acadoWorkspace.Qd[ 216 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1368 ]), &(acadoWorkspace.d[ 222 ]), &(acadoWorkspace.Qd[ 222 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1404 ]), &(acadoWorkspace.d[ 228 ]), &(acadoWorkspace.Qd[ 228 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1440 ]), &(acadoWorkspace.d[ 234 ]), &(acadoWorkspace.Qd[ 234 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1476 ]), &(acadoWorkspace.d[ 240 ]), &(acadoWorkspace.Qd[ 240 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1512 ]), &(acadoWorkspace.d[ 246 ]), &(acadoWorkspace.Qd[ 246 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1548 ]), &(acadoWorkspace.d[ 252 ]), &(acadoWorkspace.Qd[ 252 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1584 ]), &(acadoWorkspace.d[ 258 ]), &(acadoWorkspace.Qd[ 258 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1620 ]), &(acadoWorkspace.d[ 264 ]), &(acadoWorkspace.Qd[ 264 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1656 ]), &(acadoWorkspace.d[ 270 ]), &(acadoWorkspace.Qd[ 270 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1692 ]), &(acadoWorkspace.d[ 276 ]), &(acadoWorkspace.Qd[ 276 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1728 ]), &(acadoWorkspace.d[ 282 ]), &(acadoWorkspace.Qd[ 282 ]) ); +acado_multQ1d( &(acadoWorkspace.Q1[ 1764 ]), &(acadoWorkspace.d[ 288 ]), &(acadoWorkspace.Qd[ 288 ]) ); +acado_multQN1d( acadoWorkspace.QN1, &(acadoWorkspace.d[ 294 ]), &(acadoWorkspace.Qd[ 294 ]) ); + +for (lRun1 = 0; lRun1 < 50; ++lRun1) +{ +for (lRun2 = lRun1; lRun2 < 50; ++lRun2) +{ +lRun3 = (((lRun2 + 1) * (lRun2)) / (2)) + (lRun1); +acado_macETSlu( &(acadoWorkspace.QE[ lRun3 * 12 ]), &(acadoWorkspace.g[ lRun1 * 2 ]) ); +} +} +acadoWorkspace.lb[0] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[0]; +acadoWorkspace.lb[1] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[1]; +acadoWorkspace.lb[2] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[2]; +acadoWorkspace.lb[3] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[3]; +acadoWorkspace.lb[4] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[4]; +acadoWorkspace.lb[5] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[5]; +acadoWorkspace.lb[6] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[6]; +acadoWorkspace.lb[7] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[7]; +acadoWorkspace.lb[8] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[8]; +acadoWorkspace.lb[9] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[9]; +acadoWorkspace.lb[10] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[10]; +acadoWorkspace.lb[11] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[11]; +acadoWorkspace.lb[12] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[12]; +acadoWorkspace.lb[13] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[13]; +acadoWorkspace.lb[14] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[14]; +acadoWorkspace.lb[15] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[15]; +acadoWorkspace.lb[16] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[16]; +acadoWorkspace.lb[17] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[17]; +acadoWorkspace.lb[18] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[18]; +acadoWorkspace.lb[19] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[19]; +acadoWorkspace.lb[20] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[20]; +acadoWorkspace.lb[21] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[21]; +acadoWorkspace.lb[22] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[22]; +acadoWorkspace.lb[23] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[23]; +acadoWorkspace.lb[24] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[24]; +acadoWorkspace.lb[25] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[25]; +acadoWorkspace.lb[26] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[26]; +acadoWorkspace.lb[27] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[27]; +acadoWorkspace.lb[28] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[28]; +acadoWorkspace.lb[29] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[29]; +acadoWorkspace.lb[30] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[30]; +acadoWorkspace.lb[31] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[31]; +acadoWorkspace.lb[32] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[32]; +acadoWorkspace.lb[33] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[33]; +acadoWorkspace.lb[34] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[34]; +acadoWorkspace.lb[35] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[35]; +acadoWorkspace.lb[36] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[36]; +acadoWorkspace.lb[37] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[37]; +acadoWorkspace.lb[38] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[38]; +acadoWorkspace.lb[39] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[39]; +acadoWorkspace.lb[40] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[40]; +acadoWorkspace.lb[41] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[41]; +acadoWorkspace.lb[42] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[42]; +acadoWorkspace.lb[43] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[43]; +acadoWorkspace.lb[44] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[44]; +acadoWorkspace.lb[45] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[45]; +acadoWorkspace.lb[46] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[46]; +acadoWorkspace.lb[47] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[47]; +acadoWorkspace.lb[48] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[48]; +acadoWorkspace.lb[49] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[49]; +acadoWorkspace.lb[50] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[50]; +acadoWorkspace.lb[51] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[51]; +acadoWorkspace.lb[52] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[52]; +acadoWorkspace.lb[53] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[53]; +acadoWorkspace.lb[54] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[54]; +acadoWorkspace.lb[55] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[55]; +acadoWorkspace.lb[56] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[56]; +acadoWorkspace.lb[57] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[57]; +acadoWorkspace.lb[58] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[58]; +acadoWorkspace.lb[59] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[59]; +acadoWorkspace.lb[60] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[60]; +acadoWorkspace.lb[61] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[61]; +acadoWorkspace.lb[62] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[62]; +acadoWorkspace.lb[63] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[63]; +acadoWorkspace.lb[64] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[64]; +acadoWorkspace.lb[65] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[65]; +acadoWorkspace.lb[66] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[66]; +acadoWorkspace.lb[67] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[67]; +acadoWorkspace.lb[68] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[68]; +acadoWorkspace.lb[69] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[69]; +acadoWorkspace.lb[70] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[70]; +acadoWorkspace.lb[71] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[71]; +acadoWorkspace.lb[72] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[72]; +acadoWorkspace.lb[73] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[73]; +acadoWorkspace.lb[74] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[74]; +acadoWorkspace.lb[75] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[75]; +acadoWorkspace.lb[76] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[76]; +acadoWorkspace.lb[77] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[77]; +acadoWorkspace.lb[78] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[78]; +acadoWorkspace.lb[79] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[79]; +acadoWorkspace.lb[80] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[80]; +acadoWorkspace.lb[81] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[81]; +acadoWorkspace.lb[82] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[82]; +acadoWorkspace.lb[83] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[83]; +acadoWorkspace.lb[84] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[84]; +acadoWorkspace.lb[85] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[85]; +acadoWorkspace.lb[86] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[86]; +acadoWorkspace.lb[87] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[87]; +acadoWorkspace.lb[88] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[88]; +acadoWorkspace.lb[89] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[89]; +acadoWorkspace.lb[90] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[90]; +acadoWorkspace.lb[91] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[91]; +acadoWorkspace.lb[92] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[92]; +acadoWorkspace.lb[93] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[93]; +acadoWorkspace.lb[94] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[94]; +acadoWorkspace.lb[95] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[95]; +acadoWorkspace.lb[96] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[96]; +acadoWorkspace.lb[97] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[97]; +acadoWorkspace.lb[98] = (real_t)-3.0000000000000000e+02 - acadoVariables.u[98]; +acadoWorkspace.lb[99] = (real_t)-3.0000000000000000e+01 - acadoVariables.u[99]; +acadoWorkspace.ub[0] = (real_t)3.0000000000000000e+02 - acadoVariables.u[0]; +acadoWorkspace.ub[1] = (real_t)3.0000000000000000e+01 - acadoVariables.u[1]; +acadoWorkspace.ub[2] = (real_t)3.0000000000000000e+02 - acadoVariables.u[2]; +acadoWorkspace.ub[3] = (real_t)3.0000000000000000e+01 - acadoVariables.u[3]; +acadoWorkspace.ub[4] = (real_t)3.0000000000000000e+02 - acadoVariables.u[4]; +acadoWorkspace.ub[5] = (real_t)3.0000000000000000e+01 - acadoVariables.u[5]; +acadoWorkspace.ub[6] = (real_t)3.0000000000000000e+02 - acadoVariables.u[6]; +acadoWorkspace.ub[7] = (real_t)3.0000000000000000e+01 - acadoVariables.u[7]; +acadoWorkspace.ub[8] = (real_t)3.0000000000000000e+02 - acadoVariables.u[8]; +acadoWorkspace.ub[9] = (real_t)3.0000000000000000e+01 - acadoVariables.u[9]; +acadoWorkspace.ub[10] = (real_t)3.0000000000000000e+02 - acadoVariables.u[10]; +acadoWorkspace.ub[11] = (real_t)3.0000000000000000e+01 - acadoVariables.u[11]; +acadoWorkspace.ub[12] = (real_t)3.0000000000000000e+02 - acadoVariables.u[12]; +acadoWorkspace.ub[13] = (real_t)3.0000000000000000e+01 - acadoVariables.u[13]; +acadoWorkspace.ub[14] = (real_t)3.0000000000000000e+02 - acadoVariables.u[14]; +acadoWorkspace.ub[15] = (real_t)3.0000000000000000e+01 - acadoVariables.u[15]; +acadoWorkspace.ub[16] = (real_t)3.0000000000000000e+02 - acadoVariables.u[16]; +acadoWorkspace.ub[17] = (real_t)3.0000000000000000e+01 - acadoVariables.u[17]; +acadoWorkspace.ub[18] = (real_t)3.0000000000000000e+02 - acadoVariables.u[18]; +acadoWorkspace.ub[19] = (real_t)3.0000000000000000e+01 - acadoVariables.u[19]; +acadoWorkspace.ub[20] = (real_t)3.0000000000000000e+02 - acadoVariables.u[20]; +acadoWorkspace.ub[21] = (real_t)3.0000000000000000e+01 - acadoVariables.u[21]; +acadoWorkspace.ub[22] = (real_t)3.0000000000000000e+02 - acadoVariables.u[22]; +acadoWorkspace.ub[23] = (real_t)3.0000000000000000e+01 - acadoVariables.u[23]; +acadoWorkspace.ub[24] = (real_t)3.0000000000000000e+02 - acadoVariables.u[24]; +acadoWorkspace.ub[25] = (real_t)3.0000000000000000e+01 - acadoVariables.u[25]; +acadoWorkspace.ub[26] = (real_t)3.0000000000000000e+02 - acadoVariables.u[26]; +acadoWorkspace.ub[27] = (real_t)3.0000000000000000e+01 - acadoVariables.u[27]; +acadoWorkspace.ub[28] = (real_t)3.0000000000000000e+02 - acadoVariables.u[28]; +acadoWorkspace.ub[29] = (real_t)3.0000000000000000e+01 - acadoVariables.u[29]; +acadoWorkspace.ub[30] = (real_t)3.0000000000000000e+02 - acadoVariables.u[30]; +acadoWorkspace.ub[31] = (real_t)3.0000000000000000e+01 - acadoVariables.u[31]; +acadoWorkspace.ub[32] = (real_t)3.0000000000000000e+02 - acadoVariables.u[32]; +acadoWorkspace.ub[33] = (real_t)3.0000000000000000e+01 - acadoVariables.u[33]; +acadoWorkspace.ub[34] = (real_t)3.0000000000000000e+02 - acadoVariables.u[34]; +acadoWorkspace.ub[35] = (real_t)3.0000000000000000e+01 - acadoVariables.u[35]; +acadoWorkspace.ub[36] = (real_t)3.0000000000000000e+02 - acadoVariables.u[36]; +acadoWorkspace.ub[37] = (real_t)3.0000000000000000e+01 - acadoVariables.u[37]; +acadoWorkspace.ub[38] = (real_t)3.0000000000000000e+02 - acadoVariables.u[38]; +acadoWorkspace.ub[39] = (real_t)3.0000000000000000e+01 - acadoVariables.u[39]; +acadoWorkspace.ub[40] = (real_t)3.0000000000000000e+02 - acadoVariables.u[40]; +acadoWorkspace.ub[41] = (real_t)3.0000000000000000e+01 - acadoVariables.u[41]; +acadoWorkspace.ub[42] = (real_t)3.0000000000000000e+02 - acadoVariables.u[42]; +acadoWorkspace.ub[43] = (real_t)3.0000000000000000e+01 - acadoVariables.u[43]; +acadoWorkspace.ub[44] = (real_t)3.0000000000000000e+02 - acadoVariables.u[44]; +acadoWorkspace.ub[45] = (real_t)3.0000000000000000e+01 - acadoVariables.u[45]; +acadoWorkspace.ub[46] = (real_t)3.0000000000000000e+02 - acadoVariables.u[46]; +acadoWorkspace.ub[47] = (real_t)3.0000000000000000e+01 - acadoVariables.u[47]; +acadoWorkspace.ub[48] = (real_t)3.0000000000000000e+02 - acadoVariables.u[48]; +acadoWorkspace.ub[49] = (real_t)3.0000000000000000e+01 - acadoVariables.u[49]; +acadoWorkspace.ub[50] = (real_t)3.0000000000000000e+02 - acadoVariables.u[50]; +acadoWorkspace.ub[51] = (real_t)3.0000000000000000e+01 - acadoVariables.u[51]; +acadoWorkspace.ub[52] = (real_t)3.0000000000000000e+02 - acadoVariables.u[52]; +acadoWorkspace.ub[53] = (real_t)3.0000000000000000e+01 - acadoVariables.u[53]; +acadoWorkspace.ub[54] = (real_t)3.0000000000000000e+02 - acadoVariables.u[54]; +acadoWorkspace.ub[55] = (real_t)3.0000000000000000e+01 - acadoVariables.u[55]; +acadoWorkspace.ub[56] = (real_t)3.0000000000000000e+02 - acadoVariables.u[56]; +acadoWorkspace.ub[57] = (real_t)3.0000000000000000e+01 - acadoVariables.u[57]; +acadoWorkspace.ub[58] = (real_t)3.0000000000000000e+02 - acadoVariables.u[58]; +acadoWorkspace.ub[59] = (real_t)3.0000000000000000e+01 - acadoVariables.u[59]; +acadoWorkspace.ub[60] = (real_t)3.0000000000000000e+02 - acadoVariables.u[60]; +acadoWorkspace.ub[61] = (real_t)3.0000000000000000e+01 - acadoVariables.u[61]; +acadoWorkspace.ub[62] = (real_t)3.0000000000000000e+02 - acadoVariables.u[62]; +acadoWorkspace.ub[63] = (real_t)3.0000000000000000e+01 - acadoVariables.u[63]; +acadoWorkspace.ub[64] = (real_t)3.0000000000000000e+02 - acadoVariables.u[64]; +acadoWorkspace.ub[65] = (real_t)3.0000000000000000e+01 - acadoVariables.u[65]; +acadoWorkspace.ub[66] = (real_t)3.0000000000000000e+02 - acadoVariables.u[66]; +acadoWorkspace.ub[67] = (real_t)3.0000000000000000e+01 - acadoVariables.u[67]; +acadoWorkspace.ub[68] = (real_t)3.0000000000000000e+02 - acadoVariables.u[68]; +acadoWorkspace.ub[69] = (real_t)3.0000000000000000e+01 - acadoVariables.u[69]; +acadoWorkspace.ub[70] = (real_t)3.0000000000000000e+02 - acadoVariables.u[70]; +acadoWorkspace.ub[71] = (real_t)3.0000000000000000e+01 - acadoVariables.u[71]; +acadoWorkspace.ub[72] = (real_t)3.0000000000000000e+02 - acadoVariables.u[72]; +acadoWorkspace.ub[73] = (real_t)3.0000000000000000e+01 - acadoVariables.u[73]; +acadoWorkspace.ub[74] = (real_t)3.0000000000000000e+02 - acadoVariables.u[74]; +acadoWorkspace.ub[75] = (real_t)3.0000000000000000e+01 - acadoVariables.u[75]; +acadoWorkspace.ub[76] = (real_t)3.0000000000000000e+02 - acadoVariables.u[76]; +acadoWorkspace.ub[77] = (real_t)3.0000000000000000e+01 - acadoVariables.u[77]; +acadoWorkspace.ub[78] = (real_t)3.0000000000000000e+02 - acadoVariables.u[78]; +acadoWorkspace.ub[79] = (real_t)3.0000000000000000e+01 - acadoVariables.u[79]; +acadoWorkspace.ub[80] = (real_t)3.0000000000000000e+02 - acadoVariables.u[80]; +acadoWorkspace.ub[81] = (real_t)3.0000000000000000e+01 - acadoVariables.u[81]; +acadoWorkspace.ub[82] = (real_t)3.0000000000000000e+02 - acadoVariables.u[82]; +acadoWorkspace.ub[83] = (real_t)3.0000000000000000e+01 - acadoVariables.u[83]; +acadoWorkspace.ub[84] = (real_t)3.0000000000000000e+02 - acadoVariables.u[84]; +acadoWorkspace.ub[85] = (real_t)3.0000000000000000e+01 - acadoVariables.u[85]; +acadoWorkspace.ub[86] = (real_t)3.0000000000000000e+02 - acadoVariables.u[86]; +acadoWorkspace.ub[87] = (real_t)3.0000000000000000e+01 - acadoVariables.u[87]; +acadoWorkspace.ub[88] = (real_t)3.0000000000000000e+02 - acadoVariables.u[88]; +acadoWorkspace.ub[89] = (real_t)3.0000000000000000e+01 - acadoVariables.u[89]; +acadoWorkspace.ub[90] = (real_t)3.0000000000000000e+02 - acadoVariables.u[90]; +acadoWorkspace.ub[91] = (real_t)3.0000000000000000e+01 - acadoVariables.u[91]; +acadoWorkspace.ub[92] = (real_t)3.0000000000000000e+02 - acadoVariables.u[92]; +acadoWorkspace.ub[93] = (real_t)3.0000000000000000e+01 - acadoVariables.u[93]; +acadoWorkspace.ub[94] = (real_t)3.0000000000000000e+02 - acadoVariables.u[94]; +acadoWorkspace.ub[95] = (real_t)3.0000000000000000e+01 - acadoVariables.u[95]; +acadoWorkspace.ub[96] = (real_t)3.0000000000000000e+02 - acadoVariables.u[96]; +acadoWorkspace.ub[97] = (real_t)3.0000000000000000e+01 - acadoVariables.u[97]; +acadoWorkspace.ub[98] = (real_t)3.0000000000000000e+02 - acadoVariables.u[98]; +acadoWorkspace.ub[99] = (real_t)3.0000000000000000e+01 - acadoVariables.u[99]; + +for (lRun1 = 0; lRun1 < 200; ++lRun1) +{ +lRun3 = xBoundIndices[ lRun1 ] - 6; +lRun4 = ((lRun3) / (6)) + (1); +for (lRun2 = 0; lRun2 < lRun4; ++lRun2) +{ +lRun5 = (((((lRun4) * (lRun4-1)) / (2)) + (lRun2)) * (6)) + ((lRun3) % (6)); +acadoWorkspace.A[(lRun1 * 100) + (lRun2 * 2)] = acadoWorkspace.E[lRun5 * 2]; +acadoWorkspace.A[(lRun1 * 100) + (lRun2 * 2 + 1)] = acadoWorkspace.E[lRun5 * 2 + 1]; +} +} + +for (lRun1 = 0; lRun1 < 50; ++lRun1) +{ +acadoWorkspace.conValueIn[0] = acadoVariables.x[lRun1 * 6]; +acadoWorkspace.conValueIn[1] = acadoVariables.x[lRun1 * 6 + 1]; +acadoWorkspace.conValueIn[2] = acadoVariables.x[lRun1 * 6 + 2]; +acadoWorkspace.conValueIn[3] = acadoVariables.x[lRun1 * 6 + 3]; +acadoWorkspace.conValueIn[4] = acadoVariables.x[lRun1 * 6 + 4]; +acadoWorkspace.conValueIn[5] = acadoVariables.x[lRun1 * 6 + 5]; +acadoWorkspace.conValueIn[6] = acadoVariables.u[lRun1 * 2]; +acadoWorkspace.conValueIn[7] = acadoVariables.u[lRun1 * 2 + 1]; +acadoWorkspace.conValueIn[8] = acadoVariables.od[lRun1]; +acado_evaluatePathConstraints( acadoWorkspace.conValueIn, acadoWorkspace.conValueOut ); +acadoWorkspace.evH[lRun1 * 2] = acadoWorkspace.conValueOut[0]; +acadoWorkspace.evH[lRun1 * 2 + 1] = acadoWorkspace.conValueOut[1]; + +acadoWorkspace.evHx[lRun1 * 12] = acadoWorkspace.conValueOut[2]; +acadoWorkspace.evHx[lRun1 * 12 + 1] = acadoWorkspace.conValueOut[3]; +acadoWorkspace.evHx[lRun1 * 12 + 2] = acadoWorkspace.conValueOut[4]; +acadoWorkspace.evHx[lRun1 * 12 + 3] = acadoWorkspace.conValueOut[5]; +acadoWorkspace.evHx[lRun1 * 12 + 4] = acadoWorkspace.conValueOut[6]; +acadoWorkspace.evHx[lRun1 * 12 + 5] = acadoWorkspace.conValueOut[7]; +acadoWorkspace.evHx[lRun1 * 12 + 6] = acadoWorkspace.conValueOut[8]; +acadoWorkspace.evHx[lRun1 * 12 + 7] = acadoWorkspace.conValueOut[9]; +acadoWorkspace.evHx[lRun1 * 12 + 8] = acadoWorkspace.conValueOut[10]; +acadoWorkspace.evHx[lRun1 * 12 + 9] = acadoWorkspace.conValueOut[11]; +acadoWorkspace.evHx[lRun1 * 12 + 10] = acadoWorkspace.conValueOut[12]; +acadoWorkspace.evHx[lRun1 * 12 + 11] = acadoWorkspace.conValueOut[13]; +acadoWorkspace.evHu[lRun1 * 4] = acadoWorkspace.conValueOut[14]; +acadoWorkspace.evHu[lRun1 * 4 + 1] = acadoWorkspace.conValueOut[15]; +acadoWorkspace.evHu[lRun1 * 4 + 2] = acadoWorkspace.conValueOut[16]; +acadoWorkspace.evHu[lRun1 * 4 + 3] = acadoWorkspace.conValueOut[17]; +} + +acadoWorkspace.A01[0] = acadoWorkspace.evHx[0]; +acadoWorkspace.A01[1] = acadoWorkspace.evHx[1]; +acadoWorkspace.A01[2] = acadoWorkspace.evHx[2]; +acadoWorkspace.A01[3] = acadoWorkspace.evHx[3]; +acadoWorkspace.A01[4] = acadoWorkspace.evHx[4]; +acadoWorkspace.A01[5] = acadoWorkspace.evHx[5]; +acadoWorkspace.A01[6] = acadoWorkspace.evHx[6]; +acadoWorkspace.A01[7] = acadoWorkspace.evHx[7]; +acadoWorkspace.A01[8] = acadoWorkspace.evHx[8]; +acadoWorkspace.A01[9] = acadoWorkspace.evHx[9]; +acadoWorkspace.A01[10] = acadoWorkspace.evHx[10]; +acadoWorkspace.A01[11] = acadoWorkspace.evHx[11]; + +acado_multHxC( &(acadoWorkspace.evHx[ 12 ]), acadoWorkspace.evGx, &(acadoWorkspace.A01[ 12 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 24 ]), &(acadoWorkspace.evGx[ 36 ]), &(acadoWorkspace.A01[ 24 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 36 ]), &(acadoWorkspace.evGx[ 72 ]), &(acadoWorkspace.A01[ 36 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 48 ]), &(acadoWorkspace.evGx[ 108 ]), &(acadoWorkspace.A01[ 48 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 60 ]), &(acadoWorkspace.evGx[ 144 ]), &(acadoWorkspace.A01[ 60 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 72 ]), &(acadoWorkspace.evGx[ 180 ]), &(acadoWorkspace.A01[ 72 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 84 ]), &(acadoWorkspace.evGx[ 216 ]), &(acadoWorkspace.A01[ 84 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 96 ]), &(acadoWorkspace.evGx[ 252 ]), &(acadoWorkspace.A01[ 96 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 108 ]), &(acadoWorkspace.evGx[ 288 ]), &(acadoWorkspace.A01[ 108 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 120 ]), &(acadoWorkspace.evGx[ 324 ]), &(acadoWorkspace.A01[ 120 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 132 ]), &(acadoWorkspace.evGx[ 360 ]), &(acadoWorkspace.A01[ 132 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 144 ]), &(acadoWorkspace.evGx[ 396 ]), &(acadoWorkspace.A01[ 144 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 156 ]), &(acadoWorkspace.evGx[ 432 ]), &(acadoWorkspace.A01[ 156 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 168 ]), &(acadoWorkspace.evGx[ 468 ]), &(acadoWorkspace.A01[ 168 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 180 ]), &(acadoWorkspace.evGx[ 504 ]), &(acadoWorkspace.A01[ 180 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 192 ]), &(acadoWorkspace.evGx[ 540 ]), &(acadoWorkspace.A01[ 192 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 204 ]), &(acadoWorkspace.evGx[ 576 ]), &(acadoWorkspace.A01[ 204 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 216 ]), &(acadoWorkspace.evGx[ 612 ]), &(acadoWorkspace.A01[ 216 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 228 ]), &(acadoWorkspace.evGx[ 648 ]), &(acadoWorkspace.A01[ 228 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 240 ]), &(acadoWorkspace.evGx[ 684 ]), &(acadoWorkspace.A01[ 240 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 252 ]), &(acadoWorkspace.evGx[ 720 ]), &(acadoWorkspace.A01[ 252 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 264 ]), &(acadoWorkspace.evGx[ 756 ]), &(acadoWorkspace.A01[ 264 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 276 ]), &(acadoWorkspace.evGx[ 792 ]), &(acadoWorkspace.A01[ 276 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 288 ]), &(acadoWorkspace.evGx[ 828 ]), &(acadoWorkspace.A01[ 288 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 300 ]), &(acadoWorkspace.evGx[ 864 ]), &(acadoWorkspace.A01[ 300 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 312 ]), &(acadoWorkspace.evGx[ 900 ]), &(acadoWorkspace.A01[ 312 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 324 ]), &(acadoWorkspace.evGx[ 936 ]), &(acadoWorkspace.A01[ 324 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 336 ]), &(acadoWorkspace.evGx[ 972 ]), &(acadoWorkspace.A01[ 336 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 348 ]), &(acadoWorkspace.evGx[ 1008 ]), &(acadoWorkspace.A01[ 348 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 360 ]), &(acadoWorkspace.evGx[ 1044 ]), &(acadoWorkspace.A01[ 360 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 372 ]), &(acadoWorkspace.evGx[ 1080 ]), &(acadoWorkspace.A01[ 372 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 384 ]), &(acadoWorkspace.evGx[ 1116 ]), &(acadoWorkspace.A01[ 384 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 396 ]), &(acadoWorkspace.evGx[ 1152 ]), &(acadoWorkspace.A01[ 396 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 408 ]), &(acadoWorkspace.evGx[ 1188 ]), &(acadoWorkspace.A01[ 408 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 420 ]), &(acadoWorkspace.evGx[ 1224 ]), &(acadoWorkspace.A01[ 420 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 432 ]), &(acadoWorkspace.evGx[ 1260 ]), &(acadoWorkspace.A01[ 432 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 444 ]), &(acadoWorkspace.evGx[ 1296 ]), &(acadoWorkspace.A01[ 444 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 456 ]), &(acadoWorkspace.evGx[ 1332 ]), &(acadoWorkspace.A01[ 456 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 468 ]), &(acadoWorkspace.evGx[ 1368 ]), &(acadoWorkspace.A01[ 468 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 480 ]), &(acadoWorkspace.evGx[ 1404 ]), &(acadoWorkspace.A01[ 480 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 492 ]), &(acadoWorkspace.evGx[ 1440 ]), &(acadoWorkspace.A01[ 492 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 504 ]), &(acadoWorkspace.evGx[ 1476 ]), &(acadoWorkspace.A01[ 504 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 516 ]), &(acadoWorkspace.evGx[ 1512 ]), &(acadoWorkspace.A01[ 516 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 528 ]), &(acadoWorkspace.evGx[ 1548 ]), &(acadoWorkspace.A01[ 528 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 540 ]), &(acadoWorkspace.evGx[ 1584 ]), &(acadoWorkspace.A01[ 540 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 552 ]), &(acadoWorkspace.evGx[ 1620 ]), &(acadoWorkspace.A01[ 552 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 564 ]), &(acadoWorkspace.evGx[ 1656 ]), &(acadoWorkspace.A01[ 564 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 576 ]), &(acadoWorkspace.evGx[ 1692 ]), &(acadoWorkspace.A01[ 576 ]) ); +acado_multHxC( &(acadoWorkspace.evHx[ 588 ]), &(acadoWorkspace.evGx[ 1728 ]), &(acadoWorkspace.A01[ 588 ]) ); + +for (lRun2 = 0; lRun2 < 49; ++lRun2) +{ +for (lRun3 = 0; lRun3 < lRun2 + 1; ++lRun3) +{ +lRun4 = (((lRun2 + 1) * (lRun2)) / (2)) + (lRun3); +lRun5 = lRun2 + 1; +acado_multHxE( &(acadoWorkspace.evHx[ lRun2 * 12 + 12 ]), &(acadoWorkspace.E[ lRun4 * 12 ]), lRun5, lRun3 ); +} +} + +acadoWorkspace.A[20000] = acadoWorkspace.evHu[0]; +acadoWorkspace.A[20001] = acadoWorkspace.evHu[1]; +acadoWorkspace.A[20100] = acadoWorkspace.evHu[2]; +acadoWorkspace.A[20101] = acadoWorkspace.evHu[3]; +acadoWorkspace.A[20202] = acadoWorkspace.evHu[4]; +acadoWorkspace.A[20203] = acadoWorkspace.evHu[5]; +acadoWorkspace.A[20302] = acadoWorkspace.evHu[6]; +acadoWorkspace.A[20303] = acadoWorkspace.evHu[7]; +acadoWorkspace.A[20404] = acadoWorkspace.evHu[8]; +acadoWorkspace.A[20405] = acadoWorkspace.evHu[9]; +acadoWorkspace.A[20504] = acadoWorkspace.evHu[10]; +acadoWorkspace.A[20505] = acadoWorkspace.evHu[11]; +acadoWorkspace.A[20606] = acadoWorkspace.evHu[12]; +acadoWorkspace.A[20607] = acadoWorkspace.evHu[13]; +acadoWorkspace.A[20706] = acadoWorkspace.evHu[14]; +acadoWorkspace.A[20707] = acadoWorkspace.evHu[15]; +acadoWorkspace.A[20808] = acadoWorkspace.evHu[16]; +acadoWorkspace.A[20809] = acadoWorkspace.evHu[17]; +acadoWorkspace.A[20908] = acadoWorkspace.evHu[18]; +acadoWorkspace.A[20909] = acadoWorkspace.evHu[19]; +acadoWorkspace.A[21010] = acadoWorkspace.evHu[20]; +acadoWorkspace.A[21011] = acadoWorkspace.evHu[21]; +acadoWorkspace.A[21110] = acadoWorkspace.evHu[22]; +acadoWorkspace.A[21111] = acadoWorkspace.evHu[23]; +acadoWorkspace.A[21212] = acadoWorkspace.evHu[24]; +acadoWorkspace.A[21213] = acadoWorkspace.evHu[25]; +acadoWorkspace.A[21312] = acadoWorkspace.evHu[26]; +acadoWorkspace.A[21313] = acadoWorkspace.evHu[27]; +acadoWorkspace.A[21414] = acadoWorkspace.evHu[28]; +acadoWorkspace.A[21415] = acadoWorkspace.evHu[29]; +acadoWorkspace.A[21514] = acadoWorkspace.evHu[30]; +acadoWorkspace.A[21515] = acadoWorkspace.evHu[31]; +acadoWorkspace.A[21616] = acadoWorkspace.evHu[32]; +acadoWorkspace.A[21617] = acadoWorkspace.evHu[33]; +acadoWorkspace.A[21716] = acadoWorkspace.evHu[34]; +acadoWorkspace.A[21717] = acadoWorkspace.evHu[35]; +acadoWorkspace.A[21818] = acadoWorkspace.evHu[36]; +acadoWorkspace.A[21819] = acadoWorkspace.evHu[37]; +acadoWorkspace.A[21918] = acadoWorkspace.evHu[38]; +acadoWorkspace.A[21919] = acadoWorkspace.evHu[39]; +acadoWorkspace.A[22020] = acadoWorkspace.evHu[40]; +acadoWorkspace.A[22021] = acadoWorkspace.evHu[41]; +acadoWorkspace.A[22120] = acadoWorkspace.evHu[42]; +acadoWorkspace.A[22121] = acadoWorkspace.evHu[43]; +acadoWorkspace.A[22222] = acadoWorkspace.evHu[44]; +acadoWorkspace.A[22223] = acadoWorkspace.evHu[45]; +acadoWorkspace.A[22322] = acadoWorkspace.evHu[46]; +acadoWorkspace.A[22323] = acadoWorkspace.evHu[47]; +acadoWorkspace.A[22424] = acadoWorkspace.evHu[48]; +acadoWorkspace.A[22425] = acadoWorkspace.evHu[49]; +acadoWorkspace.A[22524] = acadoWorkspace.evHu[50]; +acadoWorkspace.A[22525] = acadoWorkspace.evHu[51]; +acadoWorkspace.A[22626] = acadoWorkspace.evHu[52]; +acadoWorkspace.A[22627] = acadoWorkspace.evHu[53]; +acadoWorkspace.A[22726] = acadoWorkspace.evHu[54]; +acadoWorkspace.A[22727] = acadoWorkspace.evHu[55]; +acadoWorkspace.A[22828] = acadoWorkspace.evHu[56]; +acadoWorkspace.A[22829] = acadoWorkspace.evHu[57]; +acadoWorkspace.A[22928] = acadoWorkspace.evHu[58]; +acadoWorkspace.A[22929] = acadoWorkspace.evHu[59]; +acadoWorkspace.A[23030] = acadoWorkspace.evHu[60]; +acadoWorkspace.A[23031] = acadoWorkspace.evHu[61]; +acadoWorkspace.A[23130] = acadoWorkspace.evHu[62]; +acadoWorkspace.A[23131] = acadoWorkspace.evHu[63]; +acadoWorkspace.A[23232] = acadoWorkspace.evHu[64]; +acadoWorkspace.A[23233] = acadoWorkspace.evHu[65]; +acadoWorkspace.A[23332] = acadoWorkspace.evHu[66]; +acadoWorkspace.A[23333] = acadoWorkspace.evHu[67]; +acadoWorkspace.A[23434] = acadoWorkspace.evHu[68]; +acadoWorkspace.A[23435] = acadoWorkspace.evHu[69]; +acadoWorkspace.A[23534] = acadoWorkspace.evHu[70]; +acadoWorkspace.A[23535] = acadoWorkspace.evHu[71]; +acadoWorkspace.A[23636] = acadoWorkspace.evHu[72]; +acadoWorkspace.A[23637] = acadoWorkspace.evHu[73]; +acadoWorkspace.A[23736] = acadoWorkspace.evHu[74]; +acadoWorkspace.A[23737] = acadoWorkspace.evHu[75]; +acadoWorkspace.A[23838] = acadoWorkspace.evHu[76]; +acadoWorkspace.A[23839] = acadoWorkspace.evHu[77]; +acadoWorkspace.A[23938] = acadoWorkspace.evHu[78]; +acadoWorkspace.A[23939] = acadoWorkspace.evHu[79]; +acadoWorkspace.A[24040] = acadoWorkspace.evHu[80]; +acadoWorkspace.A[24041] = acadoWorkspace.evHu[81]; +acadoWorkspace.A[24140] = acadoWorkspace.evHu[82]; +acadoWorkspace.A[24141] = acadoWorkspace.evHu[83]; +acadoWorkspace.A[24242] = acadoWorkspace.evHu[84]; +acadoWorkspace.A[24243] = acadoWorkspace.evHu[85]; +acadoWorkspace.A[24342] = acadoWorkspace.evHu[86]; +acadoWorkspace.A[24343] = acadoWorkspace.evHu[87]; +acadoWorkspace.A[24444] = acadoWorkspace.evHu[88]; +acadoWorkspace.A[24445] = acadoWorkspace.evHu[89]; +acadoWorkspace.A[24544] = acadoWorkspace.evHu[90]; +acadoWorkspace.A[24545] = acadoWorkspace.evHu[91]; +acadoWorkspace.A[24646] = acadoWorkspace.evHu[92]; +acadoWorkspace.A[24647] = acadoWorkspace.evHu[93]; +acadoWorkspace.A[24746] = acadoWorkspace.evHu[94]; +acadoWorkspace.A[24747] = acadoWorkspace.evHu[95]; +acadoWorkspace.A[24848] = acadoWorkspace.evHu[96]; +acadoWorkspace.A[24849] = acadoWorkspace.evHu[97]; +acadoWorkspace.A[24948] = acadoWorkspace.evHu[98]; +acadoWorkspace.A[24949] = acadoWorkspace.evHu[99]; +acadoWorkspace.A[25050] = acadoWorkspace.evHu[100]; +acadoWorkspace.A[25051] = acadoWorkspace.evHu[101]; +acadoWorkspace.A[25150] = acadoWorkspace.evHu[102]; +acadoWorkspace.A[25151] = acadoWorkspace.evHu[103]; +acadoWorkspace.A[25252] = acadoWorkspace.evHu[104]; +acadoWorkspace.A[25253] = acadoWorkspace.evHu[105]; +acadoWorkspace.A[25352] = acadoWorkspace.evHu[106]; +acadoWorkspace.A[25353] = acadoWorkspace.evHu[107]; +acadoWorkspace.A[25454] = acadoWorkspace.evHu[108]; +acadoWorkspace.A[25455] = acadoWorkspace.evHu[109]; +acadoWorkspace.A[25554] = acadoWorkspace.evHu[110]; +acadoWorkspace.A[25555] = acadoWorkspace.evHu[111]; +acadoWorkspace.A[25656] = acadoWorkspace.evHu[112]; +acadoWorkspace.A[25657] = acadoWorkspace.evHu[113]; +acadoWorkspace.A[25756] = acadoWorkspace.evHu[114]; +acadoWorkspace.A[25757] = acadoWorkspace.evHu[115]; +acadoWorkspace.A[25858] = acadoWorkspace.evHu[116]; +acadoWorkspace.A[25859] = acadoWorkspace.evHu[117]; +acadoWorkspace.A[25958] = acadoWorkspace.evHu[118]; +acadoWorkspace.A[25959] = acadoWorkspace.evHu[119]; +acadoWorkspace.A[26060] = acadoWorkspace.evHu[120]; +acadoWorkspace.A[26061] = acadoWorkspace.evHu[121]; +acadoWorkspace.A[26160] = acadoWorkspace.evHu[122]; +acadoWorkspace.A[26161] = acadoWorkspace.evHu[123]; +acadoWorkspace.A[26262] = acadoWorkspace.evHu[124]; +acadoWorkspace.A[26263] = acadoWorkspace.evHu[125]; +acadoWorkspace.A[26362] = acadoWorkspace.evHu[126]; +acadoWorkspace.A[26363] = acadoWorkspace.evHu[127]; +acadoWorkspace.A[26464] = acadoWorkspace.evHu[128]; +acadoWorkspace.A[26465] = acadoWorkspace.evHu[129]; +acadoWorkspace.A[26564] = acadoWorkspace.evHu[130]; +acadoWorkspace.A[26565] = acadoWorkspace.evHu[131]; +acadoWorkspace.A[26666] = acadoWorkspace.evHu[132]; +acadoWorkspace.A[26667] = acadoWorkspace.evHu[133]; +acadoWorkspace.A[26766] = acadoWorkspace.evHu[134]; +acadoWorkspace.A[26767] = acadoWorkspace.evHu[135]; +acadoWorkspace.A[26868] = acadoWorkspace.evHu[136]; +acadoWorkspace.A[26869] = acadoWorkspace.evHu[137]; +acadoWorkspace.A[26968] = acadoWorkspace.evHu[138]; +acadoWorkspace.A[26969] = acadoWorkspace.evHu[139]; +acadoWorkspace.A[27070] = acadoWorkspace.evHu[140]; +acadoWorkspace.A[27071] = acadoWorkspace.evHu[141]; +acadoWorkspace.A[27170] = acadoWorkspace.evHu[142]; +acadoWorkspace.A[27171] = acadoWorkspace.evHu[143]; +acadoWorkspace.A[27272] = acadoWorkspace.evHu[144]; +acadoWorkspace.A[27273] = acadoWorkspace.evHu[145]; +acadoWorkspace.A[27372] = acadoWorkspace.evHu[146]; +acadoWorkspace.A[27373] = acadoWorkspace.evHu[147]; +acadoWorkspace.A[27474] = acadoWorkspace.evHu[148]; +acadoWorkspace.A[27475] = acadoWorkspace.evHu[149]; +acadoWorkspace.A[27574] = acadoWorkspace.evHu[150]; +acadoWorkspace.A[27575] = acadoWorkspace.evHu[151]; +acadoWorkspace.A[27676] = acadoWorkspace.evHu[152]; +acadoWorkspace.A[27677] = acadoWorkspace.evHu[153]; +acadoWorkspace.A[27776] = acadoWorkspace.evHu[154]; +acadoWorkspace.A[27777] = acadoWorkspace.evHu[155]; +acadoWorkspace.A[27878] = acadoWorkspace.evHu[156]; +acadoWorkspace.A[27879] = acadoWorkspace.evHu[157]; +acadoWorkspace.A[27978] = acadoWorkspace.evHu[158]; +acadoWorkspace.A[27979] = acadoWorkspace.evHu[159]; +acadoWorkspace.A[28080] = acadoWorkspace.evHu[160]; +acadoWorkspace.A[28081] = acadoWorkspace.evHu[161]; +acadoWorkspace.A[28180] = acadoWorkspace.evHu[162]; +acadoWorkspace.A[28181] = acadoWorkspace.evHu[163]; +acadoWorkspace.A[28282] = acadoWorkspace.evHu[164]; +acadoWorkspace.A[28283] = acadoWorkspace.evHu[165]; +acadoWorkspace.A[28382] = acadoWorkspace.evHu[166]; +acadoWorkspace.A[28383] = acadoWorkspace.evHu[167]; +acadoWorkspace.A[28484] = acadoWorkspace.evHu[168]; +acadoWorkspace.A[28485] = acadoWorkspace.evHu[169]; +acadoWorkspace.A[28584] = acadoWorkspace.evHu[170]; +acadoWorkspace.A[28585] = acadoWorkspace.evHu[171]; +acadoWorkspace.A[28686] = acadoWorkspace.evHu[172]; +acadoWorkspace.A[28687] = acadoWorkspace.evHu[173]; +acadoWorkspace.A[28786] = acadoWorkspace.evHu[174]; +acadoWorkspace.A[28787] = acadoWorkspace.evHu[175]; +acadoWorkspace.A[28888] = acadoWorkspace.evHu[176]; +acadoWorkspace.A[28889] = acadoWorkspace.evHu[177]; +acadoWorkspace.A[28988] = acadoWorkspace.evHu[178]; +acadoWorkspace.A[28989] = acadoWorkspace.evHu[179]; +acadoWorkspace.A[29090] = acadoWorkspace.evHu[180]; +acadoWorkspace.A[29091] = acadoWorkspace.evHu[181]; +acadoWorkspace.A[29190] = acadoWorkspace.evHu[182]; +acadoWorkspace.A[29191] = acadoWorkspace.evHu[183]; +acadoWorkspace.A[29292] = acadoWorkspace.evHu[184]; +acadoWorkspace.A[29293] = acadoWorkspace.evHu[185]; +acadoWorkspace.A[29392] = acadoWorkspace.evHu[186]; +acadoWorkspace.A[29393] = acadoWorkspace.evHu[187]; +acadoWorkspace.A[29494] = acadoWorkspace.evHu[188]; +acadoWorkspace.A[29495] = acadoWorkspace.evHu[189]; +acadoWorkspace.A[29594] = acadoWorkspace.evHu[190]; +acadoWorkspace.A[29595] = acadoWorkspace.evHu[191]; +acadoWorkspace.A[29696] = acadoWorkspace.evHu[192]; +acadoWorkspace.A[29697] = acadoWorkspace.evHu[193]; +acadoWorkspace.A[29796] = acadoWorkspace.evHu[194]; +acadoWorkspace.A[29797] = acadoWorkspace.evHu[195]; +acadoWorkspace.A[29898] = acadoWorkspace.evHu[196]; +acadoWorkspace.A[29899] = acadoWorkspace.evHu[197]; +acadoWorkspace.A[29998] = acadoWorkspace.evHu[198]; +acadoWorkspace.A[29999] = acadoWorkspace.evHu[199]; +acadoWorkspace.lbA[200] = - acadoWorkspace.evH[0]; +acadoWorkspace.lbA[201] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[1]; +acadoWorkspace.lbA[202] = - acadoWorkspace.evH[2]; +acadoWorkspace.lbA[203] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[3]; +acadoWorkspace.lbA[204] = - acadoWorkspace.evH[4]; +acadoWorkspace.lbA[205] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[5]; +acadoWorkspace.lbA[206] = - acadoWorkspace.evH[6]; +acadoWorkspace.lbA[207] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[7]; +acadoWorkspace.lbA[208] = - acadoWorkspace.evH[8]; +acadoWorkspace.lbA[209] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[9]; +acadoWorkspace.lbA[210] = - acadoWorkspace.evH[10]; +acadoWorkspace.lbA[211] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[11]; +acadoWorkspace.lbA[212] = - acadoWorkspace.evH[12]; +acadoWorkspace.lbA[213] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[13]; +acadoWorkspace.lbA[214] = - acadoWorkspace.evH[14]; +acadoWorkspace.lbA[215] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[15]; +acadoWorkspace.lbA[216] = - acadoWorkspace.evH[16]; +acadoWorkspace.lbA[217] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[17]; +acadoWorkspace.lbA[218] = - acadoWorkspace.evH[18]; +acadoWorkspace.lbA[219] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[19]; +acadoWorkspace.lbA[220] = - acadoWorkspace.evH[20]; +acadoWorkspace.lbA[221] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[21]; +acadoWorkspace.lbA[222] = - acadoWorkspace.evH[22]; +acadoWorkspace.lbA[223] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[23]; +acadoWorkspace.lbA[224] = - acadoWorkspace.evH[24]; +acadoWorkspace.lbA[225] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[25]; +acadoWorkspace.lbA[226] = - acadoWorkspace.evH[26]; +acadoWorkspace.lbA[227] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[27]; +acadoWorkspace.lbA[228] = - acadoWorkspace.evH[28]; +acadoWorkspace.lbA[229] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[29]; +acadoWorkspace.lbA[230] = - acadoWorkspace.evH[30]; +acadoWorkspace.lbA[231] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[31]; +acadoWorkspace.lbA[232] = - acadoWorkspace.evH[32]; +acadoWorkspace.lbA[233] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[33]; +acadoWorkspace.lbA[234] = - acadoWorkspace.evH[34]; +acadoWorkspace.lbA[235] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[35]; +acadoWorkspace.lbA[236] = - acadoWorkspace.evH[36]; +acadoWorkspace.lbA[237] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[37]; +acadoWorkspace.lbA[238] = - acadoWorkspace.evH[38]; +acadoWorkspace.lbA[239] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[39]; +acadoWorkspace.lbA[240] = - acadoWorkspace.evH[40]; +acadoWorkspace.lbA[241] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[41]; +acadoWorkspace.lbA[242] = - acadoWorkspace.evH[42]; +acadoWorkspace.lbA[243] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[43]; +acadoWorkspace.lbA[244] = - acadoWorkspace.evH[44]; +acadoWorkspace.lbA[245] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[45]; +acadoWorkspace.lbA[246] = - acadoWorkspace.evH[46]; +acadoWorkspace.lbA[247] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[47]; +acadoWorkspace.lbA[248] = - acadoWorkspace.evH[48]; +acadoWorkspace.lbA[249] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[49]; +acadoWorkspace.lbA[250] = - acadoWorkspace.evH[50]; +acadoWorkspace.lbA[251] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[51]; +acadoWorkspace.lbA[252] = - acadoWorkspace.evH[52]; +acadoWorkspace.lbA[253] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[53]; +acadoWorkspace.lbA[254] = - acadoWorkspace.evH[54]; +acadoWorkspace.lbA[255] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[55]; +acadoWorkspace.lbA[256] = - acadoWorkspace.evH[56]; +acadoWorkspace.lbA[257] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[57]; +acadoWorkspace.lbA[258] = - acadoWorkspace.evH[58]; +acadoWorkspace.lbA[259] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[59]; +acadoWorkspace.lbA[260] = - acadoWorkspace.evH[60]; +acadoWorkspace.lbA[261] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[61]; +acadoWorkspace.lbA[262] = - acadoWorkspace.evH[62]; +acadoWorkspace.lbA[263] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[63]; +acadoWorkspace.lbA[264] = - acadoWorkspace.evH[64]; +acadoWorkspace.lbA[265] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[65]; +acadoWorkspace.lbA[266] = - acadoWorkspace.evH[66]; +acadoWorkspace.lbA[267] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[67]; +acadoWorkspace.lbA[268] = - acadoWorkspace.evH[68]; +acadoWorkspace.lbA[269] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[69]; +acadoWorkspace.lbA[270] = - acadoWorkspace.evH[70]; +acadoWorkspace.lbA[271] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[71]; +acadoWorkspace.lbA[272] = - acadoWorkspace.evH[72]; +acadoWorkspace.lbA[273] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[73]; +acadoWorkspace.lbA[274] = - acadoWorkspace.evH[74]; +acadoWorkspace.lbA[275] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[75]; +acadoWorkspace.lbA[276] = - acadoWorkspace.evH[76]; +acadoWorkspace.lbA[277] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[77]; +acadoWorkspace.lbA[278] = - acadoWorkspace.evH[78]; +acadoWorkspace.lbA[279] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[79]; +acadoWorkspace.lbA[280] = - acadoWorkspace.evH[80]; +acadoWorkspace.lbA[281] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[81]; +acadoWorkspace.lbA[282] = - acadoWorkspace.evH[82]; +acadoWorkspace.lbA[283] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[83]; +acadoWorkspace.lbA[284] = - acadoWorkspace.evH[84]; +acadoWorkspace.lbA[285] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[85]; +acadoWorkspace.lbA[286] = - acadoWorkspace.evH[86]; +acadoWorkspace.lbA[287] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[87]; +acadoWorkspace.lbA[288] = - acadoWorkspace.evH[88]; +acadoWorkspace.lbA[289] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[89]; +acadoWorkspace.lbA[290] = - acadoWorkspace.evH[90]; +acadoWorkspace.lbA[291] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[91]; +acadoWorkspace.lbA[292] = - acadoWorkspace.evH[92]; +acadoWorkspace.lbA[293] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[93]; +acadoWorkspace.lbA[294] = - acadoWorkspace.evH[94]; +acadoWorkspace.lbA[295] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[95]; +acadoWorkspace.lbA[296] = - acadoWorkspace.evH[96]; +acadoWorkspace.lbA[297] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[97]; +acadoWorkspace.lbA[298] = - acadoWorkspace.evH[98]; +acadoWorkspace.lbA[299] = (real_t)-1.5000000000000000e+01 - acadoWorkspace.evH[99]; + +acadoWorkspace.ubA[200] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[0]; +acadoWorkspace.ubA[201] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[1]; +acadoWorkspace.ubA[202] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[2]; +acadoWorkspace.ubA[203] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[3]; +acadoWorkspace.ubA[204] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[4]; +acadoWorkspace.ubA[205] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[5]; +acadoWorkspace.ubA[206] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[6]; +acadoWorkspace.ubA[207] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[7]; +acadoWorkspace.ubA[208] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[8]; +acadoWorkspace.ubA[209] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[9]; +acadoWorkspace.ubA[210] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[10]; +acadoWorkspace.ubA[211] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[11]; +acadoWorkspace.ubA[212] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[12]; +acadoWorkspace.ubA[213] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[13]; +acadoWorkspace.ubA[214] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[14]; +acadoWorkspace.ubA[215] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[15]; +acadoWorkspace.ubA[216] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[16]; +acadoWorkspace.ubA[217] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[17]; +acadoWorkspace.ubA[218] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[18]; +acadoWorkspace.ubA[219] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[19]; +acadoWorkspace.ubA[220] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[20]; +acadoWorkspace.ubA[221] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[21]; +acadoWorkspace.ubA[222] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[22]; +acadoWorkspace.ubA[223] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[23]; +acadoWorkspace.ubA[224] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[24]; +acadoWorkspace.ubA[225] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[25]; +acadoWorkspace.ubA[226] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[26]; +acadoWorkspace.ubA[227] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[27]; +acadoWorkspace.ubA[228] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[28]; +acadoWorkspace.ubA[229] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[29]; +acadoWorkspace.ubA[230] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[30]; +acadoWorkspace.ubA[231] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[31]; +acadoWorkspace.ubA[232] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[32]; +acadoWorkspace.ubA[233] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[33]; +acadoWorkspace.ubA[234] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[34]; +acadoWorkspace.ubA[235] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[35]; +acadoWorkspace.ubA[236] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[36]; +acadoWorkspace.ubA[237] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[37]; +acadoWorkspace.ubA[238] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[38]; +acadoWorkspace.ubA[239] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[39]; +acadoWorkspace.ubA[240] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[40]; +acadoWorkspace.ubA[241] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[41]; +acadoWorkspace.ubA[242] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[42]; +acadoWorkspace.ubA[243] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[43]; +acadoWorkspace.ubA[244] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[44]; +acadoWorkspace.ubA[245] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[45]; +acadoWorkspace.ubA[246] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[46]; +acadoWorkspace.ubA[247] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[47]; +acadoWorkspace.ubA[248] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[48]; +acadoWorkspace.ubA[249] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[49]; +acadoWorkspace.ubA[250] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[50]; +acadoWorkspace.ubA[251] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[51]; +acadoWorkspace.ubA[252] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[52]; +acadoWorkspace.ubA[253] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[53]; +acadoWorkspace.ubA[254] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[54]; +acadoWorkspace.ubA[255] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[55]; +acadoWorkspace.ubA[256] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[56]; +acadoWorkspace.ubA[257] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[57]; +acadoWorkspace.ubA[258] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[58]; +acadoWorkspace.ubA[259] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[59]; +acadoWorkspace.ubA[260] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[60]; +acadoWorkspace.ubA[261] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[61]; +acadoWorkspace.ubA[262] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[62]; +acadoWorkspace.ubA[263] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[63]; +acadoWorkspace.ubA[264] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[64]; +acadoWorkspace.ubA[265] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[65]; +acadoWorkspace.ubA[266] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[66]; +acadoWorkspace.ubA[267] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[67]; +acadoWorkspace.ubA[268] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[68]; +acadoWorkspace.ubA[269] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[69]; +acadoWorkspace.ubA[270] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[70]; +acadoWorkspace.ubA[271] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[71]; +acadoWorkspace.ubA[272] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[72]; +acadoWorkspace.ubA[273] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[73]; +acadoWorkspace.ubA[274] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[74]; +acadoWorkspace.ubA[275] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[75]; +acadoWorkspace.ubA[276] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[76]; +acadoWorkspace.ubA[277] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[77]; +acadoWorkspace.ubA[278] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[78]; +acadoWorkspace.ubA[279] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[79]; +acadoWorkspace.ubA[280] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[80]; +acadoWorkspace.ubA[281] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[81]; +acadoWorkspace.ubA[282] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[82]; +acadoWorkspace.ubA[283] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[83]; +acadoWorkspace.ubA[284] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[84]; +acadoWorkspace.ubA[285] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[85]; +acadoWorkspace.ubA[286] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[86]; +acadoWorkspace.ubA[287] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[87]; +acadoWorkspace.ubA[288] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[88]; +acadoWorkspace.ubA[289] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[89]; +acadoWorkspace.ubA[290] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[90]; +acadoWorkspace.ubA[291] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[91]; +acadoWorkspace.ubA[292] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[92]; +acadoWorkspace.ubA[293] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[93]; +acadoWorkspace.ubA[294] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[94]; +acadoWorkspace.ubA[295] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[95]; +acadoWorkspace.ubA[296] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[96]; +acadoWorkspace.ubA[297] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[97]; +acadoWorkspace.ubA[298] = (real_t)1.0000000000000000e+12 - acadoWorkspace.evH[98]; +acadoWorkspace.ubA[299] = (real_t)1.5000000000000000e+01 - acadoWorkspace.evH[99]; + +acado_macHxd( &(acadoWorkspace.evHx[ 12 ]), acadoWorkspace.d, &(acadoWorkspace.lbA[ 202 ]), &(acadoWorkspace.ubA[ 202 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 24 ]), &(acadoWorkspace.d[ 6 ]), &(acadoWorkspace.lbA[ 204 ]), &(acadoWorkspace.ubA[ 204 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 36 ]), &(acadoWorkspace.d[ 12 ]), &(acadoWorkspace.lbA[ 206 ]), &(acadoWorkspace.ubA[ 206 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 48 ]), &(acadoWorkspace.d[ 18 ]), &(acadoWorkspace.lbA[ 208 ]), &(acadoWorkspace.ubA[ 208 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 60 ]), &(acadoWorkspace.d[ 24 ]), &(acadoWorkspace.lbA[ 210 ]), &(acadoWorkspace.ubA[ 210 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 72 ]), &(acadoWorkspace.d[ 30 ]), &(acadoWorkspace.lbA[ 212 ]), &(acadoWorkspace.ubA[ 212 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 84 ]), &(acadoWorkspace.d[ 36 ]), &(acadoWorkspace.lbA[ 214 ]), &(acadoWorkspace.ubA[ 214 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 96 ]), &(acadoWorkspace.d[ 42 ]), &(acadoWorkspace.lbA[ 216 ]), &(acadoWorkspace.ubA[ 216 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 108 ]), &(acadoWorkspace.d[ 48 ]), &(acadoWorkspace.lbA[ 218 ]), &(acadoWorkspace.ubA[ 218 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 120 ]), &(acadoWorkspace.d[ 54 ]), &(acadoWorkspace.lbA[ 220 ]), &(acadoWorkspace.ubA[ 220 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 132 ]), &(acadoWorkspace.d[ 60 ]), &(acadoWorkspace.lbA[ 222 ]), &(acadoWorkspace.ubA[ 222 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 144 ]), &(acadoWorkspace.d[ 66 ]), &(acadoWorkspace.lbA[ 224 ]), &(acadoWorkspace.ubA[ 224 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 156 ]), &(acadoWorkspace.d[ 72 ]), &(acadoWorkspace.lbA[ 226 ]), &(acadoWorkspace.ubA[ 226 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 168 ]), &(acadoWorkspace.d[ 78 ]), &(acadoWorkspace.lbA[ 228 ]), &(acadoWorkspace.ubA[ 228 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 180 ]), &(acadoWorkspace.d[ 84 ]), &(acadoWorkspace.lbA[ 230 ]), &(acadoWorkspace.ubA[ 230 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 192 ]), &(acadoWorkspace.d[ 90 ]), &(acadoWorkspace.lbA[ 232 ]), &(acadoWorkspace.ubA[ 232 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 204 ]), &(acadoWorkspace.d[ 96 ]), &(acadoWorkspace.lbA[ 234 ]), &(acadoWorkspace.ubA[ 234 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 216 ]), &(acadoWorkspace.d[ 102 ]), &(acadoWorkspace.lbA[ 236 ]), &(acadoWorkspace.ubA[ 236 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 228 ]), &(acadoWorkspace.d[ 108 ]), &(acadoWorkspace.lbA[ 238 ]), &(acadoWorkspace.ubA[ 238 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 240 ]), &(acadoWorkspace.d[ 114 ]), &(acadoWorkspace.lbA[ 240 ]), &(acadoWorkspace.ubA[ 240 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 252 ]), &(acadoWorkspace.d[ 120 ]), &(acadoWorkspace.lbA[ 242 ]), &(acadoWorkspace.ubA[ 242 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 264 ]), &(acadoWorkspace.d[ 126 ]), &(acadoWorkspace.lbA[ 244 ]), &(acadoWorkspace.ubA[ 244 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 276 ]), &(acadoWorkspace.d[ 132 ]), &(acadoWorkspace.lbA[ 246 ]), &(acadoWorkspace.ubA[ 246 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 288 ]), &(acadoWorkspace.d[ 138 ]), &(acadoWorkspace.lbA[ 248 ]), &(acadoWorkspace.ubA[ 248 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 300 ]), &(acadoWorkspace.d[ 144 ]), &(acadoWorkspace.lbA[ 250 ]), &(acadoWorkspace.ubA[ 250 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 312 ]), &(acadoWorkspace.d[ 150 ]), &(acadoWorkspace.lbA[ 252 ]), &(acadoWorkspace.ubA[ 252 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 324 ]), &(acadoWorkspace.d[ 156 ]), &(acadoWorkspace.lbA[ 254 ]), &(acadoWorkspace.ubA[ 254 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 336 ]), &(acadoWorkspace.d[ 162 ]), &(acadoWorkspace.lbA[ 256 ]), &(acadoWorkspace.ubA[ 256 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 348 ]), &(acadoWorkspace.d[ 168 ]), &(acadoWorkspace.lbA[ 258 ]), &(acadoWorkspace.ubA[ 258 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 360 ]), &(acadoWorkspace.d[ 174 ]), &(acadoWorkspace.lbA[ 260 ]), &(acadoWorkspace.ubA[ 260 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 372 ]), &(acadoWorkspace.d[ 180 ]), &(acadoWorkspace.lbA[ 262 ]), &(acadoWorkspace.ubA[ 262 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 384 ]), &(acadoWorkspace.d[ 186 ]), &(acadoWorkspace.lbA[ 264 ]), &(acadoWorkspace.ubA[ 264 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 396 ]), &(acadoWorkspace.d[ 192 ]), &(acadoWorkspace.lbA[ 266 ]), &(acadoWorkspace.ubA[ 266 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 408 ]), &(acadoWorkspace.d[ 198 ]), &(acadoWorkspace.lbA[ 268 ]), &(acadoWorkspace.ubA[ 268 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 420 ]), &(acadoWorkspace.d[ 204 ]), &(acadoWorkspace.lbA[ 270 ]), &(acadoWorkspace.ubA[ 270 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 432 ]), &(acadoWorkspace.d[ 210 ]), &(acadoWorkspace.lbA[ 272 ]), &(acadoWorkspace.ubA[ 272 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 444 ]), &(acadoWorkspace.d[ 216 ]), &(acadoWorkspace.lbA[ 274 ]), &(acadoWorkspace.ubA[ 274 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 456 ]), &(acadoWorkspace.d[ 222 ]), &(acadoWorkspace.lbA[ 276 ]), &(acadoWorkspace.ubA[ 276 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 468 ]), &(acadoWorkspace.d[ 228 ]), &(acadoWorkspace.lbA[ 278 ]), &(acadoWorkspace.ubA[ 278 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 480 ]), &(acadoWorkspace.d[ 234 ]), &(acadoWorkspace.lbA[ 280 ]), &(acadoWorkspace.ubA[ 280 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 492 ]), &(acadoWorkspace.d[ 240 ]), &(acadoWorkspace.lbA[ 282 ]), &(acadoWorkspace.ubA[ 282 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 504 ]), &(acadoWorkspace.d[ 246 ]), &(acadoWorkspace.lbA[ 284 ]), &(acadoWorkspace.ubA[ 284 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 516 ]), &(acadoWorkspace.d[ 252 ]), &(acadoWorkspace.lbA[ 286 ]), &(acadoWorkspace.ubA[ 286 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 528 ]), &(acadoWorkspace.d[ 258 ]), &(acadoWorkspace.lbA[ 288 ]), &(acadoWorkspace.ubA[ 288 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 540 ]), &(acadoWorkspace.d[ 264 ]), &(acadoWorkspace.lbA[ 290 ]), &(acadoWorkspace.ubA[ 290 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 552 ]), &(acadoWorkspace.d[ 270 ]), &(acadoWorkspace.lbA[ 292 ]), &(acadoWorkspace.ubA[ 292 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 564 ]), &(acadoWorkspace.d[ 276 ]), &(acadoWorkspace.lbA[ 294 ]), &(acadoWorkspace.ubA[ 294 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 576 ]), &(acadoWorkspace.d[ 282 ]), &(acadoWorkspace.lbA[ 296 ]), &(acadoWorkspace.ubA[ 296 ]) ); +acado_macHxd( &(acadoWorkspace.evHx[ 588 ]), &(acadoWorkspace.d[ 288 ]), &(acadoWorkspace.lbA[ 298 ]), &(acadoWorkspace.ubA[ 298 ]) ); + +} + +void acado_condenseFdb( ) +{ +int lRun1; +int lRun2; +int lRun3; +real_t tmp; + +acadoWorkspace.Dx0[0] = acadoVariables.x0[0] - acadoVariables.x[0]; +acadoWorkspace.Dx0[1] = acadoVariables.x0[1] - acadoVariables.x[1]; +acadoWorkspace.Dx0[2] = acadoVariables.x0[2] - acadoVariables.x[2]; +acadoWorkspace.Dx0[3] = acadoVariables.x0[3] - acadoVariables.x[3]; +acadoWorkspace.Dx0[4] = acadoVariables.x0[4] - acadoVariables.x[4]; +acadoWorkspace.Dx0[5] = acadoVariables.x0[5] - acadoVariables.x[5]; + +for (lRun2 = 0; lRun2 < 250; ++lRun2) +acadoWorkspace.Dy[lRun2] -= acadoVariables.y[lRun2]; + +acadoWorkspace.DyN[0] -= acadoVariables.yN[0]; +acadoWorkspace.DyN[1] -= acadoVariables.yN[1]; +acadoWorkspace.DyN[2] -= acadoVariables.yN[2]; + +acado_multRDy( acadoWorkspace.R2, acadoWorkspace.Dy, acadoWorkspace.g ); +acado_multRDy( &(acadoWorkspace.R2[ 10 ]), &(acadoWorkspace.Dy[ 5 ]), &(acadoWorkspace.g[ 2 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 20 ]), &(acadoWorkspace.Dy[ 10 ]), &(acadoWorkspace.g[ 4 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 30 ]), &(acadoWorkspace.Dy[ 15 ]), &(acadoWorkspace.g[ 6 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 40 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.g[ 8 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 50 ]), &(acadoWorkspace.Dy[ 25 ]), &(acadoWorkspace.g[ 10 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 60 ]), &(acadoWorkspace.Dy[ 30 ]), &(acadoWorkspace.g[ 12 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 70 ]), &(acadoWorkspace.Dy[ 35 ]), &(acadoWorkspace.g[ 14 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 80 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.g[ 16 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 90 ]), &(acadoWorkspace.Dy[ 45 ]), &(acadoWorkspace.g[ 18 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 100 ]), &(acadoWorkspace.Dy[ 50 ]), &(acadoWorkspace.g[ 20 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 110 ]), &(acadoWorkspace.Dy[ 55 ]), &(acadoWorkspace.g[ 22 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 120 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.g[ 24 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 130 ]), &(acadoWorkspace.Dy[ 65 ]), &(acadoWorkspace.g[ 26 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 140 ]), &(acadoWorkspace.Dy[ 70 ]), &(acadoWorkspace.g[ 28 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 150 ]), &(acadoWorkspace.Dy[ 75 ]), &(acadoWorkspace.g[ 30 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 160 ]), &(acadoWorkspace.Dy[ 80 ]), &(acadoWorkspace.g[ 32 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 170 ]), &(acadoWorkspace.Dy[ 85 ]), &(acadoWorkspace.g[ 34 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 180 ]), &(acadoWorkspace.Dy[ 90 ]), &(acadoWorkspace.g[ 36 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 190 ]), &(acadoWorkspace.Dy[ 95 ]), &(acadoWorkspace.g[ 38 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 200 ]), &(acadoWorkspace.Dy[ 100 ]), &(acadoWorkspace.g[ 40 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 210 ]), &(acadoWorkspace.Dy[ 105 ]), &(acadoWorkspace.g[ 42 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 220 ]), &(acadoWorkspace.Dy[ 110 ]), &(acadoWorkspace.g[ 44 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 230 ]), &(acadoWorkspace.Dy[ 115 ]), &(acadoWorkspace.g[ 46 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 240 ]), &(acadoWorkspace.Dy[ 120 ]), &(acadoWorkspace.g[ 48 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 250 ]), &(acadoWorkspace.Dy[ 125 ]), &(acadoWorkspace.g[ 50 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 260 ]), &(acadoWorkspace.Dy[ 130 ]), &(acadoWorkspace.g[ 52 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 270 ]), &(acadoWorkspace.Dy[ 135 ]), &(acadoWorkspace.g[ 54 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 280 ]), &(acadoWorkspace.Dy[ 140 ]), &(acadoWorkspace.g[ 56 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 290 ]), &(acadoWorkspace.Dy[ 145 ]), &(acadoWorkspace.g[ 58 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 300 ]), &(acadoWorkspace.Dy[ 150 ]), &(acadoWorkspace.g[ 60 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 310 ]), &(acadoWorkspace.Dy[ 155 ]), &(acadoWorkspace.g[ 62 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 320 ]), &(acadoWorkspace.Dy[ 160 ]), &(acadoWorkspace.g[ 64 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 330 ]), &(acadoWorkspace.Dy[ 165 ]), &(acadoWorkspace.g[ 66 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 340 ]), &(acadoWorkspace.Dy[ 170 ]), &(acadoWorkspace.g[ 68 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 350 ]), &(acadoWorkspace.Dy[ 175 ]), &(acadoWorkspace.g[ 70 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 360 ]), &(acadoWorkspace.Dy[ 180 ]), &(acadoWorkspace.g[ 72 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 370 ]), &(acadoWorkspace.Dy[ 185 ]), &(acadoWorkspace.g[ 74 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 380 ]), &(acadoWorkspace.Dy[ 190 ]), &(acadoWorkspace.g[ 76 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 390 ]), &(acadoWorkspace.Dy[ 195 ]), &(acadoWorkspace.g[ 78 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 400 ]), &(acadoWorkspace.Dy[ 200 ]), &(acadoWorkspace.g[ 80 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 410 ]), &(acadoWorkspace.Dy[ 205 ]), &(acadoWorkspace.g[ 82 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 420 ]), &(acadoWorkspace.Dy[ 210 ]), &(acadoWorkspace.g[ 84 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 430 ]), &(acadoWorkspace.Dy[ 215 ]), &(acadoWorkspace.g[ 86 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 440 ]), &(acadoWorkspace.Dy[ 220 ]), &(acadoWorkspace.g[ 88 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 450 ]), &(acadoWorkspace.Dy[ 225 ]), &(acadoWorkspace.g[ 90 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 460 ]), &(acadoWorkspace.Dy[ 230 ]), &(acadoWorkspace.g[ 92 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 470 ]), &(acadoWorkspace.Dy[ 235 ]), &(acadoWorkspace.g[ 94 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 480 ]), &(acadoWorkspace.Dy[ 240 ]), &(acadoWorkspace.g[ 96 ]) ); +acado_multRDy( &(acadoWorkspace.R2[ 490 ]), &(acadoWorkspace.Dy[ 245 ]), &(acadoWorkspace.g[ 98 ]) ); + +acado_multQDy( acadoWorkspace.Q2, acadoWorkspace.Dy, acadoWorkspace.QDy ); +acado_multQDy( &(acadoWorkspace.Q2[ 30 ]), &(acadoWorkspace.Dy[ 5 ]), &(acadoWorkspace.QDy[ 6 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 60 ]), &(acadoWorkspace.Dy[ 10 ]), &(acadoWorkspace.QDy[ 12 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 90 ]), &(acadoWorkspace.Dy[ 15 ]), &(acadoWorkspace.QDy[ 18 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 120 ]), &(acadoWorkspace.Dy[ 20 ]), &(acadoWorkspace.QDy[ 24 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 150 ]), &(acadoWorkspace.Dy[ 25 ]), &(acadoWorkspace.QDy[ 30 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 180 ]), &(acadoWorkspace.Dy[ 30 ]), &(acadoWorkspace.QDy[ 36 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 210 ]), &(acadoWorkspace.Dy[ 35 ]), &(acadoWorkspace.QDy[ 42 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 240 ]), &(acadoWorkspace.Dy[ 40 ]), &(acadoWorkspace.QDy[ 48 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 270 ]), &(acadoWorkspace.Dy[ 45 ]), &(acadoWorkspace.QDy[ 54 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 300 ]), &(acadoWorkspace.Dy[ 50 ]), &(acadoWorkspace.QDy[ 60 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 330 ]), &(acadoWorkspace.Dy[ 55 ]), &(acadoWorkspace.QDy[ 66 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 360 ]), &(acadoWorkspace.Dy[ 60 ]), &(acadoWorkspace.QDy[ 72 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 390 ]), &(acadoWorkspace.Dy[ 65 ]), &(acadoWorkspace.QDy[ 78 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 420 ]), &(acadoWorkspace.Dy[ 70 ]), &(acadoWorkspace.QDy[ 84 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 450 ]), &(acadoWorkspace.Dy[ 75 ]), &(acadoWorkspace.QDy[ 90 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 480 ]), &(acadoWorkspace.Dy[ 80 ]), &(acadoWorkspace.QDy[ 96 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 510 ]), &(acadoWorkspace.Dy[ 85 ]), &(acadoWorkspace.QDy[ 102 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 540 ]), &(acadoWorkspace.Dy[ 90 ]), &(acadoWorkspace.QDy[ 108 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 570 ]), &(acadoWorkspace.Dy[ 95 ]), &(acadoWorkspace.QDy[ 114 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 600 ]), &(acadoWorkspace.Dy[ 100 ]), &(acadoWorkspace.QDy[ 120 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 630 ]), &(acadoWorkspace.Dy[ 105 ]), &(acadoWorkspace.QDy[ 126 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 660 ]), &(acadoWorkspace.Dy[ 110 ]), &(acadoWorkspace.QDy[ 132 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 690 ]), &(acadoWorkspace.Dy[ 115 ]), &(acadoWorkspace.QDy[ 138 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 720 ]), &(acadoWorkspace.Dy[ 120 ]), &(acadoWorkspace.QDy[ 144 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 750 ]), &(acadoWorkspace.Dy[ 125 ]), &(acadoWorkspace.QDy[ 150 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 780 ]), &(acadoWorkspace.Dy[ 130 ]), &(acadoWorkspace.QDy[ 156 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 810 ]), &(acadoWorkspace.Dy[ 135 ]), &(acadoWorkspace.QDy[ 162 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 840 ]), &(acadoWorkspace.Dy[ 140 ]), &(acadoWorkspace.QDy[ 168 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 870 ]), &(acadoWorkspace.Dy[ 145 ]), &(acadoWorkspace.QDy[ 174 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 900 ]), &(acadoWorkspace.Dy[ 150 ]), &(acadoWorkspace.QDy[ 180 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 930 ]), &(acadoWorkspace.Dy[ 155 ]), &(acadoWorkspace.QDy[ 186 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 960 ]), &(acadoWorkspace.Dy[ 160 ]), &(acadoWorkspace.QDy[ 192 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 990 ]), &(acadoWorkspace.Dy[ 165 ]), &(acadoWorkspace.QDy[ 198 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1020 ]), &(acadoWorkspace.Dy[ 170 ]), &(acadoWorkspace.QDy[ 204 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1050 ]), &(acadoWorkspace.Dy[ 175 ]), &(acadoWorkspace.QDy[ 210 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1080 ]), &(acadoWorkspace.Dy[ 180 ]), &(acadoWorkspace.QDy[ 216 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1110 ]), &(acadoWorkspace.Dy[ 185 ]), &(acadoWorkspace.QDy[ 222 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1140 ]), &(acadoWorkspace.Dy[ 190 ]), &(acadoWorkspace.QDy[ 228 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1170 ]), &(acadoWorkspace.Dy[ 195 ]), &(acadoWorkspace.QDy[ 234 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1200 ]), &(acadoWorkspace.Dy[ 200 ]), &(acadoWorkspace.QDy[ 240 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1230 ]), &(acadoWorkspace.Dy[ 205 ]), &(acadoWorkspace.QDy[ 246 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1260 ]), &(acadoWorkspace.Dy[ 210 ]), &(acadoWorkspace.QDy[ 252 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1290 ]), &(acadoWorkspace.Dy[ 215 ]), &(acadoWorkspace.QDy[ 258 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1320 ]), &(acadoWorkspace.Dy[ 220 ]), &(acadoWorkspace.QDy[ 264 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1350 ]), &(acadoWorkspace.Dy[ 225 ]), &(acadoWorkspace.QDy[ 270 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1380 ]), &(acadoWorkspace.Dy[ 230 ]), &(acadoWorkspace.QDy[ 276 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1410 ]), &(acadoWorkspace.Dy[ 235 ]), &(acadoWorkspace.QDy[ 282 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1440 ]), &(acadoWorkspace.Dy[ 240 ]), &(acadoWorkspace.QDy[ 288 ]) ); +acado_multQDy( &(acadoWorkspace.Q2[ 1470 ]), &(acadoWorkspace.Dy[ 245 ]), &(acadoWorkspace.QDy[ 294 ]) ); + +acadoWorkspace.QDy[300] = + acadoWorkspace.QN2[0]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[1]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[2]*acadoWorkspace.DyN[2]; +acadoWorkspace.QDy[301] = + acadoWorkspace.QN2[3]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[4]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[5]*acadoWorkspace.DyN[2]; +acadoWorkspace.QDy[302] = + acadoWorkspace.QN2[6]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[7]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[8]*acadoWorkspace.DyN[2]; +acadoWorkspace.QDy[303] = + acadoWorkspace.QN2[9]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[10]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[11]*acadoWorkspace.DyN[2]; +acadoWorkspace.QDy[304] = + acadoWorkspace.QN2[12]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[13]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[14]*acadoWorkspace.DyN[2]; +acadoWorkspace.QDy[305] = + acadoWorkspace.QN2[15]*acadoWorkspace.DyN[0] + acadoWorkspace.QN2[16]*acadoWorkspace.DyN[1] + acadoWorkspace.QN2[17]*acadoWorkspace.DyN[2]; + +for (lRun2 = 0; lRun2 < 300; ++lRun2) +acadoWorkspace.QDy[lRun2 + 6] += acadoWorkspace.Qd[lRun2]; + + +for (lRun1 = 0; lRun1 < 50; ++lRun1) +{ +for (lRun2 = lRun1; lRun2 < 50; ++lRun2) +{ +lRun3 = (((lRun2 + 1) * (lRun2)) / (2)) + (lRun1); +acado_multEQDy( &(acadoWorkspace.E[ lRun3 * 12 ]), &(acadoWorkspace.QDy[ lRun2 * 6 + 6 ]), &(acadoWorkspace.g[ lRun1 * 2 ]) ); +} +} + +acadoWorkspace.g[0] += + acadoWorkspace.H10[0]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[1]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[2]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[3]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[4]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[5]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[1] += + acadoWorkspace.H10[6]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[7]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[8]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[9]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[10]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[11]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[2] += + acadoWorkspace.H10[12]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[13]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[14]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[15]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[16]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[17]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[3] += + acadoWorkspace.H10[18]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[19]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[20]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[21]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[22]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[23]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[4] += + acadoWorkspace.H10[24]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[25]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[26]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[27]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[28]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[29]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[5] += + acadoWorkspace.H10[30]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[31]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[32]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[33]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[34]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[35]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[6] += + acadoWorkspace.H10[36]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[37]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[38]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[39]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[40]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[41]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[7] += + acadoWorkspace.H10[42]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[43]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[44]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[45]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[46]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[47]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[8] += + acadoWorkspace.H10[48]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[49]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[50]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[51]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[52]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[53]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[9] += + acadoWorkspace.H10[54]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[55]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[56]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[57]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[58]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[59]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[10] += + acadoWorkspace.H10[60]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[61]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[62]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[63]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[64]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[65]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[11] += + acadoWorkspace.H10[66]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[67]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[68]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[69]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[70]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[71]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[12] += + acadoWorkspace.H10[72]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[73]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[74]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[75]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[76]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[77]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[13] += + acadoWorkspace.H10[78]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[79]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[80]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[81]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[82]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[83]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[14] += + acadoWorkspace.H10[84]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[85]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[86]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[87]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[88]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[89]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[15] += + acadoWorkspace.H10[90]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[91]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[92]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[93]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[94]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[95]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[16] += + acadoWorkspace.H10[96]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[97]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[98]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[99]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[100]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[101]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[17] += + acadoWorkspace.H10[102]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[103]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[104]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[105]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[106]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[107]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[18] += + acadoWorkspace.H10[108]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[109]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[110]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[111]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[112]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[113]*acadoWorkspace.Dx0[5]; 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+acadoWorkspace.g[59] += + acadoWorkspace.H10[354]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[355]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[356]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[357]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[358]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[359]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[60] += + acadoWorkspace.H10[360]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[361]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[362]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[363]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[364]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[365]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[61] += + acadoWorkspace.H10[366]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[367]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[368]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[369]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[370]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[371]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[62] += + acadoWorkspace.H10[372]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[373]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[374]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[375]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[376]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[377]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[63] += + acadoWorkspace.H10[378]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[379]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[380]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[381]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[382]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[383]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[64] += + acadoWorkspace.H10[384]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[385]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[386]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[387]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[388]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[389]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[65] += + acadoWorkspace.H10[390]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[391]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[392]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[393]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[394]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[395]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[66] += + acadoWorkspace.H10[396]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[397]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[398]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[399]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[400]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[401]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[67] += + acadoWorkspace.H10[402]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[403]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[404]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[405]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[406]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[407]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[68] += + acadoWorkspace.H10[408]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[409]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[410]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[411]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[412]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[413]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[69] += + acadoWorkspace.H10[414]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[415]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[416]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[417]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[418]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[419]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[70] += + acadoWorkspace.H10[420]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[421]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[422]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[423]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[424]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[425]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[71] += + acadoWorkspace.H10[426]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[427]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[428]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[429]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[430]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[431]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[72] += + acadoWorkspace.H10[432]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[433]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[434]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[435]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[436]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[437]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[73] += + acadoWorkspace.H10[438]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[439]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[440]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[441]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[442]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[443]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[74] += + acadoWorkspace.H10[444]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[445]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[446]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[447]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[448]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[449]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[75] += + acadoWorkspace.H10[450]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[451]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[452]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[453]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[454]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[455]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[76] += + acadoWorkspace.H10[456]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[457]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[458]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[459]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[460]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[461]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[77] += + acadoWorkspace.H10[462]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[463]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[464]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[465]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[466]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[467]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[78] += + acadoWorkspace.H10[468]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[469]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[470]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[471]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[472]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[473]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[79] += + acadoWorkspace.H10[474]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[475]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[476]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[477]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[478]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[479]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[80] += + acadoWorkspace.H10[480]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[481]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[482]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[483]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[484]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[485]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[81] += + acadoWorkspace.H10[486]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[487]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[488]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[489]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[490]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[491]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[82] += + acadoWorkspace.H10[492]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[493]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[494]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[495]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[496]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[497]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[83] += + acadoWorkspace.H10[498]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[499]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[500]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[501]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[502]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[503]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[84] += + acadoWorkspace.H10[504]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[505]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[506]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[507]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[508]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[509]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[85] += + acadoWorkspace.H10[510]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[511]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[512]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[513]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[514]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[515]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[86] += + acadoWorkspace.H10[516]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[517]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[518]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[519]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[520]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[521]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[87] += + acadoWorkspace.H10[522]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[523]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[524]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[525]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[526]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[527]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[88] += + acadoWorkspace.H10[528]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[529]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[530]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[531]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[532]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[533]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[89] += + acadoWorkspace.H10[534]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[535]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[536]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[537]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[538]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[539]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[90] += + acadoWorkspace.H10[540]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[541]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[542]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[543]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[544]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[545]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[91] += + acadoWorkspace.H10[546]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[547]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[548]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[549]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[550]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[551]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[92] += + acadoWorkspace.H10[552]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[553]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[554]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[555]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[556]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[557]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[93] += + acadoWorkspace.H10[558]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[559]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[560]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[561]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[562]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[563]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[94] += + acadoWorkspace.H10[564]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[565]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[566]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[567]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[568]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[569]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[95] += + acadoWorkspace.H10[570]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[571]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[572]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[573]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[574]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[575]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[96] += + acadoWorkspace.H10[576]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[577]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[578]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[579]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[580]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[581]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[97] += + acadoWorkspace.H10[582]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[583]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[584]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[585]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[586]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[587]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[98] += + acadoWorkspace.H10[588]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[589]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[590]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[591]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[592]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[593]*acadoWorkspace.Dx0[5]; +acadoWorkspace.g[99] += + acadoWorkspace.H10[594]*acadoWorkspace.Dx0[0] + acadoWorkspace.H10[595]*acadoWorkspace.Dx0[1] + acadoWorkspace.H10[596]*acadoWorkspace.Dx0[2] + acadoWorkspace.H10[597]*acadoWorkspace.Dx0[3] + acadoWorkspace.H10[598]*acadoWorkspace.Dx0[4] + acadoWorkspace.H10[599]*acadoWorkspace.Dx0[5]; + +tmp = + acadoWorkspace.evGx[6]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[7]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[8]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[9]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[10]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[11]*acadoWorkspace.Dx0[5] + acadoVariables.x[7]; +tmp += acadoWorkspace.d[1]; +acadoWorkspace.lbA[0] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[0] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[18]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[19]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[20]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[21]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[22]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[23]*acadoWorkspace.Dx0[5] + acadoVariables.x[9]; +tmp += acadoWorkspace.d[3]; +acadoWorkspace.lbA[1] = - tmp; +acadoWorkspace.ubA[1] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[24]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[25]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[26]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[27]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[28]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[29]*acadoWorkspace.Dx0[5] + acadoVariables.x[10]; +tmp += acadoWorkspace.d[4]; +acadoWorkspace.lbA[2] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[2] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[30]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[31]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[32]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[33]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[34]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[35]*acadoWorkspace.Dx0[5] + acadoVariables.x[11]; +tmp += acadoWorkspace.d[5]; +acadoWorkspace.lbA[3] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[3] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[42]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[43]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[44]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[45]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[46]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[47]*acadoWorkspace.Dx0[5] + acadoVariables.x[13]; +tmp += acadoWorkspace.d[7]; +acadoWorkspace.lbA[4] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[4] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[54]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[55]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[56]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[57]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[58]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[59]*acadoWorkspace.Dx0[5] + acadoVariables.x[15]; +tmp += acadoWorkspace.d[9]; +acadoWorkspace.lbA[5] = - tmp; +acadoWorkspace.ubA[5] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[60]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[61]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[62]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[63]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[64]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[65]*acadoWorkspace.Dx0[5] + acadoVariables.x[16]; +tmp += acadoWorkspace.d[10]; +acadoWorkspace.lbA[6] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[6] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[66]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[67]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[68]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[69]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[70]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[71]*acadoWorkspace.Dx0[5] + acadoVariables.x[17]; +tmp += acadoWorkspace.d[11]; +acadoWorkspace.lbA[7] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[7] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[78]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[79]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[80]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[81]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[82]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[83]*acadoWorkspace.Dx0[5] + acadoVariables.x[19]; +tmp += acadoWorkspace.d[13]; +acadoWorkspace.lbA[8] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[8] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[90]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[91]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[92]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[93]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[94]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[95]*acadoWorkspace.Dx0[5] + acadoVariables.x[21]; +tmp += acadoWorkspace.d[15]; +acadoWorkspace.lbA[9] = - tmp; +acadoWorkspace.ubA[9] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[96]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[97]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[98]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[99]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[100]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[101]*acadoWorkspace.Dx0[5] + acadoVariables.x[22]; +tmp += acadoWorkspace.d[16]; +acadoWorkspace.lbA[10] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[10] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[102]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[103]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[104]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[105]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[106]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[107]*acadoWorkspace.Dx0[5] + acadoVariables.x[23]; +tmp += acadoWorkspace.d[17]; +acadoWorkspace.lbA[11] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[11] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[114]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[115]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[116]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[117]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[118]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[119]*acadoWorkspace.Dx0[5] + acadoVariables.x[25]; +tmp += acadoWorkspace.d[19]; +acadoWorkspace.lbA[12] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[12] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[126]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[127]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[128]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[129]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[130]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[131]*acadoWorkspace.Dx0[5] + acadoVariables.x[27]; +tmp += acadoWorkspace.d[21]; +acadoWorkspace.lbA[13] = - tmp; +acadoWorkspace.ubA[13] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[132]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[133]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[134]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[135]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[136]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[137]*acadoWorkspace.Dx0[5] + acadoVariables.x[28]; +tmp += acadoWorkspace.d[22]; +acadoWorkspace.lbA[14] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[14] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[138]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[139]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[140]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[141]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[142]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[143]*acadoWorkspace.Dx0[5] + acadoVariables.x[29]; +tmp += acadoWorkspace.d[23]; +acadoWorkspace.lbA[15] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[15] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[150]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[151]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[152]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[153]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[154]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[155]*acadoWorkspace.Dx0[5] + acadoVariables.x[31]; +tmp += acadoWorkspace.d[25]; +acadoWorkspace.lbA[16] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[16] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[162]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[163]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[164]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[165]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[166]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[167]*acadoWorkspace.Dx0[5] + acadoVariables.x[33]; +tmp += acadoWorkspace.d[27]; +acadoWorkspace.lbA[17] = - tmp; +acadoWorkspace.ubA[17] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[168]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[169]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[170]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[171]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[172]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[173]*acadoWorkspace.Dx0[5] + acadoVariables.x[34]; +tmp += acadoWorkspace.d[28]; +acadoWorkspace.lbA[18] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[18] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[174]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[175]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[176]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[177]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[178]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[179]*acadoWorkspace.Dx0[5] + acadoVariables.x[35]; +tmp += acadoWorkspace.d[29]; +acadoWorkspace.lbA[19] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[19] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[186]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[187]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[188]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[189]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[190]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[191]*acadoWorkspace.Dx0[5] + acadoVariables.x[37]; +tmp += acadoWorkspace.d[31]; +acadoWorkspace.lbA[20] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[20] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[198]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[199]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[200]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[201]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[202]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[203]*acadoWorkspace.Dx0[5] + acadoVariables.x[39]; +tmp += acadoWorkspace.d[33]; +acadoWorkspace.lbA[21] = - tmp; +acadoWorkspace.ubA[21] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[204]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[205]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[206]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[207]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[208]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[209]*acadoWorkspace.Dx0[5] + acadoVariables.x[40]; +tmp += acadoWorkspace.d[34]; +acadoWorkspace.lbA[22] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[22] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[210]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[211]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[212]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[213]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[214]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[215]*acadoWorkspace.Dx0[5] + acadoVariables.x[41]; +tmp += acadoWorkspace.d[35]; +acadoWorkspace.lbA[23] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[23] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[222]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[223]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[224]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[225]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[226]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[227]*acadoWorkspace.Dx0[5] + acadoVariables.x[43]; +tmp += acadoWorkspace.d[37]; +acadoWorkspace.lbA[24] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[24] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[234]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[235]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[236]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[237]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[238]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[239]*acadoWorkspace.Dx0[5] + acadoVariables.x[45]; +tmp += acadoWorkspace.d[39]; +acadoWorkspace.lbA[25] = - tmp; +acadoWorkspace.ubA[25] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[240]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[241]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[242]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[243]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[244]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[245]*acadoWorkspace.Dx0[5] + acadoVariables.x[46]; +tmp += acadoWorkspace.d[40]; +acadoWorkspace.lbA[26] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[26] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[246]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[247]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[248]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[249]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[250]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[251]*acadoWorkspace.Dx0[5] + acadoVariables.x[47]; +tmp += acadoWorkspace.d[41]; +acadoWorkspace.lbA[27] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[27] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[258]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[259]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[260]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[261]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[262]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[263]*acadoWorkspace.Dx0[5] + acadoVariables.x[49]; +tmp += acadoWorkspace.d[43]; +acadoWorkspace.lbA[28] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[28] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[270]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[271]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[272]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[273]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[274]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[275]*acadoWorkspace.Dx0[5] + acadoVariables.x[51]; +tmp += acadoWorkspace.d[45]; +acadoWorkspace.lbA[29] = - tmp; +acadoWorkspace.ubA[29] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[276]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[277]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[278]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[279]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[280]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[281]*acadoWorkspace.Dx0[5] + acadoVariables.x[52]; +tmp += acadoWorkspace.d[46]; +acadoWorkspace.lbA[30] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[30] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[282]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[283]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[284]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[285]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[286]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[287]*acadoWorkspace.Dx0[5] + acadoVariables.x[53]; +tmp += acadoWorkspace.d[47]; +acadoWorkspace.lbA[31] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[31] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[294]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[295]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[296]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[297]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[298]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[299]*acadoWorkspace.Dx0[5] + acadoVariables.x[55]; +tmp += acadoWorkspace.d[49]; +acadoWorkspace.lbA[32] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[32] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[306]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[307]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[308]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[309]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[310]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[311]*acadoWorkspace.Dx0[5] + acadoVariables.x[57]; +tmp += acadoWorkspace.d[51]; +acadoWorkspace.lbA[33] = - tmp; +acadoWorkspace.ubA[33] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[312]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[313]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[314]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[315]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[316]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[317]*acadoWorkspace.Dx0[5] + acadoVariables.x[58]; +tmp += acadoWorkspace.d[52]; +acadoWorkspace.lbA[34] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[34] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[318]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[319]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[320]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[321]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[322]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[323]*acadoWorkspace.Dx0[5] + acadoVariables.x[59]; +tmp += acadoWorkspace.d[53]; +acadoWorkspace.lbA[35] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[35] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[330]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[331]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[332]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[333]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[334]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[335]*acadoWorkspace.Dx0[5] + acadoVariables.x[61]; +tmp += acadoWorkspace.d[55]; +acadoWorkspace.lbA[36] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[36] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[342]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[343]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[344]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[345]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[346]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[347]*acadoWorkspace.Dx0[5] + acadoVariables.x[63]; +tmp += acadoWorkspace.d[57]; +acadoWorkspace.lbA[37] = - tmp; +acadoWorkspace.ubA[37] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[348]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[349]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[350]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[351]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[352]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[353]*acadoWorkspace.Dx0[5] + acadoVariables.x[64]; +tmp += acadoWorkspace.d[58]; +acadoWorkspace.lbA[38] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[38] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[354]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[355]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[356]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[357]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[358]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[359]*acadoWorkspace.Dx0[5] + acadoVariables.x[65]; +tmp += acadoWorkspace.d[59]; +acadoWorkspace.lbA[39] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[39] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[366]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[367]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[368]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[369]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[370]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[371]*acadoWorkspace.Dx0[5] + acadoVariables.x[67]; +tmp += acadoWorkspace.d[61]; +acadoWorkspace.lbA[40] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[40] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[378]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[379]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[380]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[381]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[382]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[383]*acadoWorkspace.Dx0[5] + acadoVariables.x[69]; +tmp += acadoWorkspace.d[63]; +acadoWorkspace.lbA[41] = - tmp; +acadoWorkspace.ubA[41] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[384]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[385]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[386]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[387]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[388]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[389]*acadoWorkspace.Dx0[5] + acadoVariables.x[70]; +tmp += acadoWorkspace.d[64]; +acadoWorkspace.lbA[42] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[42] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[390]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[391]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[392]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[393]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[394]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[395]*acadoWorkspace.Dx0[5] + acadoVariables.x[71]; +tmp += acadoWorkspace.d[65]; +acadoWorkspace.lbA[43] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[43] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[402]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[403]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[404]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[405]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[406]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[407]*acadoWorkspace.Dx0[5] + acadoVariables.x[73]; +tmp += acadoWorkspace.d[67]; +acadoWorkspace.lbA[44] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[44] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[414]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[415]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[416]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[417]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[418]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[419]*acadoWorkspace.Dx0[5] + acadoVariables.x[75]; +tmp += acadoWorkspace.d[69]; +acadoWorkspace.lbA[45] = - tmp; +acadoWorkspace.ubA[45] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[420]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[421]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[422]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[423]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[424]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[425]*acadoWorkspace.Dx0[5] + acadoVariables.x[76]; +tmp += acadoWorkspace.d[70]; +acadoWorkspace.lbA[46] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[46] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[426]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[427]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[428]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[429]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[430]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[431]*acadoWorkspace.Dx0[5] + acadoVariables.x[77]; +tmp += acadoWorkspace.d[71]; +acadoWorkspace.lbA[47] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[47] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[438]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[439]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[440]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[441]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[442]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[443]*acadoWorkspace.Dx0[5] + acadoVariables.x[79]; +tmp += acadoWorkspace.d[73]; +acadoWorkspace.lbA[48] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[48] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[450]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[451]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[452]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[453]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[454]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[455]*acadoWorkspace.Dx0[5] + acadoVariables.x[81]; +tmp += acadoWorkspace.d[75]; +acadoWorkspace.lbA[49] = - tmp; +acadoWorkspace.ubA[49] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[456]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[457]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[458]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[459]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[460]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[461]*acadoWorkspace.Dx0[5] + acadoVariables.x[82]; +tmp += acadoWorkspace.d[76]; +acadoWorkspace.lbA[50] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[50] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[462]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[463]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[464]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[465]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[466]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[467]*acadoWorkspace.Dx0[5] + acadoVariables.x[83]; +tmp += acadoWorkspace.d[77]; +acadoWorkspace.lbA[51] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[51] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[474]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[475]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[476]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[477]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[478]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[479]*acadoWorkspace.Dx0[5] + acadoVariables.x[85]; +tmp += acadoWorkspace.d[79]; +acadoWorkspace.lbA[52] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[52] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[486]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[487]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[488]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[489]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[490]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[491]*acadoWorkspace.Dx0[5] + acadoVariables.x[87]; +tmp += acadoWorkspace.d[81]; +acadoWorkspace.lbA[53] = - tmp; +acadoWorkspace.ubA[53] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[492]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[493]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[494]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[495]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[496]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[497]*acadoWorkspace.Dx0[5] + acadoVariables.x[88]; +tmp += acadoWorkspace.d[82]; +acadoWorkspace.lbA[54] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[54] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[498]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[499]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[500]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[501]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[502]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[503]*acadoWorkspace.Dx0[5] + acadoVariables.x[89]; +tmp += acadoWorkspace.d[83]; +acadoWorkspace.lbA[55] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[55] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[510]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[511]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[512]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[513]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[514]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[515]*acadoWorkspace.Dx0[5] + acadoVariables.x[91]; +tmp += acadoWorkspace.d[85]; +acadoWorkspace.lbA[56] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[56] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[522]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[523]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[524]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[525]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[526]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[527]*acadoWorkspace.Dx0[5] + acadoVariables.x[93]; +tmp += acadoWorkspace.d[87]; +acadoWorkspace.lbA[57] = - tmp; +acadoWorkspace.ubA[57] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[528]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[529]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[530]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[531]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[532]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[533]*acadoWorkspace.Dx0[5] + acadoVariables.x[94]; +tmp += acadoWorkspace.d[88]; +acadoWorkspace.lbA[58] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[58] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[534]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[535]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[536]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[537]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[538]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[539]*acadoWorkspace.Dx0[5] + acadoVariables.x[95]; +tmp += acadoWorkspace.d[89]; +acadoWorkspace.lbA[59] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[59] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[546]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[547]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[548]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[549]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[550]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[551]*acadoWorkspace.Dx0[5] + acadoVariables.x[97]; +tmp += acadoWorkspace.d[91]; +acadoWorkspace.lbA[60] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[60] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[558]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[559]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[560]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[561]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[562]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[563]*acadoWorkspace.Dx0[5] + acadoVariables.x[99]; +tmp += acadoWorkspace.d[93]; +acadoWorkspace.lbA[61] = - tmp; +acadoWorkspace.ubA[61] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[564]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[565]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[566]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[567]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[568]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[569]*acadoWorkspace.Dx0[5] + acadoVariables.x[100]; +tmp += acadoWorkspace.d[94]; +acadoWorkspace.lbA[62] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[62] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[570]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[571]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[572]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[573]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[574]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[575]*acadoWorkspace.Dx0[5] + acadoVariables.x[101]; +tmp += acadoWorkspace.d[95]; +acadoWorkspace.lbA[63] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[63] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[582]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[583]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[584]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[585]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[586]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[587]*acadoWorkspace.Dx0[5] + acadoVariables.x[103]; +tmp += acadoWorkspace.d[97]; +acadoWorkspace.lbA[64] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[64] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[594]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[595]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[596]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[597]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[598]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[599]*acadoWorkspace.Dx0[5] + acadoVariables.x[105]; +tmp += acadoWorkspace.d[99]; +acadoWorkspace.lbA[65] = - tmp; +acadoWorkspace.ubA[65] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[600]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[601]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[602]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[603]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[604]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[605]*acadoWorkspace.Dx0[5] + acadoVariables.x[106]; +tmp += acadoWorkspace.d[100]; +acadoWorkspace.lbA[66] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[66] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[606]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[607]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[608]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[609]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[610]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[611]*acadoWorkspace.Dx0[5] + acadoVariables.x[107]; +tmp += acadoWorkspace.d[101]; +acadoWorkspace.lbA[67] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[67] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[618]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[619]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[620]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[621]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[622]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[623]*acadoWorkspace.Dx0[5] + acadoVariables.x[109]; +tmp += acadoWorkspace.d[103]; +acadoWorkspace.lbA[68] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[68] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[630]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[631]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[632]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[633]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[634]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[635]*acadoWorkspace.Dx0[5] + acadoVariables.x[111]; +tmp += acadoWorkspace.d[105]; +acadoWorkspace.lbA[69] = - tmp; +acadoWorkspace.ubA[69] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[636]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[637]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[638]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[639]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[640]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[641]*acadoWorkspace.Dx0[5] + acadoVariables.x[112]; +tmp += acadoWorkspace.d[106]; +acadoWorkspace.lbA[70] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[70] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[642]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[643]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[644]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[645]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[646]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[647]*acadoWorkspace.Dx0[5] + acadoVariables.x[113]; +tmp += acadoWorkspace.d[107]; +acadoWorkspace.lbA[71] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[71] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[654]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[655]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[656]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[657]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[658]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[659]*acadoWorkspace.Dx0[5] + acadoVariables.x[115]; +tmp += acadoWorkspace.d[109]; +acadoWorkspace.lbA[72] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[72] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[666]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[667]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[668]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[669]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[670]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[671]*acadoWorkspace.Dx0[5] + acadoVariables.x[117]; +tmp += acadoWorkspace.d[111]; +acadoWorkspace.lbA[73] = - tmp; +acadoWorkspace.ubA[73] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[672]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[673]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[674]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[675]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[676]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[677]*acadoWorkspace.Dx0[5] + acadoVariables.x[118]; +tmp += acadoWorkspace.d[112]; +acadoWorkspace.lbA[74] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[74] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[678]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[679]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[680]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[681]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[682]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[683]*acadoWorkspace.Dx0[5] + acadoVariables.x[119]; +tmp += acadoWorkspace.d[113]; +acadoWorkspace.lbA[75] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[75] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[690]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[691]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[692]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[693]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[694]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[695]*acadoWorkspace.Dx0[5] + acadoVariables.x[121]; +tmp += acadoWorkspace.d[115]; +acadoWorkspace.lbA[76] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[76] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[702]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[703]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[704]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[705]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[706]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[707]*acadoWorkspace.Dx0[5] + acadoVariables.x[123]; +tmp += acadoWorkspace.d[117]; +acadoWorkspace.lbA[77] = - tmp; +acadoWorkspace.ubA[77] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[708]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[709]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[710]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[711]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[712]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[713]*acadoWorkspace.Dx0[5] + acadoVariables.x[124]; +tmp += acadoWorkspace.d[118]; +acadoWorkspace.lbA[78] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[78] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[714]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[715]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[716]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[717]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[718]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[719]*acadoWorkspace.Dx0[5] + acadoVariables.x[125]; +tmp += acadoWorkspace.d[119]; +acadoWorkspace.lbA[79] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[79] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[726]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[727]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[728]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[729]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[730]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[731]*acadoWorkspace.Dx0[5] + acadoVariables.x[127]; +tmp += acadoWorkspace.d[121]; +acadoWorkspace.lbA[80] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[80] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[738]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[739]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[740]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[741]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[742]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[743]*acadoWorkspace.Dx0[5] + acadoVariables.x[129]; +tmp += acadoWorkspace.d[123]; +acadoWorkspace.lbA[81] = - tmp; +acadoWorkspace.ubA[81] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[744]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[745]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[746]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[747]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[748]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[749]*acadoWorkspace.Dx0[5] + acadoVariables.x[130]; +tmp += acadoWorkspace.d[124]; +acadoWorkspace.lbA[82] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[82] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[750]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[751]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[752]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[753]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[754]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[755]*acadoWorkspace.Dx0[5] + acadoVariables.x[131]; +tmp += acadoWorkspace.d[125]; +acadoWorkspace.lbA[83] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[83] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[762]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[763]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[764]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[765]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[766]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[767]*acadoWorkspace.Dx0[5] + acadoVariables.x[133]; +tmp += acadoWorkspace.d[127]; +acadoWorkspace.lbA[84] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[84] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[774]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[775]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[776]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[777]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[778]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[779]*acadoWorkspace.Dx0[5] + acadoVariables.x[135]; +tmp += acadoWorkspace.d[129]; +acadoWorkspace.lbA[85] = - tmp; +acadoWorkspace.ubA[85] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[780]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[781]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[782]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[783]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[784]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[785]*acadoWorkspace.Dx0[5] + acadoVariables.x[136]; +tmp += acadoWorkspace.d[130]; +acadoWorkspace.lbA[86] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[86] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[786]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[787]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[788]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[789]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[790]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[791]*acadoWorkspace.Dx0[5] + acadoVariables.x[137]; +tmp += acadoWorkspace.d[131]; +acadoWorkspace.lbA[87] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[87] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[798]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[799]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[800]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[801]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[802]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[803]*acadoWorkspace.Dx0[5] + acadoVariables.x[139]; +tmp += acadoWorkspace.d[133]; +acadoWorkspace.lbA[88] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[88] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[810]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[811]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[812]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[813]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[814]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[815]*acadoWorkspace.Dx0[5] + acadoVariables.x[141]; +tmp += acadoWorkspace.d[135]; +acadoWorkspace.lbA[89] = - tmp; +acadoWorkspace.ubA[89] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[816]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[817]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[818]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[819]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[820]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[821]*acadoWorkspace.Dx0[5] + acadoVariables.x[142]; +tmp += acadoWorkspace.d[136]; +acadoWorkspace.lbA[90] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[90] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[822]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[823]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[824]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[825]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[826]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[827]*acadoWorkspace.Dx0[5] + acadoVariables.x[143]; +tmp += acadoWorkspace.d[137]; +acadoWorkspace.lbA[91] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[91] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[834]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[835]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[836]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[837]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[838]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[839]*acadoWorkspace.Dx0[5] + acadoVariables.x[145]; +tmp += acadoWorkspace.d[139]; +acadoWorkspace.lbA[92] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[92] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[846]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[847]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[848]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[849]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[850]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[851]*acadoWorkspace.Dx0[5] + acadoVariables.x[147]; +tmp += acadoWorkspace.d[141]; +acadoWorkspace.lbA[93] = - tmp; +acadoWorkspace.ubA[93] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[852]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[853]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[854]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[855]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[856]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[857]*acadoWorkspace.Dx0[5] + acadoVariables.x[148]; +tmp += acadoWorkspace.d[142]; +acadoWorkspace.lbA[94] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[94] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[858]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[859]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[860]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[861]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[862]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[863]*acadoWorkspace.Dx0[5] + acadoVariables.x[149]; +tmp += acadoWorkspace.d[143]; +acadoWorkspace.lbA[95] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[95] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[870]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[871]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[872]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[873]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[874]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[875]*acadoWorkspace.Dx0[5] + acadoVariables.x[151]; +tmp += acadoWorkspace.d[145]; +acadoWorkspace.lbA[96] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[96] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[882]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[883]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[884]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[885]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[886]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[887]*acadoWorkspace.Dx0[5] + acadoVariables.x[153]; +tmp += acadoWorkspace.d[147]; +acadoWorkspace.lbA[97] = - tmp; +acadoWorkspace.ubA[97] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[888]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[889]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[890]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[891]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[892]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[893]*acadoWorkspace.Dx0[5] + acadoVariables.x[154]; +tmp += acadoWorkspace.d[148]; +acadoWorkspace.lbA[98] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[98] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[894]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[895]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[896]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[897]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[898]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[899]*acadoWorkspace.Dx0[5] + acadoVariables.x[155]; +tmp += acadoWorkspace.d[149]; +acadoWorkspace.lbA[99] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[99] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[906]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[907]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[908]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[909]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[910]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[911]*acadoWorkspace.Dx0[5] + acadoVariables.x[157]; +tmp += acadoWorkspace.d[151]; +acadoWorkspace.lbA[100] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[100] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[918]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[919]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[920]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[921]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[922]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[923]*acadoWorkspace.Dx0[5] + acadoVariables.x[159]; +tmp += acadoWorkspace.d[153]; +acadoWorkspace.lbA[101] = - tmp; +acadoWorkspace.ubA[101] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[924]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[925]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[926]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[927]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[928]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[929]*acadoWorkspace.Dx0[5] + acadoVariables.x[160]; +tmp += acadoWorkspace.d[154]; +acadoWorkspace.lbA[102] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[102] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[930]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[931]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[932]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[933]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[934]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[935]*acadoWorkspace.Dx0[5] + acadoVariables.x[161]; +tmp += acadoWorkspace.d[155]; +acadoWorkspace.lbA[103] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[103] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[942]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[943]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[944]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[945]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[946]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[947]*acadoWorkspace.Dx0[5] + acadoVariables.x[163]; +tmp += acadoWorkspace.d[157]; +acadoWorkspace.lbA[104] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[104] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[954]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[955]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[956]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[957]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[958]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[959]*acadoWorkspace.Dx0[5] + acadoVariables.x[165]; +tmp += acadoWorkspace.d[159]; +acadoWorkspace.lbA[105] = - tmp; +acadoWorkspace.ubA[105] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[960]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[961]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[962]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[963]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[964]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[965]*acadoWorkspace.Dx0[5] + acadoVariables.x[166]; +tmp += acadoWorkspace.d[160]; +acadoWorkspace.lbA[106] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[106] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[966]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[967]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[968]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[969]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[970]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[971]*acadoWorkspace.Dx0[5] + acadoVariables.x[167]; +tmp += acadoWorkspace.d[161]; +acadoWorkspace.lbA[107] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[107] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[978]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[979]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[980]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[981]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[982]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[983]*acadoWorkspace.Dx0[5] + acadoVariables.x[169]; +tmp += acadoWorkspace.d[163]; +acadoWorkspace.lbA[108] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[108] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[990]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[991]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[992]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[993]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[994]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[995]*acadoWorkspace.Dx0[5] + acadoVariables.x[171]; +tmp += acadoWorkspace.d[165]; +acadoWorkspace.lbA[109] = - tmp; +acadoWorkspace.ubA[109] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[996]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[997]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[998]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[999]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1000]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1001]*acadoWorkspace.Dx0[5] + acadoVariables.x[172]; +tmp += acadoWorkspace.d[166]; +acadoWorkspace.lbA[110] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[110] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1002]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1003]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1004]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1005]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1006]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1007]*acadoWorkspace.Dx0[5] + acadoVariables.x[173]; +tmp += acadoWorkspace.d[167]; +acadoWorkspace.lbA[111] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[111] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1014]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1015]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1016]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1017]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1018]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1019]*acadoWorkspace.Dx0[5] + acadoVariables.x[175]; +tmp += acadoWorkspace.d[169]; +acadoWorkspace.lbA[112] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[112] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1026]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1027]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1028]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1029]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1030]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1031]*acadoWorkspace.Dx0[5] + acadoVariables.x[177]; +tmp += acadoWorkspace.d[171]; +acadoWorkspace.lbA[113] = - tmp; +acadoWorkspace.ubA[113] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1032]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1033]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1034]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1035]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1036]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1037]*acadoWorkspace.Dx0[5] + acadoVariables.x[178]; +tmp += acadoWorkspace.d[172]; +acadoWorkspace.lbA[114] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[114] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1038]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1039]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1040]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1041]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1042]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1043]*acadoWorkspace.Dx0[5] + acadoVariables.x[179]; +tmp += acadoWorkspace.d[173]; +acadoWorkspace.lbA[115] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[115] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1050]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1051]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1052]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1053]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1054]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1055]*acadoWorkspace.Dx0[5] + acadoVariables.x[181]; +tmp += acadoWorkspace.d[175]; +acadoWorkspace.lbA[116] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[116] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1062]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1063]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1064]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1065]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1066]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1067]*acadoWorkspace.Dx0[5] + acadoVariables.x[183]; +tmp += acadoWorkspace.d[177]; +acadoWorkspace.lbA[117] = - tmp; +acadoWorkspace.ubA[117] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1068]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1069]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1070]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1071]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1072]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1073]*acadoWorkspace.Dx0[5] + acadoVariables.x[184]; +tmp += acadoWorkspace.d[178]; +acadoWorkspace.lbA[118] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[118] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1074]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1075]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1076]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1077]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1078]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1079]*acadoWorkspace.Dx0[5] + acadoVariables.x[185]; +tmp += acadoWorkspace.d[179]; +acadoWorkspace.lbA[119] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[119] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1086]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1087]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1088]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1089]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1090]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1091]*acadoWorkspace.Dx0[5] + acadoVariables.x[187]; +tmp += acadoWorkspace.d[181]; +acadoWorkspace.lbA[120] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[120] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1098]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1099]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1100]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1101]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1102]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1103]*acadoWorkspace.Dx0[5] + acadoVariables.x[189]; +tmp += acadoWorkspace.d[183]; +acadoWorkspace.lbA[121] = - tmp; +acadoWorkspace.ubA[121] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1104]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1105]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1106]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1107]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1108]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1109]*acadoWorkspace.Dx0[5] + acadoVariables.x[190]; +tmp += acadoWorkspace.d[184]; +acadoWorkspace.lbA[122] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[122] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1110]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1111]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1112]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1113]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1114]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1115]*acadoWorkspace.Dx0[5] + acadoVariables.x[191]; +tmp += acadoWorkspace.d[185]; +acadoWorkspace.lbA[123] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[123] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1122]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1123]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1124]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1125]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1126]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1127]*acadoWorkspace.Dx0[5] + acadoVariables.x[193]; +tmp += acadoWorkspace.d[187]; +acadoWorkspace.lbA[124] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[124] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1134]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1135]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1136]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1137]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1138]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1139]*acadoWorkspace.Dx0[5] + acadoVariables.x[195]; +tmp += acadoWorkspace.d[189]; +acadoWorkspace.lbA[125] = - tmp; +acadoWorkspace.ubA[125] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1140]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1141]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1142]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1143]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1144]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1145]*acadoWorkspace.Dx0[5] + acadoVariables.x[196]; +tmp += acadoWorkspace.d[190]; +acadoWorkspace.lbA[126] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[126] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1146]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1147]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1148]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1149]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1150]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1151]*acadoWorkspace.Dx0[5] + acadoVariables.x[197]; +tmp += acadoWorkspace.d[191]; +acadoWorkspace.lbA[127] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[127] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1158]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1159]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1160]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1161]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1162]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1163]*acadoWorkspace.Dx0[5] + acadoVariables.x[199]; +tmp += acadoWorkspace.d[193]; +acadoWorkspace.lbA[128] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[128] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1170]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1171]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1172]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1173]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1174]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1175]*acadoWorkspace.Dx0[5] + acadoVariables.x[201]; +tmp += acadoWorkspace.d[195]; +acadoWorkspace.lbA[129] = - tmp; +acadoWorkspace.ubA[129] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1176]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1177]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1178]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1179]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1180]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1181]*acadoWorkspace.Dx0[5] + acadoVariables.x[202]; +tmp += acadoWorkspace.d[196]; +acadoWorkspace.lbA[130] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[130] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1182]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1183]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1184]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1185]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1186]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1187]*acadoWorkspace.Dx0[5] + acadoVariables.x[203]; +tmp += acadoWorkspace.d[197]; +acadoWorkspace.lbA[131] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[131] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1194]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1195]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1196]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1197]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1198]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1199]*acadoWorkspace.Dx0[5] + acadoVariables.x[205]; +tmp += acadoWorkspace.d[199]; +acadoWorkspace.lbA[132] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[132] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1206]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1207]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1208]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1209]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1210]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1211]*acadoWorkspace.Dx0[5] + acadoVariables.x[207]; +tmp += acadoWorkspace.d[201]; +acadoWorkspace.lbA[133] = - tmp; +acadoWorkspace.ubA[133] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1212]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1213]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1214]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1215]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1216]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1217]*acadoWorkspace.Dx0[5] + acadoVariables.x[208]; +tmp += acadoWorkspace.d[202]; +acadoWorkspace.lbA[134] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[134] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1218]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1219]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1220]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1221]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1222]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1223]*acadoWorkspace.Dx0[5] + acadoVariables.x[209]; +tmp += acadoWorkspace.d[203]; +acadoWorkspace.lbA[135] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[135] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1230]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1231]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1232]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1233]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1234]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1235]*acadoWorkspace.Dx0[5] + acadoVariables.x[211]; +tmp += acadoWorkspace.d[205]; +acadoWorkspace.lbA[136] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[136] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1242]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1243]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1244]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1245]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1246]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1247]*acadoWorkspace.Dx0[5] + acadoVariables.x[213]; +tmp += acadoWorkspace.d[207]; +acadoWorkspace.lbA[137] = - tmp; +acadoWorkspace.ubA[137] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1248]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1249]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1250]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1251]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1252]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1253]*acadoWorkspace.Dx0[5] + acadoVariables.x[214]; +tmp += acadoWorkspace.d[208]; +acadoWorkspace.lbA[138] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[138] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1254]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1255]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1256]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1257]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1258]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1259]*acadoWorkspace.Dx0[5] + acadoVariables.x[215]; +tmp += acadoWorkspace.d[209]; +acadoWorkspace.lbA[139] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[139] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1266]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1267]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1268]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1269]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1270]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1271]*acadoWorkspace.Dx0[5] + acadoVariables.x[217]; +tmp += acadoWorkspace.d[211]; +acadoWorkspace.lbA[140] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[140] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1278]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1279]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1280]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1281]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1282]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1283]*acadoWorkspace.Dx0[5] + acadoVariables.x[219]; +tmp += acadoWorkspace.d[213]; +acadoWorkspace.lbA[141] = - tmp; +acadoWorkspace.ubA[141] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1284]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1285]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1286]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1287]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1288]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1289]*acadoWorkspace.Dx0[5] + acadoVariables.x[220]; +tmp += acadoWorkspace.d[214]; +acadoWorkspace.lbA[142] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[142] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1290]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1291]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1292]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1293]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1294]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1295]*acadoWorkspace.Dx0[5] + acadoVariables.x[221]; +tmp += acadoWorkspace.d[215]; +acadoWorkspace.lbA[143] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[143] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1302]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1303]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1304]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1305]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1306]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1307]*acadoWorkspace.Dx0[5] + acadoVariables.x[223]; +tmp += acadoWorkspace.d[217]; +acadoWorkspace.lbA[144] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[144] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1314]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1315]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1316]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1317]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1318]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1319]*acadoWorkspace.Dx0[5] + acadoVariables.x[225]; +tmp += acadoWorkspace.d[219]; +acadoWorkspace.lbA[145] = - tmp; +acadoWorkspace.ubA[145] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1320]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1321]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1322]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1323]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1324]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1325]*acadoWorkspace.Dx0[5] + acadoVariables.x[226]; +tmp += acadoWorkspace.d[220]; +acadoWorkspace.lbA[146] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[146] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1326]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1327]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1328]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1329]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1330]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1331]*acadoWorkspace.Dx0[5] + acadoVariables.x[227]; +tmp += acadoWorkspace.d[221]; +acadoWorkspace.lbA[147] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[147] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1338]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1339]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1340]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1341]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1342]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1343]*acadoWorkspace.Dx0[5] + acadoVariables.x[229]; +tmp += acadoWorkspace.d[223]; +acadoWorkspace.lbA[148] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[148] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1350]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1351]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1352]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1353]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1354]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1355]*acadoWorkspace.Dx0[5] + acadoVariables.x[231]; +tmp += acadoWorkspace.d[225]; +acadoWorkspace.lbA[149] = - tmp; +acadoWorkspace.ubA[149] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1356]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1357]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1358]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1359]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1360]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1361]*acadoWorkspace.Dx0[5] + acadoVariables.x[232]; +tmp += acadoWorkspace.d[226]; +acadoWorkspace.lbA[150] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[150] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1362]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1363]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1364]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1365]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1366]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1367]*acadoWorkspace.Dx0[5] + acadoVariables.x[233]; +tmp += acadoWorkspace.d[227]; +acadoWorkspace.lbA[151] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[151] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1374]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1375]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1376]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1377]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1378]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1379]*acadoWorkspace.Dx0[5] + acadoVariables.x[235]; +tmp += acadoWorkspace.d[229]; +acadoWorkspace.lbA[152] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[152] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1386]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1387]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1388]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1389]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1390]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1391]*acadoWorkspace.Dx0[5] + acadoVariables.x[237]; +tmp += acadoWorkspace.d[231]; +acadoWorkspace.lbA[153] = - tmp; +acadoWorkspace.ubA[153] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1392]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1393]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1394]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1395]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1396]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1397]*acadoWorkspace.Dx0[5] + acadoVariables.x[238]; +tmp += acadoWorkspace.d[232]; +acadoWorkspace.lbA[154] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[154] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1398]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1399]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1400]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1401]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1402]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1403]*acadoWorkspace.Dx0[5] + acadoVariables.x[239]; +tmp += acadoWorkspace.d[233]; +acadoWorkspace.lbA[155] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[155] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1410]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1411]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1412]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1413]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1414]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1415]*acadoWorkspace.Dx0[5] + acadoVariables.x[241]; +tmp += acadoWorkspace.d[235]; +acadoWorkspace.lbA[156] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[156] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1422]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1423]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1424]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1425]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1426]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1427]*acadoWorkspace.Dx0[5] + acadoVariables.x[243]; +tmp += acadoWorkspace.d[237]; +acadoWorkspace.lbA[157] = - tmp; +acadoWorkspace.ubA[157] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1428]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1429]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1430]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1431]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1432]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1433]*acadoWorkspace.Dx0[5] + acadoVariables.x[244]; +tmp += acadoWorkspace.d[238]; +acadoWorkspace.lbA[158] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[158] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1434]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1435]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1436]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1437]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1438]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1439]*acadoWorkspace.Dx0[5] + acadoVariables.x[245]; +tmp += acadoWorkspace.d[239]; +acadoWorkspace.lbA[159] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[159] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1446]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1447]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1448]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1449]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1450]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1451]*acadoWorkspace.Dx0[5] + acadoVariables.x[247]; +tmp += acadoWorkspace.d[241]; +acadoWorkspace.lbA[160] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[160] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1458]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1459]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1460]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1461]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1462]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1463]*acadoWorkspace.Dx0[5] + acadoVariables.x[249]; +tmp += acadoWorkspace.d[243]; +acadoWorkspace.lbA[161] = - tmp; +acadoWorkspace.ubA[161] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1464]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1465]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1466]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1467]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1468]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1469]*acadoWorkspace.Dx0[5] + acadoVariables.x[250]; +tmp += acadoWorkspace.d[244]; +acadoWorkspace.lbA[162] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[162] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1470]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1471]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1472]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1473]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1474]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1475]*acadoWorkspace.Dx0[5] + acadoVariables.x[251]; +tmp += acadoWorkspace.d[245]; +acadoWorkspace.lbA[163] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[163] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1482]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1483]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1484]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1485]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1486]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1487]*acadoWorkspace.Dx0[5] + acadoVariables.x[253]; +tmp += acadoWorkspace.d[247]; +acadoWorkspace.lbA[164] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[164] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1494]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1495]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1496]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1497]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1498]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1499]*acadoWorkspace.Dx0[5] + acadoVariables.x[255]; +tmp += acadoWorkspace.d[249]; +acadoWorkspace.lbA[165] = - tmp; +acadoWorkspace.ubA[165] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1500]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1501]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1502]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1503]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1504]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1505]*acadoWorkspace.Dx0[5] + acadoVariables.x[256]; +tmp += acadoWorkspace.d[250]; +acadoWorkspace.lbA[166] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[166] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1506]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1507]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1508]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1509]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1510]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1511]*acadoWorkspace.Dx0[5] + acadoVariables.x[257]; +tmp += acadoWorkspace.d[251]; +acadoWorkspace.lbA[167] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[167] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1518]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1519]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1520]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1521]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1522]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1523]*acadoWorkspace.Dx0[5] + acadoVariables.x[259]; +tmp += acadoWorkspace.d[253]; +acadoWorkspace.lbA[168] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[168] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1530]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1531]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1532]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1533]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1534]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1535]*acadoWorkspace.Dx0[5] + acadoVariables.x[261]; +tmp += acadoWorkspace.d[255]; +acadoWorkspace.lbA[169] = - tmp; +acadoWorkspace.ubA[169] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1536]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1537]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1538]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1539]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1540]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1541]*acadoWorkspace.Dx0[5] + acadoVariables.x[262]; +tmp += acadoWorkspace.d[256]; +acadoWorkspace.lbA[170] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[170] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1542]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1543]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1544]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1545]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1546]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1547]*acadoWorkspace.Dx0[5] + acadoVariables.x[263]; +tmp += acadoWorkspace.d[257]; +acadoWorkspace.lbA[171] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[171] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1554]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1555]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1556]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1557]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1558]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1559]*acadoWorkspace.Dx0[5] + acadoVariables.x[265]; +tmp += acadoWorkspace.d[259]; +acadoWorkspace.lbA[172] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[172] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1566]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1567]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1568]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1569]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1570]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1571]*acadoWorkspace.Dx0[5] + acadoVariables.x[267]; +tmp += acadoWorkspace.d[261]; +acadoWorkspace.lbA[173] = - tmp; +acadoWorkspace.ubA[173] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1572]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1573]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1574]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1575]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1576]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1577]*acadoWorkspace.Dx0[5] + acadoVariables.x[268]; +tmp += acadoWorkspace.d[262]; +acadoWorkspace.lbA[174] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[174] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1578]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1579]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1580]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1581]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1582]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1583]*acadoWorkspace.Dx0[5] + acadoVariables.x[269]; +tmp += acadoWorkspace.d[263]; +acadoWorkspace.lbA[175] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[175] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1590]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1591]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1592]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1593]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1594]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1595]*acadoWorkspace.Dx0[5] + acadoVariables.x[271]; +tmp += acadoWorkspace.d[265]; +acadoWorkspace.lbA[176] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[176] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1602]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1603]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1604]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1605]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1606]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1607]*acadoWorkspace.Dx0[5] + acadoVariables.x[273]; +tmp += acadoWorkspace.d[267]; +acadoWorkspace.lbA[177] = - tmp; +acadoWorkspace.ubA[177] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1608]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1609]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1610]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1611]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1612]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1613]*acadoWorkspace.Dx0[5] + acadoVariables.x[274]; +tmp += acadoWorkspace.d[268]; +acadoWorkspace.lbA[178] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[178] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1614]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1615]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1616]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1617]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1618]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1619]*acadoWorkspace.Dx0[5] + acadoVariables.x[275]; +tmp += acadoWorkspace.d[269]; +acadoWorkspace.lbA[179] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[179] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1626]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1627]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1628]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1629]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1630]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1631]*acadoWorkspace.Dx0[5] + acadoVariables.x[277]; +tmp += acadoWorkspace.d[271]; +acadoWorkspace.lbA[180] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[180] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1638]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1639]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1640]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1641]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1642]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1643]*acadoWorkspace.Dx0[5] + acadoVariables.x[279]; +tmp += acadoWorkspace.d[273]; +acadoWorkspace.lbA[181] = - tmp; +acadoWorkspace.ubA[181] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1644]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1645]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1646]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1647]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1648]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1649]*acadoWorkspace.Dx0[5] + acadoVariables.x[280]; +tmp += acadoWorkspace.d[274]; +acadoWorkspace.lbA[182] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[182] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1650]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1651]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1652]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1653]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1654]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1655]*acadoWorkspace.Dx0[5] + acadoVariables.x[281]; +tmp += acadoWorkspace.d[275]; +acadoWorkspace.lbA[183] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[183] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1662]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1663]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1664]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1665]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1666]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1667]*acadoWorkspace.Dx0[5] + acadoVariables.x[283]; +tmp += acadoWorkspace.d[277]; +acadoWorkspace.lbA[184] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[184] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1674]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1675]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1676]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1677]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1678]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1679]*acadoWorkspace.Dx0[5] + acadoVariables.x[285]; +tmp += acadoWorkspace.d[279]; +acadoWorkspace.lbA[185] = - tmp; +acadoWorkspace.ubA[185] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1680]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1681]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1682]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1683]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1684]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1685]*acadoWorkspace.Dx0[5] + acadoVariables.x[286]; +tmp += acadoWorkspace.d[280]; +acadoWorkspace.lbA[186] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[186] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1686]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1687]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1688]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1689]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1690]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1691]*acadoWorkspace.Dx0[5] + acadoVariables.x[287]; +tmp += acadoWorkspace.d[281]; +acadoWorkspace.lbA[187] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[187] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1698]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1699]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1700]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1701]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1702]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1703]*acadoWorkspace.Dx0[5] + acadoVariables.x[289]; +tmp += acadoWorkspace.d[283]; +acadoWorkspace.lbA[188] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[188] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1710]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1711]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1712]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1713]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1714]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1715]*acadoWorkspace.Dx0[5] + acadoVariables.x[291]; +tmp += acadoWorkspace.d[285]; +acadoWorkspace.lbA[189] = - tmp; +acadoWorkspace.ubA[189] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1716]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1717]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1718]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1719]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1720]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1721]*acadoWorkspace.Dx0[5] + acadoVariables.x[292]; +tmp += acadoWorkspace.d[286]; +acadoWorkspace.lbA[190] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[190] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1722]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1723]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1724]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1725]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1726]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1727]*acadoWorkspace.Dx0[5] + acadoVariables.x[293]; +tmp += acadoWorkspace.d[287]; +acadoWorkspace.lbA[191] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[191] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1734]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1735]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1736]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1737]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1738]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1739]*acadoWorkspace.Dx0[5] + acadoVariables.x[295]; +tmp += acadoWorkspace.d[289]; +acadoWorkspace.lbA[192] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[192] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1746]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1747]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1748]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1749]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1750]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1751]*acadoWorkspace.Dx0[5] + acadoVariables.x[297]; +tmp += acadoWorkspace.d[291]; +acadoWorkspace.lbA[193] = - tmp; +acadoWorkspace.ubA[193] = (real_t)2.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1752]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1753]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1754]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1755]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1756]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1757]*acadoWorkspace.Dx0[5] + acadoVariables.x[298]; +tmp += acadoWorkspace.d[292]; +acadoWorkspace.lbA[194] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[194] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1758]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1759]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1760]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1761]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1762]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1763]*acadoWorkspace.Dx0[5] + acadoVariables.x[299]; +tmp += acadoWorkspace.d[293]; +acadoWorkspace.lbA[195] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[195] = (real_t)7.8500000000000003e-01 - tmp; +tmp = + acadoWorkspace.evGx[1770]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1771]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1772]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1773]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1774]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1775]*acadoWorkspace.Dx0[5] + acadoVariables.x[301]; +tmp += acadoWorkspace.d[295]; +acadoWorkspace.lbA[196] = (real_t)-5.9999999999999998e-01 - tmp; +acadoWorkspace.ubA[196] = (real_t)5.9999999999999998e-01 - tmp; +tmp = + acadoWorkspace.evGx[1782]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1783]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1784]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1785]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1786]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1787]*acadoWorkspace.Dx0[5] + acadoVariables.x[303]; +tmp += acadoWorkspace.d[297]; +acadoWorkspace.lbA[197] = - tmp; +acadoWorkspace.ubA[197] = (real_t)1.0000000000000000e+01 - tmp; +tmp = + acadoWorkspace.evGx[1788]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1789]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1790]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1791]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1792]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1793]*acadoWorkspace.Dx0[5] + acadoVariables.x[304]; +tmp += acadoWorkspace.d[298]; +acadoWorkspace.lbA[198] = (real_t)-1.0000000000000000e+00 - tmp; +acadoWorkspace.ubA[198] = (real_t)1.0000000000000000e+00 - tmp; +tmp = + acadoWorkspace.evGx[1794]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1795]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1796]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1797]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1798]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1799]*acadoWorkspace.Dx0[5] + acadoVariables.x[305]; +tmp += acadoWorkspace.d[299]; +acadoWorkspace.lbA[199] = (real_t)-7.8500000000000003e-01 - tmp; +acadoWorkspace.ubA[199] = (real_t)7.8500000000000003e-01 - tmp; + +acadoWorkspace.pacA01Dx0[0] = + acadoWorkspace.A01[0]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[1]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[2]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[3]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[4]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[5]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[1] = + acadoWorkspace.A01[6]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[7]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[8]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[9]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[10]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[11]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[2] = + acadoWorkspace.A01[12]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[13]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[14]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[15]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[16]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[17]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[3] = + acadoWorkspace.A01[18]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[19]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[20]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[21]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[22]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[23]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[4] = + acadoWorkspace.A01[24]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[25]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[26]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[27]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[28]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[29]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[5] = + acadoWorkspace.A01[30]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[31]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[32]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[33]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[34]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[35]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[6] = + acadoWorkspace.A01[36]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[37]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[38]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[39]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[40]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[41]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[7] = + acadoWorkspace.A01[42]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[43]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[44]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[45]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[46]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[47]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[8] = + acadoWorkspace.A01[48]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[49]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[50]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[51]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[52]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[53]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[9] = + acadoWorkspace.A01[54]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[55]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[56]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[57]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[58]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[59]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[10] = + acadoWorkspace.A01[60]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[61]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[62]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[63]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[64]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[65]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[11] = + acadoWorkspace.A01[66]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[67]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[68]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[69]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[70]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[71]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[12] = + acadoWorkspace.A01[72]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[73]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[74]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[75]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[76]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[77]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[13] = + acadoWorkspace.A01[78]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[79]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[80]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[81]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[82]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[83]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[14] = + acadoWorkspace.A01[84]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[85]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[86]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[87]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[88]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[89]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[15] = + acadoWorkspace.A01[90]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[91]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[92]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[93]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[94]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[95]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[16] = + acadoWorkspace.A01[96]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[97]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[98]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[99]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[100]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[101]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[17] = + acadoWorkspace.A01[102]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[103]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[104]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[105]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[106]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[107]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[18] = + acadoWorkspace.A01[108]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[109]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[110]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[111]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[112]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[113]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[19] = + acadoWorkspace.A01[114]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[115]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[116]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[117]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[118]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[119]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[20] = + acadoWorkspace.A01[120]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[121]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[122]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[123]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[124]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[125]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[21] = + acadoWorkspace.A01[126]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[127]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[128]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[129]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[130]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[131]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[22] = + acadoWorkspace.A01[132]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[133]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[134]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[135]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[136]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[137]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[23] = + acadoWorkspace.A01[138]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[139]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[140]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[141]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[142]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[143]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[24] = + acadoWorkspace.A01[144]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[145]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[146]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[147]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[148]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[149]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[25] = + acadoWorkspace.A01[150]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[151]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[152]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[153]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[154]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[155]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[26] = + acadoWorkspace.A01[156]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[157]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[158]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[159]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[160]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[161]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[27] = + acadoWorkspace.A01[162]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[163]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[164]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[165]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[166]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[167]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[28] = + acadoWorkspace.A01[168]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[169]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[170]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[171]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[172]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[173]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[29] = + acadoWorkspace.A01[174]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[175]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[176]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[177]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[178]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[179]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[30] = + acadoWorkspace.A01[180]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[181]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[182]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[183]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[184]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[185]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[31] = + acadoWorkspace.A01[186]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[187]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[188]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[189]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[190]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[191]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[32] = + acadoWorkspace.A01[192]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[193]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[194]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[195]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[196]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[197]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[33] = + acadoWorkspace.A01[198]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[199]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[200]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[201]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[202]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[203]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[34] = + acadoWorkspace.A01[204]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[205]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[206]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[207]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[208]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[209]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[35] = + acadoWorkspace.A01[210]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[211]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[212]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[213]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[214]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[215]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[36] = + acadoWorkspace.A01[216]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[217]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[218]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[219]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[220]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[221]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[37] = + acadoWorkspace.A01[222]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[223]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[224]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[225]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[226]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[227]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[38] = + acadoWorkspace.A01[228]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[229]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[230]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[231]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[232]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[233]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[39] = + acadoWorkspace.A01[234]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[235]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[236]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[237]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[238]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[239]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[40] = + acadoWorkspace.A01[240]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[241]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[242]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[243]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[244]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[245]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[41] = + acadoWorkspace.A01[246]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[247]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[248]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[249]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[250]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[251]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[42] = + acadoWorkspace.A01[252]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[253]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[254]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[255]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[256]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[257]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[43] = + acadoWorkspace.A01[258]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[259]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[260]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[261]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[262]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[263]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[44] = + acadoWorkspace.A01[264]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[265]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[266]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[267]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[268]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[269]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[45] = + acadoWorkspace.A01[270]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[271]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[272]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[273]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[274]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[275]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[46] = + acadoWorkspace.A01[276]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[277]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[278]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[279]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[280]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[281]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[47] = + acadoWorkspace.A01[282]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[283]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[284]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[285]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[286]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[287]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[48] = + acadoWorkspace.A01[288]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[289]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[290]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[291]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[292]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[293]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[49] = + acadoWorkspace.A01[294]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[295]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[296]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[297]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[298]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[299]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[50] = + acadoWorkspace.A01[300]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[301]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[302]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[303]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[304]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[305]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[51] = + acadoWorkspace.A01[306]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[307]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[308]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[309]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[310]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[311]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[52] = + acadoWorkspace.A01[312]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[313]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[314]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[315]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[316]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[317]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[53] = + acadoWorkspace.A01[318]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[319]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[320]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[321]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[322]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[323]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[54] = + acadoWorkspace.A01[324]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[325]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[326]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[327]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[328]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[329]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[55] = + acadoWorkspace.A01[330]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[331]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[332]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[333]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[334]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[335]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[56] = + acadoWorkspace.A01[336]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[337]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[338]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[339]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[340]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[341]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[57] = + acadoWorkspace.A01[342]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[343]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[344]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[345]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[346]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[347]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[58] = + acadoWorkspace.A01[348]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[349]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[350]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[351]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[352]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[353]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[59] = + acadoWorkspace.A01[354]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[355]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[356]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[357]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[358]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[359]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[60] = + acadoWorkspace.A01[360]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[361]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[362]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[363]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[364]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[365]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[61] = + acadoWorkspace.A01[366]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[367]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[368]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[369]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[370]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[371]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[62] = + acadoWorkspace.A01[372]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[373]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[374]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[375]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[376]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[377]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[63] = + acadoWorkspace.A01[378]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[379]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[380]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[381]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[382]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[383]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[64] = + acadoWorkspace.A01[384]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[385]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[386]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[387]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[388]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[389]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[65] = + acadoWorkspace.A01[390]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[391]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[392]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[393]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[394]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[395]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[66] = + acadoWorkspace.A01[396]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[397]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[398]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[399]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[400]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[401]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[67] = + acadoWorkspace.A01[402]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[403]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[404]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[405]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[406]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[407]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[68] = + acadoWorkspace.A01[408]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[409]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[410]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[411]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[412]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[413]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[69] = + acadoWorkspace.A01[414]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[415]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[416]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[417]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[418]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[419]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[70] = + acadoWorkspace.A01[420]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[421]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[422]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[423]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[424]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[425]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[71] = + acadoWorkspace.A01[426]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[427]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[428]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[429]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[430]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[431]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[72] = + acadoWorkspace.A01[432]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[433]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[434]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[435]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[436]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[437]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[73] = + acadoWorkspace.A01[438]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[439]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[440]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[441]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[442]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[443]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[74] = + acadoWorkspace.A01[444]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[445]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[446]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[447]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[448]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[449]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[75] = + acadoWorkspace.A01[450]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[451]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[452]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[453]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[454]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[455]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[76] = + acadoWorkspace.A01[456]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[457]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[458]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[459]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[460]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[461]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[77] = + acadoWorkspace.A01[462]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[463]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[464]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[465]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[466]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[467]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[78] = + acadoWorkspace.A01[468]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[469]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[470]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[471]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[472]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[473]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[79] = + acadoWorkspace.A01[474]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[475]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[476]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[477]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[478]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[479]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[80] = + acadoWorkspace.A01[480]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[481]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[482]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[483]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[484]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[485]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[81] = + acadoWorkspace.A01[486]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[487]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[488]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[489]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[490]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[491]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[82] = + acadoWorkspace.A01[492]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[493]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[494]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[495]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[496]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[497]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[83] = + acadoWorkspace.A01[498]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[499]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[500]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[501]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[502]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[503]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[84] = + acadoWorkspace.A01[504]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[505]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[506]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[507]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[508]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[509]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[85] = + acadoWorkspace.A01[510]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[511]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[512]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[513]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[514]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[515]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[86] = + acadoWorkspace.A01[516]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[517]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[518]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[519]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[520]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[521]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[87] = + acadoWorkspace.A01[522]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[523]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[524]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[525]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[526]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[527]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[88] = + acadoWorkspace.A01[528]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[529]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[530]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[531]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[532]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[533]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[89] = + acadoWorkspace.A01[534]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[535]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[536]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[537]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[538]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[539]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[90] = + acadoWorkspace.A01[540]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[541]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[542]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[543]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[544]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[545]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[91] = + acadoWorkspace.A01[546]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[547]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[548]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[549]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[550]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[551]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[92] = + acadoWorkspace.A01[552]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[553]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[554]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[555]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[556]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[557]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[93] = + acadoWorkspace.A01[558]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[559]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[560]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[561]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[562]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[563]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[94] = + acadoWorkspace.A01[564]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[565]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[566]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[567]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[568]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[569]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[95] = + acadoWorkspace.A01[570]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[571]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[572]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[573]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[574]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[575]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[96] = + acadoWorkspace.A01[576]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[577]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[578]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[579]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[580]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[581]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[97] = + acadoWorkspace.A01[582]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[583]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[584]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[585]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[586]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[587]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[98] = + acadoWorkspace.A01[588]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[589]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[590]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[591]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[592]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[593]*acadoWorkspace.Dx0[5]; +acadoWorkspace.pacA01Dx0[99] = + acadoWorkspace.A01[594]*acadoWorkspace.Dx0[0] + acadoWorkspace.A01[595]*acadoWorkspace.Dx0[1] + acadoWorkspace.A01[596]*acadoWorkspace.Dx0[2] + acadoWorkspace.A01[597]*acadoWorkspace.Dx0[3] + acadoWorkspace.A01[598]*acadoWorkspace.Dx0[4] + acadoWorkspace.A01[599]*acadoWorkspace.Dx0[5]; +acadoWorkspace.lbA[200] -= acadoWorkspace.pacA01Dx0[0]; +acadoWorkspace.lbA[201] -= acadoWorkspace.pacA01Dx0[1]; +acadoWorkspace.lbA[202] -= acadoWorkspace.pacA01Dx0[2]; +acadoWorkspace.lbA[203] -= acadoWorkspace.pacA01Dx0[3]; +acadoWorkspace.lbA[204] -= acadoWorkspace.pacA01Dx0[4]; +acadoWorkspace.lbA[205] -= acadoWorkspace.pacA01Dx0[5]; +acadoWorkspace.lbA[206] -= acadoWorkspace.pacA01Dx0[6]; +acadoWorkspace.lbA[207] -= acadoWorkspace.pacA01Dx0[7]; +acadoWorkspace.lbA[208] -= acadoWorkspace.pacA01Dx0[8]; +acadoWorkspace.lbA[209] -= acadoWorkspace.pacA01Dx0[9]; +acadoWorkspace.lbA[210] -= acadoWorkspace.pacA01Dx0[10]; +acadoWorkspace.lbA[211] -= acadoWorkspace.pacA01Dx0[11]; +acadoWorkspace.lbA[212] -= acadoWorkspace.pacA01Dx0[12]; +acadoWorkspace.lbA[213] -= acadoWorkspace.pacA01Dx0[13]; +acadoWorkspace.lbA[214] -= acadoWorkspace.pacA01Dx0[14]; +acadoWorkspace.lbA[215] -= acadoWorkspace.pacA01Dx0[15]; +acadoWorkspace.lbA[216] -= acadoWorkspace.pacA01Dx0[16]; +acadoWorkspace.lbA[217] -= acadoWorkspace.pacA01Dx0[17]; +acadoWorkspace.lbA[218] -= acadoWorkspace.pacA01Dx0[18]; +acadoWorkspace.lbA[219] -= acadoWorkspace.pacA01Dx0[19]; +acadoWorkspace.lbA[220] -= acadoWorkspace.pacA01Dx0[20]; +acadoWorkspace.lbA[221] -= acadoWorkspace.pacA01Dx0[21]; +acadoWorkspace.lbA[222] -= acadoWorkspace.pacA01Dx0[22]; +acadoWorkspace.lbA[223] -= acadoWorkspace.pacA01Dx0[23]; +acadoWorkspace.lbA[224] -= acadoWorkspace.pacA01Dx0[24]; +acadoWorkspace.lbA[225] -= acadoWorkspace.pacA01Dx0[25]; +acadoWorkspace.lbA[226] -= acadoWorkspace.pacA01Dx0[26]; +acadoWorkspace.lbA[227] -= acadoWorkspace.pacA01Dx0[27]; +acadoWorkspace.lbA[228] -= acadoWorkspace.pacA01Dx0[28]; +acadoWorkspace.lbA[229] -= acadoWorkspace.pacA01Dx0[29]; +acadoWorkspace.lbA[230] -= acadoWorkspace.pacA01Dx0[30]; +acadoWorkspace.lbA[231] -= acadoWorkspace.pacA01Dx0[31]; +acadoWorkspace.lbA[232] -= acadoWorkspace.pacA01Dx0[32]; +acadoWorkspace.lbA[233] -= acadoWorkspace.pacA01Dx0[33]; +acadoWorkspace.lbA[234] -= acadoWorkspace.pacA01Dx0[34]; +acadoWorkspace.lbA[235] -= acadoWorkspace.pacA01Dx0[35]; +acadoWorkspace.lbA[236] -= acadoWorkspace.pacA01Dx0[36]; +acadoWorkspace.lbA[237] -= acadoWorkspace.pacA01Dx0[37]; +acadoWorkspace.lbA[238] -= acadoWorkspace.pacA01Dx0[38]; +acadoWorkspace.lbA[239] -= acadoWorkspace.pacA01Dx0[39]; +acadoWorkspace.lbA[240] -= acadoWorkspace.pacA01Dx0[40]; +acadoWorkspace.lbA[241] -= acadoWorkspace.pacA01Dx0[41]; +acadoWorkspace.lbA[242] -= acadoWorkspace.pacA01Dx0[42]; +acadoWorkspace.lbA[243] -= acadoWorkspace.pacA01Dx0[43]; +acadoWorkspace.lbA[244] -= acadoWorkspace.pacA01Dx0[44]; +acadoWorkspace.lbA[245] -= acadoWorkspace.pacA01Dx0[45]; +acadoWorkspace.lbA[246] -= acadoWorkspace.pacA01Dx0[46]; +acadoWorkspace.lbA[247] -= acadoWorkspace.pacA01Dx0[47]; +acadoWorkspace.lbA[248] -= acadoWorkspace.pacA01Dx0[48]; +acadoWorkspace.lbA[249] -= acadoWorkspace.pacA01Dx0[49]; +acadoWorkspace.lbA[250] -= acadoWorkspace.pacA01Dx0[50]; +acadoWorkspace.lbA[251] -= acadoWorkspace.pacA01Dx0[51]; +acadoWorkspace.lbA[252] -= acadoWorkspace.pacA01Dx0[52]; +acadoWorkspace.lbA[253] -= acadoWorkspace.pacA01Dx0[53]; +acadoWorkspace.lbA[254] -= acadoWorkspace.pacA01Dx0[54]; +acadoWorkspace.lbA[255] -= acadoWorkspace.pacA01Dx0[55]; +acadoWorkspace.lbA[256] -= acadoWorkspace.pacA01Dx0[56]; +acadoWorkspace.lbA[257] -= acadoWorkspace.pacA01Dx0[57]; +acadoWorkspace.lbA[258] -= acadoWorkspace.pacA01Dx0[58]; +acadoWorkspace.lbA[259] -= acadoWorkspace.pacA01Dx0[59]; +acadoWorkspace.lbA[260] -= acadoWorkspace.pacA01Dx0[60]; +acadoWorkspace.lbA[261] -= acadoWorkspace.pacA01Dx0[61]; +acadoWorkspace.lbA[262] -= acadoWorkspace.pacA01Dx0[62]; +acadoWorkspace.lbA[263] -= acadoWorkspace.pacA01Dx0[63]; +acadoWorkspace.lbA[264] -= acadoWorkspace.pacA01Dx0[64]; +acadoWorkspace.lbA[265] -= acadoWorkspace.pacA01Dx0[65]; +acadoWorkspace.lbA[266] -= acadoWorkspace.pacA01Dx0[66]; +acadoWorkspace.lbA[267] -= acadoWorkspace.pacA01Dx0[67]; +acadoWorkspace.lbA[268] -= acadoWorkspace.pacA01Dx0[68]; +acadoWorkspace.lbA[269] -= acadoWorkspace.pacA01Dx0[69]; +acadoWorkspace.lbA[270] -= acadoWorkspace.pacA01Dx0[70]; +acadoWorkspace.lbA[271] -= acadoWorkspace.pacA01Dx0[71]; +acadoWorkspace.lbA[272] -= acadoWorkspace.pacA01Dx0[72]; +acadoWorkspace.lbA[273] -= acadoWorkspace.pacA01Dx0[73]; +acadoWorkspace.lbA[274] -= acadoWorkspace.pacA01Dx0[74]; +acadoWorkspace.lbA[275] -= acadoWorkspace.pacA01Dx0[75]; +acadoWorkspace.lbA[276] -= acadoWorkspace.pacA01Dx0[76]; +acadoWorkspace.lbA[277] -= acadoWorkspace.pacA01Dx0[77]; +acadoWorkspace.lbA[278] -= acadoWorkspace.pacA01Dx0[78]; +acadoWorkspace.lbA[279] -= acadoWorkspace.pacA01Dx0[79]; +acadoWorkspace.lbA[280] -= acadoWorkspace.pacA01Dx0[80]; +acadoWorkspace.lbA[281] -= acadoWorkspace.pacA01Dx0[81]; +acadoWorkspace.lbA[282] -= acadoWorkspace.pacA01Dx0[82]; +acadoWorkspace.lbA[283] -= acadoWorkspace.pacA01Dx0[83]; +acadoWorkspace.lbA[284] -= acadoWorkspace.pacA01Dx0[84]; +acadoWorkspace.lbA[285] -= acadoWorkspace.pacA01Dx0[85]; +acadoWorkspace.lbA[286] -= acadoWorkspace.pacA01Dx0[86]; +acadoWorkspace.lbA[287] -= acadoWorkspace.pacA01Dx0[87]; +acadoWorkspace.lbA[288] -= acadoWorkspace.pacA01Dx0[88]; +acadoWorkspace.lbA[289] -= acadoWorkspace.pacA01Dx0[89]; +acadoWorkspace.lbA[290] -= acadoWorkspace.pacA01Dx0[90]; +acadoWorkspace.lbA[291] -= acadoWorkspace.pacA01Dx0[91]; +acadoWorkspace.lbA[292] -= acadoWorkspace.pacA01Dx0[92]; +acadoWorkspace.lbA[293] -= acadoWorkspace.pacA01Dx0[93]; +acadoWorkspace.lbA[294] -= acadoWorkspace.pacA01Dx0[94]; +acadoWorkspace.lbA[295] -= acadoWorkspace.pacA01Dx0[95]; +acadoWorkspace.lbA[296] -= acadoWorkspace.pacA01Dx0[96]; +acadoWorkspace.lbA[297] -= acadoWorkspace.pacA01Dx0[97]; +acadoWorkspace.lbA[298] -= acadoWorkspace.pacA01Dx0[98]; +acadoWorkspace.lbA[299] -= acadoWorkspace.pacA01Dx0[99]; + +acadoWorkspace.ubA[200] -= acadoWorkspace.pacA01Dx0[0]; +acadoWorkspace.ubA[201] -= acadoWorkspace.pacA01Dx0[1]; +acadoWorkspace.ubA[202] -= acadoWorkspace.pacA01Dx0[2]; +acadoWorkspace.ubA[203] -= acadoWorkspace.pacA01Dx0[3]; +acadoWorkspace.ubA[204] -= acadoWorkspace.pacA01Dx0[4]; +acadoWorkspace.ubA[205] -= acadoWorkspace.pacA01Dx0[5]; +acadoWorkspace.ubA[206] -= acadoWorkspace.pacA01Dx0[6]; +acadoWorkspace.ubA[207] -= acadoWorkspace.pacA01Dx0[7]; +acadoWorkspace.ubA[208] -= acadoWorkspace.pacA01Dx0[8]; +acadoWorkspace.ubA[209] -= acadoWorkspace.pacA01Dx0[9]; +acadoWorkspace.ubA[210] -= acadoWorkspace.pacA01Dx0[10]; +acadoWorkspace.ubA[211] -= acadoWorkspace.pacA01Dx0[11]; +acadoWorkspace.ubA[212] -= acadoWorkspace.pacA01Dx0[12]; +acadoWorkspace.ubA[213] -= acadoWorkspace.pacA01Dx0[13]; +acadoWorkspace.ubA[214] -= acadoWorkspace.pacA01Dx0[14]; +acadoWorkspace.ubA[215] -= acadoWorkspace.pacA01Dx0[15]; +acadoWorkspace.ubA[216] -= acadoWorkspace.pacA01Dx0[16]; +acadoWorkspace.ubA[217] -= acadoWorkspace.pacA01Dx0[17]; +acadoWorkspace.ubA[218] -= acadoWorkspace.pacA01Dx0[18]; +acadoWorkspace.ubA[219] -= acadoWorkspace.pacA01Dx0[19]; +acadoWorkspace.ubA[220] -= acadoWorkspace.pacA01Dx0[20]; +acadoWorkspace.ubA[221] -= acadoWorkspace.pacA01Dx0[21]; +acadoWorkspace.ubA[222] -= acadoWorkspace.pacA01Dx0[22]; +acadoWorkspace.ubA[223] -= acadoWorkspace.pacA01Dx0[23]; +acadoWorkspace.ubA[224] -= acadoWorkspace.pacA01Dx0[24]; +acadoWorkspace.ubA[225] -= acadoWorkspace.pacA01Dx0[25]; +acadoWorkspace.ubA[226] -= acadoWorkspace.pacA01Dx0[26]; +acadoWorkspace.ubA[227] -= acadoWorkspace.pacA01Dx0[27]; +acadoWorkspace.ubA[228] -= acadoWorkspace.pacA01Dx0[28]; +acadoWorkspace.ubA[229] -= acadoWorkspace.pacA01Dx0[29]; +acadoWorkspace.ubA[230] -= acadoWorkspace.pacA01Dx0[30]; +acadoWorkspace.ubA[231] -= acadoWorkspace.pacA01Dx0[31]; +acadoWorkspace.ubA[232] -= acadoWorkspace.pacA01Dx0[32]; +acadoWorkspace.ubA[233] -= acadoWorkspace.pacA01Dx0[33]; +acadoWorkspace.ubA[234] -= acadoWorkspace.pacA01Dx0[34]; +acadoWorkspace.ubA[235] -= acadoWorkspace.pacA01Dx0[35]; +acadoWorkspace.ubA[236] -= acadoWorkspace.pacA01Dx0[36]; +acadoWorkspace.ubA[237] -= acadoWorkspace.pacA01Dx0[37]; +acadoWorkspace.ubA[238] -= acadoWorkspace.pacA01Dx0[38]; +acadoWorkspace.ubA[239] -= acadoWorkspace.pacA01Dx0[39]; +acadoWorkspace.ubA[240] -= acadoWorkspace.pacA01Dx0[40]; +acadoWorkspace.ubA[241] -= acadoWorkspace.pacA01Dx0[41]; +acadoWorkspace.ubA[242] -= acadoWorkspace.pacA01Dx0[42]; +acadoWorkspace.ubA[243] -= acadoWorkspace.pacA01Dx0[43]; +acadoWorkspace.ubA[244] -= acadoWorkspace.pacA01Dx0[44]; +acadoWorkspace.ubA[245] -= acadoWorkspace.pacA01Dx0[45]; +acadoWorkspace.ubA[246] -= acadoWorkspace.pacA01Dx0[46]; +acadoWorkspace.ubA[247] -= acadoWorkspace.pacA01Dx0[47]; +acadoWorkspace.ubA[248] -= acadoWorkspace.pacA01Dx0[48]; +acadoWorkspace.ubA[249] -= acadoWorkspace.pacA01Dx0[49]; +acadoWorkspace.ubA[250] -= acadoWorkspace.pacA01Dx0[50]; +acadoWorkspace.ubA[251] -= acadoWorkspace.pacA01Dx0[51]; +acadoWorkspace.ubA[252] -= acadoWorkspace.pacA01Dx0[52]; +acadoWorkspace.ubA[253] -= acadoWorkspace.pacA01Dx0[53]; +acadoWorkspace.ubA[254] -= acadoWorkspace.pacA01Dx0[54]; +acadoWorkspace.ubA[255] -= acadoWorkspace.pacA01Dx0[55]; +acadoWorkspace.ubA[256] -= acadoWorkspace.pacA01Dx0[56]; +acadoWorkspace.ubA[257] -= acadoWorkspace.pacA01Dx0[57]; +acadoWorkspace.ubA[258] -= acadoWorkspace.pacA01Dx0[58]; +acadoWorkspace.ubA[259] -= acadoWorkspace.pacA01Dx0[59]; +acadoWorkspace.ubA[260] -= acadoWorkspace.pacA01Dx0[60]; +acadoWorkspace.ubA[261] -= acadoWorkspace.pacA01Dx0[61]; +acadoWorkspace.ubA[262] -= acadoWorkspace.pacA01Dx0[62]; +acadoWorkspace.ubA[263] -= acadoWorkspace.pacA01Dx0[63]; +acadoWorkspace.ubA[264] -= acadoWorkspace.pacA01Dx0[64]; +acadoWorkspace.ubA[265] -= acadoWorkspace.pacA01Dx0[65]; +acadoWorkspace.ubA[266] -= acadoWorkspace.pacA01Dx0[66]; +acadoWorkspace.ubA[267] -= acadoWorkspace.pacA01Dx0[67]; +acadoWorkspace.ubA[268] -= acadoWorkspace.pacA01Dx0[68]; +acadoWorkspace.ubA[269] -= acadoWorkspace.pacA01Dx0[69]; +acadoWorkspace.ubA[270] -= acadoWorkspace.pacA01Dx0[70]; +acadoWorkspace.ubA[271] -= acadoWorkspace.pacA01Dx0[71]; +acadoWorkspace.ubA[272] -= acadoWorkspace.pacA01Dx0[72]; +acadoWorkspace.ubA[273] -= acadoWorkspace.pacA01Dx0[73]; +acadoWorkspace.ubA[274] -= acadoWorkspace.pacA01Dx0[74]; +acadoWorkspace.ubA[275] -= acadoWorkspace.pacA01Dx0[75]; +acadoWorkspace.ubA[276] -= acadoWorkspace.pacA01Dx0[76]; +acadoWorkspace.ubA[277] -= acadoWorkspace.pacA01Dx0[77]; +acadoWorkspace.ubA[278] -= acadoWorkspace.pacA01Dx0[78]; +acadoWorkspace.ubA[279] -= acadoWorkspace.pacA01Dx0[79]; +acadoWorkspace.ubA[280] -= acadoWorkspace.pacA01Dx0[80]; +acadoWorkspace.ubA[281] -= acadoWorkspace.pacA01Dx0[81]; +acadoWorkspace.ubA[282] -= acadoWorkspace.pacA01Dx0[82]; +acadoWorkspace.ubA[283] -= acadoWorkspace.pacA01Dx0[83]; +acadoWorkspace.ubA[284] -= acadoWorkspace.pacA01Dx0[84]; +acadoWorkspace.ubA[285] -= acadoWorkspace.pacA01Dx0[85]; +acadoWorkspace.ubA[286] -= acadoWorkspace.pacA01Dx0[86]; +acadoWorkspace.ubA[287] -= acadoWorkspace.pacA01Dx0[87]; +acadoWorkspace.ubA[288] -= acadoWorkspace.pacA01Dx0[88]; +acadoWorkspace.ubA[289] -= acadoWorkspace.pacA01Dx0[89]; +acadoWorkspace.ubA[290] -= acadoWorkspace.pacA01Dx0[90]; +acadoWorkspace.ubA[291] -= acadoWorkspace.pacA01Dx0[91]; +acadoWorkspace.ubA[292] -= acadoWorkspace.pacA01Dx0[92]; +acadoWorkspace.ubA[293] -= acadoWorkspace.pacA01Dx0[93]; +acadoWorkspace.ubA[294] -= acadoWorkspace.pacA01Dx0[94]; +acadoWorkspace.ubA[295] -= acadoWorkspace.pacA01Dx0[95]; +acadoWorkspace.ubA[296] -= acadoWorkspace.pacA01Dx0[96]; +acadoWorkspace.ubA[297] -= acadoWorkspace.pacA01Dx0[97]; +acadoWorkspace.ubA[298] -= acadoWorkspace.pacA01Dx0[98]; +acadoWorkspace.ubA[299] -= acadoWorkspace.pacA01Dx0[99]; + +} + +void acado_expand( ) +{ +int lRun1; +int lRun2; +int lRun3; +acadoVariables.u[0] += acadoWorkspace.x[0]; +acadoVariables.u[1] += acadoWorkspace.x[1]; +acadoVariables.u[2] += acadoWorkspace.x[2]; +acadoVariables.u[3] += acadoWorkspace.x[3]; +acadoVariables.u[4] += acadoWorkspace.x[4]; +acadoVariables.u[5] += acadoWorkspace.x[5]; +acadoVariables.u[6] += acadoWorkspace.x[6]; +acadoVariables.u[7] += acadoWorkspace.x[7]; +acadoVariables.u[8] += acadoWorkspace.x[8]; +acadoVariables.u[9] += acadoWorkspace.x[9]; +acadoVariables.u[10] += acadoWorkspace.x[10]; +acadoVariables.u[11] += acadoWorkspace.x[11]; +acadoVariables.u[12] += acadoWorkspace.x[12]; +acadoVariables.u[13] += acadoWorkspace.x[13]; +acadoVariables.u[14] += acadoWorkspace.x[14]; +acadoVariables.u[15] += acadoWorkspace.x[15]; +acadoVariables.u[16] += acadoWorkspace.x[16]; +acadoVariables.u[17] += acadoWorkspace.x[17]; +acadoVariables.u[18] += acadoWorkspace.x[18]; +acadoVariables.u[19] += acadoWorkspace.x[19]; +acadoVariables.u[20] += acadoWorkspace.x[20]; +acadoVariables.u[21] += acadoWorkspace.x[21]; +acadoVariables.u[22] += acadoWorkspace.x[22]; +acadoVariables.u[23] += acadoWorkspace.x[23]; +acadoVariables.u[24] += acadoWorkspace.x[24]; +acadoVariables.u[25] += acadoWorkspace.x[25]; +acadoVariables.u[26] += acadoWorkspace.x[26]; +acadoVariables.u[27] += acadoWorkspace.x[27]; +acadoVariables.u[28] += acadoWorkspace.x[28]; +acadoVariables.u[29] += acadoWorkspace.x[29]; +acadoVariables.u[30] += acadoWorkspace.x[30]; +acadoVariables.u[31] += acadoWorkspace.x[31]; +acadoVariables.u[32] += acadoWorkspace.x[32]; +acadoVariables.u[33] += acadoWorkspace.x[33]; +acadoVariables.u[34] += acadoWorkspace.x[34]; +acadoVariables.u[35] += acadoWorkspace.x[35]; +acadoVariables.u[36] += acadoWorkspace.x[36]; +acadoVariables.u[37] += acadoWorkspace.x[37]; +acadoVariables.u[38] += acadoWorkspace.x[38]; +acadoVariables.u[39] += acadoWorkspace.x[39]; +acadoVariables.u[40] += acadoWorkspace.x[40]; +acadoVariables.u[41] += acadoWorkspace.x[41]; +acadoVariables.u[42] += acadoWorkspace.x[42]; +acadoVariables.u[43] += acadoWorkspace.x[43]; +acadoVariables.u[44] += acadoWorkspace.x[44]; +acadoVariables.u[45] += acadoWorkspace.x[45]; +acadoVariables.u[46] += acadoWorkspace.x[46]; +acadoVariables.u[47] += acadoWorkspace.x[47]; +acadoVariables.u[48] += acadoWorkspace.x[48]; +acadoVariables.u[49] += acadoWorkspace.x[49]; +acadoVariables.u[50] += acadoWorkspace.x[50]; +acadoVariables.u[51] += acadoWorkspace.x[51]; +acadoVariables.u[52] += acadoWorkspace.x[52]; +acadoVariables.u[53] += acadoWorkspace.x[53]; +acadoVariables.u[54] += acadoWorkspace.x[54]; +acadoVariables.u[55] += acadoWorkspace.x[55]; +acadoVariables.u[56] += acadoWorkspace.x[56]; +acadoVariables.u[57] += acadoWorkspace.x[57]; +acadoVariables.u[58] += acadoWorkspace.x[58]; +acadoVariables.u[59] += acadoWorkspace.x[59]; +acadoVariables.u[60] += acadoWorkspace.x[60]; +acadoVariables.u[61] += acadoWorkspace.x[61]; +acadoVariables.u[62] += acadoWorkspace.x[62]; +acadoVariables.u[63] += acadoWorkspace.x[63]; +acadoVariables.u[64] += acadoWorkspace.x[64]; +acadoVariables.u[65] += acadoWorkspace.x[65]; +acadoVariables.u[66] += acadoWorkspace.x[66]; +acadoVariables.u[67] += acadoWorkspace.x[67]; +acadoVariables.u[68] += acadoWorkspace.x[68]; +acadoVariables.u[69] += acadoWorkspace.x[69]; +acadoVariables.u[70] += acadoWorkspace.x[70]; +acadoVariables.u[71] += acadoWorkspace.x[71]; +acadoVariables.u[72] += acadoWorkspace.x[72]; +acadoVariables.u[73] += acadoWorkspace.x[73]; +acadoVariables.u[74] += acadoWorkspace.x[74]; +acadoVariables.u[75] += acadoWorkspace.x[75]; +acadoVariables.u[76] += acadoWorkspace.x[76]; +acadoVariables.u[77] += acadoWorkspace.x[77]; +acadoVariables.u[78] += acadoWorkspace.x[78]; +acadoVariables.u[79] += acadoWorkspace.x[79]; +acadoVariables.u[80] += acadoWorkspace.x[80]; +acadoVariables.u[81] += acadoWorkspace.x[81]; +acadoVariables.u[82] += acadoWorkspace.x[82]; +acadoVariables.u[83] += acadoWorkspace.x[83]; +acadoVariables.u[84] += acadoWorkspace.x[84]; +acadoVariables.u[85] += acadoWorkspace.x[85]; +acadoVariables.u[86] += acadoWorkspace.x[86]; +acadoVariables.u[87] += acadoWorkspace.x[87]; +acadoVariables.u[88] += acadoWorkspace.x[88]; +acadoVariables.u[89] += acadoWorkspace.x[89]; +acadoVariables.u[90] += acadoWorkspace.x[90]; +acadoVariables.u[91] += acadoWorkspace.x[91]; +acadoVariables.u[92] += acadoWorkspace.x[92]; +acadoVariables.u[93] += acadoWorkspace.x[93]; +acadoVariables.u[94] += acadoWorkspace.x[94]; +acadoVariables.u[95] += acadoWorkspace.x[95]; +acadoVariables.u[96] += acadoWorkspace.x[96]; +acadoVariables.u[97] += acadoWorkspace.x[97]; +acadoVariables.u[98] += acadoWorkspace.x[98]; +acadoVariables.u[99] += acadoWorkspace.x[99]; + +acadoVariables.x[0] += acadoWorkspace.Dx0[0]; +acadoVariables.x[1] += acadoWorkspace.Dx0[1]; +acadoVariables.x[2] += acadoWorkspace.Dx0[2]; +acadoVariables.x[3] += acadoWorkspace.Dx0[3]; +acadoVariables.x[4] += acadoWorkspace.Dx0[4]; +acadoVariables.x[5] += acadoWorkspace.Dx0[5]; + +acadoVariables.x[6] += + acadoWorkspace.evGx[0]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[2]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[3]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[4]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[5]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[0]; +acadoVariables.x[7] += + acadoWorkspace.evGx[6]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[7]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[8]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[9]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[10]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[11]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[1]; +acadoVariables.x[8] += + acadoWorkspace.evGx[12]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[13]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[14]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[15]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[16]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[17]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[2]; +acadoVariables.x[9] += + acadoWorkspace.evGx[18]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[19]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[20]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[21]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[22]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[23]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[3]; +acadoVariables.x[10] += + acadoWorkspace.evGx[24]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[25]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[26]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[27]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[28]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[29]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[4]; +acadoVariables.x[11] += + acadoWorkspace.evGx[30]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[31]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[32]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[33]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[34]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[35]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[5]; +acadoVariables.x[12] += + acadoWorkspace.evGx[36]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[37]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[38]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[39]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[40]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[41]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[6]; +acadoVariables.x[13] += + acadoWorkspace.evGx[42]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[43]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[44]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[45]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[46]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[47]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[7]; +acadoVariables.x[14] += + acadoWorkspace.evGx[48]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[49]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[50]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[51]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[52]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[53]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[8]; +acadoVariables.x[15] += + acadoWorkspace.evGx[54]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[55]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[56]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[57]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[58]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[59]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[9]; +acadoVariables.x[16] += + acadoWorkspace.evGx[60]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[61]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[62]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[63]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[64]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[65]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[10]; +acadoVariables.x[17] += + acadoWorkspace.evGx[66]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[67]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[68]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[69]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[70]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[71]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[11]; +acadoVariables.x[18] += + acadoWorkspace.evGx[72]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[73]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[74]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[75]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[76]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[77]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[12]; +acadoVariables.x[19] += + acadoWorkspace.evGx[78]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[79]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[80]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[81]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[82]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[83]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[13]; +acadoVariables.x[20] += + acadoWorkspace.evGx[84]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[85]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[86]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[87]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[88]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[89]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[14]; +acadoVariables.x[21] += + acadoWorkspace.evGx[90]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[91]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[92]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[93]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[94]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[95]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[15]; +acadoVariables.x[22] += + acadoWorkspace.evGx[96]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[97]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[98]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[99]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[100]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[101]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[16]; +acadoVariables.x[23] += + acadoWorkspace.evGx[102]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[103]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[104]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[105]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[106]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[107]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[17]; +acadoVariables.x[24] += + acadoWorkspace.evGx[108]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[109]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[110]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[111]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[112]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[113]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[18]; +acadoVariables.x[25] += + acadoWorkspace.evGx[114]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[115]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[116]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[117]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[118]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[119]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[19]; +acadoVariables.x[26] += + acadoWorkspace.evGx[120]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[121]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[122]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[123]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[124]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[125]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[20]; +acadoVariables.x[27] += + acadoWorkspace.evGx[126]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[127]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[128]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[129]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[130]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[131]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[21]; +acadoVariables.x[28] += + acadoWorkspace.evGx[132]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[133]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[134]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[135]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[136]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[137]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[22]; +acadoVariables.x[29] += + acadoWorkspace.evGx[138]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[139]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[140]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[141]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[142]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[143]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[23]; +acadoVariables.x[30] += + acadoWorkspace.evGx[144]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[145]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[146]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[147]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[148]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[149]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[24]; +acadoVariables.x[31] += + acadoWorkspace.evGx[150]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[151]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[152]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[153]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[154]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[155]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[25]; +acadoVariables.x[32] += + acadoWorkspace.evGx[156]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[157]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[158]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[159]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[160]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[161]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[26]; +acadoVariables.x[33] += + acadoWorkspace.evGx[162]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[163]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[164]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[165]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[166]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[167]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[27]; +acadoVariables.x[34] += + acadoWorkspace.evGx[168]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[169]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[170]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[171]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[172]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[173]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[28]; +acadoVariables.x[35] += + acadoWorkspace.evGx[174]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[175]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[176]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[177]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[178]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[179]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[29]; +acadoVariables.x[36] += + acadoWorkspace.evGx[180]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[181]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[182]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[183]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[184]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[185]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[30]; +acadoVariables.x[37] += + acadoWorkspace.evGx[186]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[187]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[188]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[189]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[190]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[191]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[31]; +acadoVariables.x[38] += + acadoWorkspace.evGx[192]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[193]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[194]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[195]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[196]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[197]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[32]; +acadoVariables.x[39] += + acadoWorkspace.evGx[198]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[199]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[200]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[201]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[202]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[203]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[33]; +acadoVariables.x[40] += + acadoWorkspace.evGx[204]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[205]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[206]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[207]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[208]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[209]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[34]; +acadoVariables.x[41] += + acadoWorkspace.evGx[210]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[211]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[212]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[213]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[214]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[215]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[35]; +acadoVariables.x[42] += + acadoWorkspace.evGx[216]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[217]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[218]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[219]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[220]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[221]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[36]; +acadoVariables.x[43] += + acadoWorkspace.evGx[222]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[223]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[224]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[225]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[226]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[227]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[37]; +acadoVariables.x[44] += + acadoWorkspace.evGx[228]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[229]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[230]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[231]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[232]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[233]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[38]; +acadoVariables.x[45] += + acadoWorkspace.evGx[234]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[235]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[236]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[237]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[238]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[239]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[39]; +acadoVariables.x[46] += + acadoWorkspace.evGx[240]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[241]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[242]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[243]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[244]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[245]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[40]; +acadoVariables.x[47] += + acadoWorkspace.evGx[246]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[247]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[248]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[249]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[250]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[251]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[41]; +acadoVariables.x[48] += + acadoWorkspace.evGx[252]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[253]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[254]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[255]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[256]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[257]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[42]; +acadoVariables.x[49] += + acadoWorkspace.evGx[258]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[259]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[260]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[261]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[262]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[263]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[43]; +acadoVariables.x[50] += + acadoWorkspace.evGx[264]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[265]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[266]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[267]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[268]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[269]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[44]; +acadoVariables.x[51] += + acadoWorkspace.evGx[270]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[271]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[272]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[273]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[274]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[275]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[45]; +acadoVariables.x[52] += + acadoWorkspace.evGx[276]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[277]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[278]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[279]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[280]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[281]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[46]; +acadoVariables.x[53] += + acadoWorkspace.evGx[282]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[283]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[284]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[285]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[286]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[287]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[47]; +acadoVariables.x[54] += + acadoWorkspace.evGx[288]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[289]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[290]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[291]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[292]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[293]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[48]; +acadoVariables.x[55] += + acadoWorkspace.evGx[294]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[295]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[296]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[297]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[298]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[299]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[49]; +acadoVariables.x[56] += + acadoWorkspace.evGx[300]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[301]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[302]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[303]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[304]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[305]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[50]; +acadoVariables.x[57] += + acadoWorkspace.evGx[306]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[307]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[308]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[309]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[310]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[311]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[51]; +acadoVariables.x[58] += + acadoWorkspace.evGx[312]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[313]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[314]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[315]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[316]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[317]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[52]; +acadoVariables.x[59] += + acadoWorkspace.evGx[318]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[319]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[320]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[321]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[322]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[323]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[53]; +acadoVariables.x[60] += + acadoWorkspace.evGx[324]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[325]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[326]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[327]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[328]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[329]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[54]; +acadoVariables.x[61] += + acadoWorkspace.evGx[330]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[331]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[332]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[333]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[334]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[335]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[55]; +acadoVariables.x[62] += + acadoWorkspace.evGx[336]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[337]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[338]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[339]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[340]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[341]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[56]; +acadoVariables.x[63] += + acadoWorkspace.evGx[342]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[343]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[344]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[345]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[346]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[347]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[57]; +acadoVariables.x[64] += + acadoWorkspace.evGx[348]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[349]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[350]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[351]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[352]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[353]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[58]; +acadoVariables.x[65] += + acadoWorkspace.evGx[354]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[355]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[356]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[357]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[358]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[359]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[59]; +acadoVariables.x[66] += + acadoWorkspace.evGx[360]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[361]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[362]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[363]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[364]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[365]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[60]; +acadoVariables.x[67] += + acadoWorkspace.evGx[366]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[367]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[368]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[369]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[370]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[371]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[61]; +acadoVariables.x[68] += + acadoWorkspace.evGx[372]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[373]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[374]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[375]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[376]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[377]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[62]; +acadoVariables.x[69] += + acadoWorkspace.evGx[378]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[379]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[380]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[381]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[382]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[383]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[63]; +acadoVariables.x[70] += + acadoWorkspace.evGx[384]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[385]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[386]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[387]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[388]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[389]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[64]; +acadoVariables.x[71] += + acadoWorkspace.evGx[390]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[391]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[392]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[393]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[394]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[395]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[65]; +acadoVariables.x[72] += + acadoWorkspace.evGx[396]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[397]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[398]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[399]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[400]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[401]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[66]; +acadoVariables.x[73] += + acadoWorkspace.evGx[402]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[403]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[404]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[405]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[406]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[407]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[67]; +acadoVariables.x[74] += + acadoWorkspace.evGx[408]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[409]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[410]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[411]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[412]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[413]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[68]; +acadoVariables.x[75] += + acadoWorkspace.evGx[414]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[415]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[416]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[417]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[418]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[419]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[69]; +acadoVariables.x[76] += + acadoWorkspace.evGx[420]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[421]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[422]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[423]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[424]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[425]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[70]; +acadoVariables.x[77] += + acadoWorkspace.evGx[426]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[427]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[428]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[429]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[430]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[431]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[71]; +acadoVariables.x[78] += + acadoWorkspace.evGx[432]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[433]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[434]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[435]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[436]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[437]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[72]; +acadoVariables.x[79] += + acadoWorkspace.evGx[438]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[439]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[440]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[441]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[442]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[443]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[73]; +acadoVariables.x[80] += + acadoWorkspace.evGx[444]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[445]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[446]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[447]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[448]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[449]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[74]; +acadoVariables.x[81] += + acadoWorkspace.evGx[450]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[451]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[452]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[453]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[454]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[455]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[75]; +acadoVariables.x[82] += + acadoWorkspace.evGx[456]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[457]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[458]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[459]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[460]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[461]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[76]; +acadoVariables.x[83] += + acadoWorkspace.evGx[462]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[463]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[464]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[465]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[466]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[467]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[77]; +acadoVariables.x[84] += + acadoWorkspace.evGx[468]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[469]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[470]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[471]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[472]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[473]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[78]; 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+acadoVariables.x[91] += + acadoWorkspace.evGx[510]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[511]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[512]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[513]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[514]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[515]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[85]; +acadoVariables.x[92] += + acadoWorkspace.evGx[516]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[517]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[518]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[519]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[520]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[521]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[86]; +acadoVariables.x[93] += + acadoWorkspace.evGx[522]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[523]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[524]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[525]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[526]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[527]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[87]; +acadoVariables.x[94] += + acadoWorkspace.evGx[528]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[529]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[530]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[531]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[532]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[533]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[88]; +acadoVariables.x[95] += + acadoWorkspace.evGx[534]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[535]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[536]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[537]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[538]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[539]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[89]; +acadoVariables.x[96] += + acadoWorkspace.evGx[540]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[541]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[542]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[543]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[544]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[545]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[90]; +acadoVariables.x[97] += + acadoWorkspace.evGx[546]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[547]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[548]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[549]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[550]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[551]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[91]; +acadoVariables.x[98] += + acadoWorkspace.evGx[552]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[553]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[554]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[555]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[556]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[557]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[92]; +acadoVariables.x[99] += + acadoWorkspace.evGx[558]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[559]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[560]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[561]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[562]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[563]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[93]; +acadoVariables.x[100] += + acadoWorkspace.evGx[564]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[565]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[566]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[567]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[568]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[569]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[94]; +acadoVariables.x[101] += + acadoWorkspace.evGx[570]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[571]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[572]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[573]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[574]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[575]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[95]; +acadoVariables.x[102] += + acadoWorkspace.evGx[576]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[577]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[578]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[579]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[580]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[581]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[96]; +acadoVariables.x[103] += + acadoWorkspace.evGx[582]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[583]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[584]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[585]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[586]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[587]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[97]; +acadoVariables.x[104] += + acadoWorkspace.evGx[588]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[589]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[590]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[591]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[592]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[593]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[98]; +acadoVariables.x[105] += + acadoWorkspace.evGx[594]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[595]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[596]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[597]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[598]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[599]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[99]; +acadoVariables.x[106] += + acadoWorkspace.evGx[600]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[601]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[602]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[603]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[604]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[605]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[100]; +acadoVariables.x[107] += + acadoWorkspace.evGx[606]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[607]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[608]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[609]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[610]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[611]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[101]; +acadoVariables.x[108] += + acadoWorkspace.evGx[612]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[613]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[614]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[615]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[616]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[617]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[102]; +acadoVariables.x[109] += + acadoWorkspace.evGx[618]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[619]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[620]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[621]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[622]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[623]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[103]; +acadoVariables.x[110] += + acadoWorkspace.evGx[624]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[625]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[626]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[627]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[628]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[629]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[104]; +acadoVariables.x[111] += + acadoWorkspace.evGx[630]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[631]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[632]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[633]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[634]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[635]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[105]; +acadoVariables.x[112] += + acadoWorkspace.evGx[636]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[637]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[638]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[639]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[640]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[641]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[106]; +acadoVariables.x[113] += + acadoWorkspace.evGx[642]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[643]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[644]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[645]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[646]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[647]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[107]; +acadoVariables.x[114] += + acadoWorkspace.evGx[648]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[649]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[650]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[651]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[652]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[653]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[108]; +acadoVariables.x[115] += + acadoWorkspace.evGx[654]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[655]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[656]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[657]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[658]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[659]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[109]; +acadoVariables.x[116] += + acadoWorkspace.evGx[660]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[661]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[662]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[663]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[664]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[665]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[110]; +acadoVariables.x[117] += + acadoWorkspace.evGx[666]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[667]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[668]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[669]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[670]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[671]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[111]; +acadoVariables.x[118] += + acadoWorkspace.evGx[672]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[673]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[674]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[675]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[676]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[677]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[112]; +acadoVariables.x[119] += + acadoWorkspace.evGx[678]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[679]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[680]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[681]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[682]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[683]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[113]; +acadoVariables.x[120] += + acadoWorkspace.evGx[684]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[685]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[686]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[687]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[688]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[689]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[114]; +acadoVariables.x[121] += + acadoWorkspace.evGx[690]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[691]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[692]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[693]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[694]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[695]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[115]; +acadoVariables.x[122] += + acadoWorkspace.evGx[696]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[697]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[698]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[699]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[700]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[701]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[116]; +acadoVariables.x[123] += + acadoWorkspace.evGx[702]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[703]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[704]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[705]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[706]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[707]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[117]; +acadoVariables.x[124] += + acadoWorkspace.evGx[708]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[709]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[710]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[711]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[712]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[713]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[118]; +acadoVariables.x[125] += + acadoWorkspace.evGx[714]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[715]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[716]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[717]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[718]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[719]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[119]; +acadoVariables.x[126] += + acadoWorkspace.evGx[720]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[721]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[722]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[723]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[724]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[725]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[120]; +acadoVariables.x[127] += + acadoWorkspace.evGx[726]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[727]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[728]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[729]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[730]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[731]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[121]; +acadoVariables.x[128] += + acadoWorkspace.evGx[732]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[733]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[734]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[735]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[736]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[737]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[122]; +acadoVariables.x[129] += + acadoWorkspace.evGx[738]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[739]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[740]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[741]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[742]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[743]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[123]; +acadoVariables.x[130] += + acadoWorkspace.evGx[744]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[745]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[746]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[747]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[748]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[749]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[124]; +acadoVariables.x[131] += + acadoWorkspace.evGx[750]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[751]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[752]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[753]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[754]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[755]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[125]; +acadoVariables.x[132] += + acadoWorkspace.evGx[756]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[757]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[758]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[759]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[760]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[761]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[126]; +acadoVariables.x[133] += + acadoWorkspace.evGx[762]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[763]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[764]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[765]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[766]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[767]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[127]; +acadoVariables.x[134] += + acadoWorkspace.evGx[768]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[769]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[770]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[771]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[772]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[773]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[128]; +acadoVariables.x[135] += + acadoWorkspace.evGx[774]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[775]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[776]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[777]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[778]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[779]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[129]; +acadoVariables.x[136] += + acadoWorkspace.evGx[780]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[781]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[782]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[783]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[784]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[785]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[130]; +acadoVariables.x[137] += + acadoWorkspace.evGx[786]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[787]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[788]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[789]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[790]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[791]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[131]; +acadoVariables.x[138] += + acadoWorkspace.evGx[792]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[793]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[794]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[795]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[796]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[797]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[132]; +acadoVariables.x[139] += + acadoWorkspace.evGx[798]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[799]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[800]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[801]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[802]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[803]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[133]; +acadoVariables.x[140] += + acadoWorkspace.evGx[804]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[805]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[806]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[807]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[808]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[809]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[134]; +acadoVariables.x[141] += + acadoWorkspace.evGx[810]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[811]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[812]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[813]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[814]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[815]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[135]; +acadoVariables.x[142] += + acadoWorkspace.evGx[816]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[817]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[818]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[819]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[820]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[821]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[136]; +acadoVariables.x[143] += + acadoWorkspace.evGx[822]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[823]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[824]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[825]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[826]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[827]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[137]; +acadoVariables.x[144] += + acadoWorkspace.evGx[828]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[829]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[830]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[831]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[832]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[833]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[138]; +acadoVariables.x[145] += + acadoWorkspace.evGx[834]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[835]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[836]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[837]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[838]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[839]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[139]; +acadoVariables.x[146] += + acadoWorkspace.evGx[840]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[841]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[842]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[843]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[844]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[845]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[140]; +acadoVariables.x[147] += + acadoWorkspace.evGx[846]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[847]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[848]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[849]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[850]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[851]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[141]; +acadoVariables.x[148] += + acadoWorkspace.evGx[852]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[853]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[854]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[855]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[856]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[857]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[142]; +acadoVariables.x[149] += + acadoWorkspace.evGx[858]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[859]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[860]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[861]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[862]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[863]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[143]; +acadoVariables.x[150] += + acadoWorkspace.evGx[864]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[865]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[866]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[867]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[868]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[869]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[144]; +acadoVariables.x[151] += + acadoWorkspace.evGx[870]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[871]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[872]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[873]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[874]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[875]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[145]; +acadoVariables.x[152] += + acadoWorkspace.evGx[876]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[877]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[878]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[879]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[880]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[881]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[146]; +acadoVariables.x[153] += + acadoWorkspace.evGx[882]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[883]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[884]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[885]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[886]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[887]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[147]; +acadoVariables.x[154] += + acadoWorkspace.evGx[888]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[889]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[890]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[891]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[892]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[893]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[148]; +acadoVariables.x[155] += + acadoWorkspace.evGx[894]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[895]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[896]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[897]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[898]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[899]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[149]; +acadoVariables.x[156] += + acadoWorkspace.evGx[900]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[901]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[902]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[903]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[904]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[905]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[150]; +acadoVariables.x[157] += + acadoWorkspace.evGx[906]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[907]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[908]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[909]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[910]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[911]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[151]; +acadoVariables.x[158] += + acadoWorkspace.evGx[912]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[913]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[914]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[915]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[916]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[917]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[152]; +acadoVariables.x[159] += + acadoWorkspace.evGx[918]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[919]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[920]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[921]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[922]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[923]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[153]; +acadoVariables.x[160] += + acadoWorkspace.evGx[924]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[925]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[926]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[927]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[928]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[929]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[154]; +acadoVariables.x[161] += + acadoWorkspace.evGx[930]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[931]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[932]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[933]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[934]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[935]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[155]; +acadoVariables.x[162] += + acadoWorkspace.evGx[936]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[937]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[938]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[939]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[940]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[941]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[156]; +acadoVariables.x[163] += + acadoWorkspace.evGx[942]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[943]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[944]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[945]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[946]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[947]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[157]; +acadoVariables.x[164] += + acadoWorkspace.evGx[948]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[949]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[950]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[951]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[952]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[953]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[158]; +acadoVariables.x[165] += + acadoWorkspace.evGx[954]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[955]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[956]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[957]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[958]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[959]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[159]; +acadoVariables.x[166] += + acadoWorkspace.evGx[960]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[961]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[962]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[963]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[964]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[965]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[160]; +acadoVariables.x[167] += + acadoWorkspace.evGx[966]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[967]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[968]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[969]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[970]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[971]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[161]; +acadoVariables.x[168] += + acadoWorkspace.evGx[972]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[973]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[974]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[975]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[976]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[977]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[162]; +acadoVariables.x[169] += + acadoWorkspace.evGx[978]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[979]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[980]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[981]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[982]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[983]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[163]; +acadoVariables.x[170] += + acadoWorkspace.evGx[984]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[985]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[986]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[987]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[988]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[989]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[164]; +acadoVariables.x[171] += + acadoWorkspace.evGx[990]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[991]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[992]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[993]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[994]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[995]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[165]; +acadoVariables.x[172] += + acadoWorkspace.evGx[996]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[997]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[998]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[999]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1000]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1001]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[166]; +acadoVariables.x[173] += + acadoWorkspace.evGx[1002]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1003]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1004]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1005]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1006]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1007]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[167]; +acadoVariables.x[174] += + acadoWorkspace.evGx[1008]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1009]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1010]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1011]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1012]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1013]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[168]; +acadoVariables.x[175] += + acadoWorkspace.evGx[1014]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1015]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1016]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1017]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1018]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1019]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[169]; +acadoVariables.x[176] += + acadoWorkspace.evGx[1020]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1021]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1022]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1023]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1024]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1025]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[170]; +acadoVariables.x[177] += + acadoWorkspace.evGx[1026]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1027]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1028]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1029]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1030]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1031]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[171]; +acadoVariables.x[178] += + acadoWorkspace.evGx[1032]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1033]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1034]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1035]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1036]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1037]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[172]; +acadoVariables.x[179] += + acadoWorkspace.evGx[1038]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1039]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1040]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1041]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1042]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1043]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[173]; +acadoVariables.x[180] += + acadoWorkspace.evGx[1044]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1045]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1046]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1047]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1048]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1049]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[174]; +acadoVariables.x[181] += + acadoWorkspace.evGx[1050]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1051]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1052]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1053]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1054]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1055]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[175]; +acadoVariables.x[182] += + acadoWorkspace.evGx[1056]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1057]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1058]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1059]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1060]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1061]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[176]; +acadoVariables.x[183] += + acadoWorkspace.evGx[1062]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1063]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1064]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1065]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1066]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1067]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[177]; +acadoVariables.x[184] += + acadoWorkspace.evGx[1068]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1069]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1070]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1071]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1072]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1073]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[178]; +acadoVariables.x[185] += + acadoWorkspace.evGx[1074]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1075]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1076]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1077]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1078]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1079]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[179]; +acadoVariables.x[186] += + acadoWorkspace.evGx[1080]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1081]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1082]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1083]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1084]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1085]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[180]; +acadoVariables.x[187] += + acadoWorkspace.evGx[1086]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1087]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1088]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1089]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1090]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1091]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[181]; +acadoVariables.x[188] += + acadoWorkspace.evGx[1092]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1093]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1094]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1095]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1096]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1097]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[182]; +acadoVariables.x[189] += + acadoWorkspace.evGx[1098]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1099]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1100]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1101]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1102]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1103]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[183]; +acadoVariables.x[190] += + acadoWorkspace.evGx[1104]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1105]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1106]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1107]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1108]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1109]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[184]; +acadoVariables.x[191] += + acadoWorkspace.evGx[1110]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1111]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1112]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1113]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1114]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1115]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[185]; +acadoVariables.x[192] += + acadoWorkspace.evGx[1116]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1117]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1118]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1119]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1120]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1121]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[186]; +acadoVariables.x[193] += + acadoWorkspace.evGx[1122]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1123]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1124]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1125]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1126]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1127]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[187]; +acadoVariables.x[194] += + acadoWorkspace.evGx[1128]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1129]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1130]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1131]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1132]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1133]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[188]; +acadoVariables.x[195] += + acadoWorkspace.evGx[1134]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1135]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1136]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1137]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1138]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1139]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[189]; +acadoVariables.x[196] += + acadoWorkspace.evGx[1140]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1141]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1142]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1143]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1144]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1145]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[190]; +acadoVariables.x[197] += + acadoWorkspace.evGx[1146]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1147]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1148]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1149]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1150]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1151]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[191]; +acadoVariables.x[198] += + acadoWorkspace.evGx[1152]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1153]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1154]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1155]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1156]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1157]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[192]; +acadoVariables.x[199] += + acadoWorkspace.evGx[1158]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1159]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1160]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1161]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1162]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1163]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[193]; +acadoVariables.x[200] += + acadoWorkspace.evGx[1164]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1165]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1166]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1167]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1168]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1169]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[194]; +acadoVariables.x[201] += + acadoWorkspace.evGx[1170]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1171]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1172]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1173]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1174]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1175]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[195]; +acadoVariables.x[202] += + acadoWorkspace.evGx[1176]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1177]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1178]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1179]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1180]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1181]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[196]; +acadoVariables.x[203] += + acadoWorkspace.evGx[1182]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1183]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1184]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1185]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1186]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1187]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[197]; +acadoVariables.x[204] += + acadoWorkspace.evGx[1188]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1189]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1190]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1191]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1192]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1193]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[198]; +acadoVariables.x[205] += + acadoWorkspace.evGx[1194]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1195]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1196]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1197]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1198]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1199]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[199]; +acadoVariables.x[206] += + acadoWorkspace.evGx[1200]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1201]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1202]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1203]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1204]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1205]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[200]; +acadoVariables.x[207] += + acadoWorkspace.evGx[1206]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1207]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1208]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1209]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1210]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1211]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[201]; +acadoVariables.x[208] += + acadoWorkspace.evGx[1212]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1213]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1214]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1215]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1216]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1217]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[202]; +acadoVariables.x[209] += + acadoWorkspace.evGx[1218]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1219]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1220]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1221]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1222]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1223]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[203]; +acadoVariables.x[210] += + acadoWorkspace.evGx[1224]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1225]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1226]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1227]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1228]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1229]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[204]; +acadoVariables.x[211] += + acadoWorkspace.evGx[1230]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1231]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1232]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1233]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1234]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1235]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[205]; +acadoVariables.x[212] += + acadoWorkspace.evGx[1236]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1237]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1238]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1239]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1240]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1241]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[206]; +acadoVariables.x[213] += + acadoWorkspace.evGx[1242]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1243]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1244]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1245]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1246]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1247]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[207]; 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+acadoVariables.x[217] += + acadoWorkspace.evGx[1266]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1267]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1268]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1269]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1270]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1271]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[211]; +acadoVariables.x[218] += + acadoWorkspace.evGx[1272]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1273]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1274]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1275]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1276]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1277]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[212]; +acadoVariables.x[219] += + acadoWorkspace.evGx[1278]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1279]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1280]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1281]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1282]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1283]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[213]; +acadoVariables.x[220] += + acadoWorkspace.evGx[1284]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1285]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1286]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1287]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1288]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1289]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[214]; +acadoVariables.x[221] += + acadoWorkspace.evGx[1290]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1291]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1292]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1293]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1294]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1295]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[215]; +acadoVariables.x[222] += + acadoWorkspace.evGx[1296]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1297]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1298]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1299]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1300]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1301]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[216]; +acadoVariables.x[223] += + acadoWorkspace.evGx[1302]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1303]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1304]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1305]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1306]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1307]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[217]; +acadoVariables.x[224] += + acadoWorkspace.evGx[1308]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1309]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1310]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1311]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1312]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1313]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[218]; +acadoVariables.x[225] += + acadoWorkspace.evGx[1314]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1315]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1316]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1317]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1318]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1319]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[219]; +acadoVariables.x[226] += + acadoWorkspace.evGx[1320]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1321]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1322]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1323]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1324]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1325]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[220]; +acadoVariables.x[227] += + acadoWorkspace.evGx[1326]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1327]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1328]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1329]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1330]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1331]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[221]; +acadoVariables.x[228] += + acadoWorkspace.evGx[1332]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1333]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1334]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1335]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1336]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1337]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[222]; +acadoVariables.x[229] += + acadoWorkspace.evGx[1338]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1339]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1340]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1341]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1342]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1343]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[223]; +acadoVariables.x[230] += + acadoWorkspace.evGx[1344]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1345]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1346]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1347]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1348]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1349]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[224]; +acadoVariables.x[231] += + acadoWorkspace.evGx[1350]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1351]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1352]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1353]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1354]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1355]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[225]; +acadoVariables.x[232] += + acadoWorkspace.evGx[1356]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1357]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1358]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1359]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1360]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1361]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[226]; +acadoVariables.x[233] += + acadoWorkspace.evGx[1362]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1363]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1364]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1365]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1366]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1367]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[227]; +acadoVariables.x[234] += + acadoWorkspace.evGx[1368]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1369]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1370]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1371]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1372]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1373]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[228]; +acadoVariables.x[235] += + acadoWorkspace.evGx[1374]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1375]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1376]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1377]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1378]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1379]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[229]; +acadoVariables.x[236] += + acadoWorkspace.evGx[1380]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1381]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1382]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1383]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1384]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1385]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[230]; +acadoVariables.x[237] += + acadoWorkspace.evGx[1386]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1387]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1388]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1389]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1390]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1391]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[231]; +acadoVariables.x[238] += + acadoWorkspace.evGx[1392]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1393]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1394]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1395]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1396]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1397]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[232]; +acadoVariables.x[239] += + acadoWorkspace.evGx[1398]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1399]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1400]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1401]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1402]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1403]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[233]; +acadoVariables.x[240] += + acadoWorkspace.evGx[1404]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1405]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1406]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1407]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1408]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1409]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[234]; +acadoVariables.x[241] += + acadoWorkspace.evGx[1410]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1411]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1412]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1413]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1414]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1415]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[235]; +acadoVariables.x[242] += + acadoWorkspace.evGx[1416]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1417]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1418]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1419]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1420]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1421]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[236]; +acadoVariables.x[243] += + acadoWorkspace.evGx[1422]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1423]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1424]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1425]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1426]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1427]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[237]; +acadoVariables.x[244] += + acadoWorkspace.evGx[1428]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1429]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1430]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1431]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1432]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1433]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[238]; +acadoVariables.x[245] += + acadoWorkspace.evGx[1434]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1435]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1436]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1437]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1438]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1439]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[239]; +acadoVariables.x[246] += + acadoWorkspace.evGx[1440]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1441]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1442]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1443]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1444]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1445]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[240]; +acadoVariables.x[247] += + acadoWorkspace.evGx[1446]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1447]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1448]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1449]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1450]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1451]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[241]; +acadoVariables.x[248] += + acadoWorkspace.evGx[1452]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1453]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1454]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1455]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1456]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1457]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[242]; +acadoVariables.x[249] += + acadoWorkspace.evGx[1458]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1459]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1460]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1461]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1462]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1463]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[243]; +acadoVariables.x[250] += + acadoWorkspace.evGx[1464]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1465]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1466]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1467]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1468]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1469]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[244]; +acadoVariables.x[251] += + acadoWorkspace.evGx[1470]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1471]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1472]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1473]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1474]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1475]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[245]; +acadoVariables.x[252] += + acadoWorkspace.evGx[1476]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1477]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1478]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1479]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1480]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1481]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[246]; +acadoVariables.x[253] += + acadoWorkspace.evGx[1482]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1483]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1484]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1485]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1486]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1487]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[247]; +acadoVariables.x[254] += + acadoWorkspace.evGx[1488]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1489]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1490]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1491]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1492]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1493]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[248]; +acadoVariables.x[255] += + acadoWorkspace.evGx[1494]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1495]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1496]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1497]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1498]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1499]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[249]; +acadoVariables.x[256] += + acadoWorkspace.evGx[1500]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1501]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1502]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1503]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1504]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1505]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[250]; +acadoVariables.x[257] += + acadoWorkspace.evGx[1506]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1507]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1508]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1509]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1510]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1511]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[251]; +acadoVariables.x[258] += + acadoWorkspace.evGx[1512]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1513]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1514]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1515]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1516]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1517]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[252]; 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+acadoVariables.x[265] += + acadoWorkspace.evGx[1554]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1555]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1556]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1557]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1558]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1559]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[259]; +acadoVariables.x[266] += + acadoWorkspace.evGx[1560]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1561]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1562]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1563]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1564]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1565]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[260]; +acadoVariables.x[267] += + acadoWorkspace.evGx[1566]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1567]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1568]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1569]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1570]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1571]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[261]; +acadoVariables.x[268] += + acadoWorkspace.evGx[1572]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1573]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1574]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1575]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1576]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1577]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[262]; +acadoVariables.x[269] += + acadoWorkspace.evGx[1578]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1579]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1580]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1581]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1582]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1583]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[263]; +acadoVariables.x[270] += + acadoWorkspace.evGx[1584]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1585]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1586]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1587]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1588]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1589]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[264]; +acadoVariables.x[271] += + acadoWorkspace.evGx[1590]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1591]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1592]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1593]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1594]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1595]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[265]; +acadoVariables.x[272] += + acadoWorkspace.evGx[1596]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1597]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1598]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1599]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1600]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1601]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[266]; +acadoVariables.x[273] += + acadoWorkspace.evGx[1602]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1603]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1604]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1605]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1606]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1607]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[267]; +acadoVariables.x[274] += + acadoWorkspace.evGx[1608]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1609]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1610]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1611]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1612]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1613]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[268]; +acadoVariables.x[275] += + acadoWorkspace.evGx[1614]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1615]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1616]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1617]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1618]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1619]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[269]; +acadoVariables.x[276] += + acadoWorkspace.evGx[1620]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1621]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1622]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1623]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1624]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1625]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[270]; +acadoVariables.x[277] += + acadoWorkspace.evGx[1626]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1627]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1628]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1629]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1630]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1631]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[271]; +acadoVariables.x[278] += + acadoWorkspace.evGx[1632]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1633]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1634]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1635]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1636]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1637]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[272]; +acadoVariables.x[279] += + acadoWorkspace.evGx[1638]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1639]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1640]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1641]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1642]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1643]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[273]; +acadoVariables.x[280] += + acadoWorkspace.evGx[1644]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1645]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1646]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1647]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1648]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1649]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[274]; +acadoVariables.x[281] += + acadoWorkspace.evGx[1650]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1651]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1652]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1653]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1654]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1655]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[275]; +acadoVariables.x[282] += + acadoWorkspace.evGx[1656]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1657]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1658]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1659]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1660]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1661]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[276]; +acadoVariables.x[283] += + acadoWorkspace.evGx[1662]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1663]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1664]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1665]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1666]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1667]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[277]; +acadoVariables.x[284] += + acadoWorkspace.evGx[1668]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1669]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1670]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1671]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1672]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1673]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[278]; +acadoVariables.x[285] += + acadoWorkspace.evGx[1674]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1675]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1676]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1677]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1678]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1679]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[279]; +acadoVariables.x[286] += + acadoWorkspace.evGx[1680]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1681]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1682]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1683]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1684]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1685]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[280]; +acadoVariables.x[287] += + acadoWorkspace.evGx[1686]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1687]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1688]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1689]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1690]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1691]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[281]; +acadoVariables.x[288] += + acadoWorkspace.evGx[1692]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1693]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1694]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1695]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1696]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1697]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[282]; +acadoVariables.x[289] += + acadoWorkspace.evGx[1698]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1699]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1700]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1701]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1702]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1703]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[283]; +acadoVariables.x[290] += + acadoWorkspace.evGx[1704]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1705]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1706]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1707]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1708]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1709]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[284]; +acadoVariables.x[291] += + acadoWorkspace.evGx[1710]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1711]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1712]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1713]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1714]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1715]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[285]; +acadoVariables.x[292] += + acadoWorkspace.evGx[1716]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1717]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1718]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1719]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1720]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1721]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[286]; +acadoVariables.x[293] += + acadoWorkspace.evGx[1722]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1723]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1724]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1725]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1726]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1727]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[287]; +acadoVariables.x[294] += + acadoWorkspace.evGx[1728]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1729]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1730]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1731]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1732]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1733]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[288]; +acadoVariables.x[295] += + acadoWorkspace.evGx[1734]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1735]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1736]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1737]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1738]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1739]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[289]; +acadoVariables.x[296] += + acadoWorkspace.evGx[1740]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1741]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1742]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1743]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1744]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1745]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[290]; +acadoVariables.x[297] += + acadoWorkspace.evGx[1746]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1747]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1748]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1749]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1750]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1751]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[291]; +acadoVariables.x[298] += + acadoWorkspace.evGx[1752]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1753]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1754]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1755]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1756]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1757]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[292]; +acadoVariables.x[299] += + acadoWorkspace.evGx[1758]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1759]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1760]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1761]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1762]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1763]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[293]; +acadoVariables.x[300] += + acadoWorkspace.evGx[1764]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1765]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1766]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1767]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1768]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1769]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[294]; +acadoVariables.x[301] += + acadoWorkspace.evGx[1770]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1771]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1772]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1773]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1774]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1775]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[295]; +acadoVariables.x[302] += + acadoWorkspace.evGx[1776]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1777]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1778]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1779]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1780]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1781]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[296]; +acadoVariables.x[303] += + acadoWorkspace.evGx[1782]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1783]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1784]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1785]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1786]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1787]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[297]; +acadoVariables.x[304] += + acadoWorkspace.evGx[1788]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1789]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1790]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1791]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1792]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1793]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[298]; +acadoVariables.x[305] += + acadoWorkspace.evGx[1794]*acadoWorkspace.Dx0[0] + acadoWorkspace.evGx[1795]*acadoWorkspace.Dx0[1] + acadoWorkspace.evGx[1796]*acadoWorkspace.Dx0[2] + acadoWorkspace.evGx[1797]*acadoWorkspace.Dx0[3] + acadoWorkspace.evGx[1798]*acadoWorkspace.Dx0[4] + acadoWorkspace.evGx[1799]*acadoWorkspace.Dx0[5] + acadoWorkspace.d[299]; + +for (lRun1 = 0; lRun1 < 50; ++lRun1) +{ +for (lRun2 = 0; lRun2 < lRun1 + 1; ++lRun2) +{ +lRun3 = (((lRun1 + 1) * (lRun1)) / (2)) + (lRun2); +acado_multEDu( &(acadoWorkspace.E[ lRun3 * 12 ]), &(acadoWorkspace.x[ lRun2 * 2 ]), &(acadoVariables.x[ lRun1 * 6 + 6 ]) ); +} +} +} + +int acado_preparationStep( ) +{ +int ret; + +ret = acado_modelSimulation(); +acado_evaluateObjective( ); +acado_condensePrep( ); +return ret; +} + +int acado_feedbackStep( ) +{ +int tmp; + +acado_condenseFdb( ); + +tmp = acado_solve( ); + +acado_expand( ); +return tmp; +} + +int acado_initializeSolver( ) +{ +int ret; + +/* This is a function which must be called once before any other function call! */ + + +ret = 0; + +memset(&acadoWorkspace, 0, sizeof( acadoWorkspace )); +return ret; +} + +void acado_initializeNodesByForwardSimulation( ) +{ +int index; +for (index = 0; index < 50; ++index) +{ +acadoWorkspace.state[0] = acadoVariables.x[index * 6]; +acadoWorkspace.state[1] = acadoVariables.x[index * 6 + 1]; +acadoWorkspace.state[2] = acadoVariables.x[index * 6 + 2]; +acadoWorkspace.state[3] = acadoVariables.x[index * 6 + 3]; +acadoWorkspace.state[4] = acadoVariables.x[index * 6 + 4]; +acadoWorkspace.state[5] = acadoVariables.x[index * 6 + 5]; +acadoWorkspace.state[54] = acadoVariables.u[index * 2]; +acadoWorkspace.state[55] = acadoVariables.u[index * 2 + 1]; +acadoWorkspace.state[56] = acadoVariables.od[index]; + +acado_integrate(acadoWorkspace.state, index == 0); + +acadoVariables.x[index * 6 + 6] = acadoWorkspace.state[0]; +acadoVariables.x[index * 6 + 7] = acadoWorkspace.state[1]; +acadoVariables.x[index * 6 + 8] = acadoWorkspace.state[2]; +acadoVariables.x[index * 6 + 9] = acadoWorkspace.state[3]; +acadoVariables.x[index * 6 + 10] = acadoWorkspace.state[4]; +acadoVariables.x[index * 6 + 11] = acadoWorkspace.state[5]; +} +} + +void acado_shiftStates( int strategy, real_t* const xEnd, real_t* const uEnd ) +{ +int index; +for (index = 0; index < 50; ++index) +{ +acadoVariables.x[index * 6] = acadoVariables.x[index * 6 + 6]; +acadoVariables.x[index * 6 + 1] = acadoVariables.x[index * 6 + 7]; +acadoVariables.x[index * 6 + 2] = acadoVariables.x[index * 6 + 8]; +acadoVariables.x[index * 6 + 3] = acadoVariables.x[index * 6 + 9]; +acadoVariables.x[index * 6 + 4] = acadoVariables.x[index * 6 + 10]; +acadoVariables.x[index * 6 + 5] = acadoVariables.x[index * 6 + 11]; +} + +if (strategy == 1 && xEnd != 0) +{ +acadoVariables.x[300] = xEnd[0]; +acadoVariables.x[301] = xEnd[1]; +acadoVariables.x[302] = xEnd[2]; +acadoVariables.x[303] = xEnd[3]; +acadoVariables.x[304] = xEnd[4]; +acadoVariables.x[305] = xEnd[5]; +} +else if (strategy == 2) +{ +acadoWorkspace.state[0] = acadoVariables.x[300]; +acadoWorkspace.state[1] = acadoVariables.x[301]; +acadoWorkspace.state[2] = acadoVariables.x[302]; +acadoWorkspace.state[3] = acadoVariables.x[303]; +acadoWorkspace.state[4] = acadoVariables.x[304]; +acadoWorkspace.state[5] = acadoVariables.x[305]; +if (uEnd != 0) +{ +acadoWorkspace.state[54] = uEnd[0]; +acadoWorkspace.state[55] = uEnd[1]; +} +else +{ +acadoWorkspace.state[54] = acadoVariables.u[98]; +acadoWorkspace.state[55] = acadoVariables.u[99]; +} +acadoWorkspace.state[56] = acadoVariables.od[50]; + +acado_integrate(acadoWorkspace.state, 1); + +acadoVariables.x[300] = acadoWorkspace.state[0]; +acadoVariables.x[301] = acadoWorkspace.state[1]; +acadoVariables.x[302] = acadoWorkspace.state[2]; +acadoVariables.x[303] = acadoWorkspace.state[3]; +acadoVariables.x[304] = acadoWorkspace.state[4]; +acadoVariables.x[305] = acadoWorkspace.state[5]; +} +} + +void acado_shiftControls( real_t* const uEnd ) +{ +int index; +for (index = 0; index < 49; ++index) +{ +acadoVariables.u[index * 2] = acadoVariables.u[index * 2 + 2]; +acadoVariables.u[index * 2 + 1] = acadoVariables.u[index * 2 + 3]; +} + +if (uEnd != 0) +{ +acadoVariables.u[98] = uEnd[0]; +acadoVariables.u[99] = uEnd[1]; +} +} + +real_t acado_getKKT( ) +{ +real_t kkt; + +int index; +real_t prd; + +kkt = + acadoWorkspace.g[0]*acadoWorkspace.x[0] + acadoWorkspace.g[1]*acadoWorkspace.x[1] + acadoWorkspace.g[2]*acadoWorkspace.x[2] + acadoWorkspace.g[3]*acadoWorkspace.x[3] + acadoWorkspace.g[4]*acadoWorkspace.x[4] + acadoWorkspace.g[5]*acadoWorkspace.x[5] + acadoWorkspace.g[6]*acadoWorkspace.x[6] + acadoWorkspace.g[7]*acadoWorkspace.x[7] + acadoWorkspace.g[8]*acadoWorkspace.x[8] + acadoWorkspace.g[9]*acadoWorkspace.x[9] + acadoWorkspace.g[10]*acadoWorkspace.x[10] + acadoWorkspace.g[11]*acadoWorkspace.x[11] + acadoWorkspace.g[12]*acadoWorkspace.x[12] + acadoWorkspace.g[13]*acadoWorkspace.x[13] + acadoWorkspace.g[14]*acadoWorkspace.x[14] + acadoWorkspace.g[15]*acadoWorkspace.x[15] + acadoWorkspace.g[16]*acadoWorkspace.x[16] + acadoWorkspace.g[17]*acadoWorkspace.x[17] + acadoWorkspace.g[18]*acadoWorkspace.x[18] + acadoWorkspace.g[19]*acadoWorkspace.x[19] + acadoWorkspace.g[20]*acadoWorkspace.x[20] + acadoWorkspace.g[21]*acadoWorkspace.x[21] + acadoWorkspace.g[22]*acadoWorkspace.x[22] + acadoWorkspace.g[23]*acadoWorkspace.x[23] + acadoWorkspace.g[24]*acadoWorkspace.x[24] + acadoWorkspace.g[25]*acadoWorkspace.x[25] + acadoWorkspace.g[26]*acadoWorkspace.x[26] + acadoWorkspace.g[27]*acadoWorkspace.x[27] + acadoWorkspace.g[28]*acadoWorkspace.x[28] + acadoWorkspace.g[29]*acadoWorkspace.x[29] + acadoWorkspace.g[30]*acadoWorkspace.x[30] + acadoWorkspace.g[31]*acadoWorkspace.x[31] + acadoWorkspace.g[32]*acadoWorkspace.x[32] + acadoWorkspace.g[33]*acadoWorkspace.x[33] + acadoWorkspace.g[34]*acadoWorkspace.x[34] + acadoWorkspace.g[35]*acadoWorkspace.x[35] + acadoWorkspace.g[36]*acadoWorkspace.x[36] + acadoWorkspace.g[37]*acadoWorkspace.x[37] + acadoWorkspace.g[38]*acadoWorkspace.x[38] + acadoWorkspace.g[39]*acadoWorkspace.x[39] + acadoWorkspace.g[40]*acadoWorkspace.x[40] + acadoWorkspace.g[41]*acadoWorkspace.x[41] + acadoWorkspace.g[42]*acadoWorkspace.x[42] + acadoWorkspace.g[43]*acadoWorkspace.x[43] + acadoWorkspace.g[44]*acadoWorkspace.x[44] + acadoWorkspace.g[45]*acadoWorkspace.x[45] + acadoWorkspace.g[46]*acadoWorkspace.x[46] + acadoWorkspace.g[47]*acadoWorkspace.x[47] + acadoWorkspace.g[48]*acadoWorkspace.x[48] + acadoWorkspace.g[49]*acadoWorkspace.x[49] + acadoWorkspace.g[50]*acadoWorkspace.x[50] + acadoWorkspace.g[51]*acadoWorkspace.x[51] + acadoWorkspace.g[52]*acadoWorkspace.x[52] + acadoWorkspace.g[53]*acadoWorkspace.x[53] + acadoWorkspace.g[54]*acadoWorkspace.x[54] + acadoWorkspace.g[55]*acadoWorkspace.x[55] + acadoWorkspace.g[56]*acadoWorkspace.x[56] + acadoWorkspace.g[57]*acadoWorkspace.x[57] + acadoWorkspace.g[58]*acadoWorkspace.x[58] + acadoWorkspace.g[59]*acadoWorkspace.x[59] + acadoWorkspace.g[60]*acadoWorkspace.x[60] + acadoWorkspace.g[61]*acadoWorkspace.x[61] + acadoWorkspace.g[62]*acadoWorkspace.x[62] + acadoWorkspace.g[63]*acadoWorkspace.x[63] + acadoWorkspace.g[64]*acadoWorkspace.x[64] + acadoWorkspace.g[65]*acadoWorkspace.x[65] + acadoWorkspace.g[66]*acadoWorkspace.x[66] + acadoWorkspace.g[67]*acadoWorkspace.x[67] + acadoWorkspace.g[68]*acadoWorkspace.x[68] + acadoWorkspace.g[69]*acadoWorkspace.x[69] + acadoWorkspace.g[70]*acadoWorkspace.x[70] + acadoWorkspace.g[71]*acadoWorkspace.x[71] + acadoWorkspace.g[72]*acadoWorkspace.x[72] + acadoWorkspace.g[73]*acadoWorkspace.x[73] + acadoWorkspace.g[74]*acadoWorkspace.x[74] + acadoWorkspace.g[75]*acadoWorkspace.x[75] + acadoWorkspace.g[76]*acadoWorkspace.x[76] + acadoWorkspace.g[77]*acadoWorkspace.x[77] + acadoWorkspace.g[78]*acadoWorkspace.x[78] + acadoWorkspace.g[79]*acadoWorkspace.x[79] + acadoWorkspace.g[80]*acadoWorkspace.x[80] + acadoWorkspace.g[81]*acadoWorkspace.x[81] + acadoWorkspace.g[82]*acadoWorkspace.x[82] + acadoWorkspace.g[83]*acadoWorkspace.x[83] + acadoWorkspace.g[84]*acadoWorkspace.x[84] + acadoWorkspace.g[85]*acadoWorkspace.x[85] + acadoWorkspace.g[86]*acadoWorkspace.x[86] + acadoWorkspace.g[87]*acadoWorkspace.x[87] + acadoWorkspace.g[88]*acadoWorkspace.x[88] + acadoWorkspace.g[89]*acadoWorkspace.x[89] + acadoWorkspace.g[90]*acadoWorkspace.x[90] + acadoWorkspace.g[91]*acadoWorkspace.x[91] + acadoWorkspace.g[92]*acadoWorkspace.x[92] + acadoWorkspace.g[93]*acadoWorkspace.x[93] + acadoWorkspace.g[94]*acadoWorkspace.x[94] + acadoWorkspace.g[95]*acadoWorkspace.x[95] + acadoWorkspace.g[96]*acadoWorkspace.x[96] + acadoWorkspace.g[97]*acadoWorkspace.x[97] + acadoWorkspace.g[98]*acadoWorkspace.x[98] + acadoWorkspace.g[99]*acadoWorkspace.x[99]; +kkt = fabs( kkt ); +for (index = 0; index < 100; ++index) +{ +prd = acadoWorkspace.y[index]; +if (prd > 1e-12) +kkt += fabs(acadoWorkspace.lb[index] * prd); +else if (prd < -1e-12) +kkt += fabs(acadoWorkspace.ub[index] * prd); +} +for (index = 0; index < 300; ++index) +{ +prd = acadoWorkspace.y[index + 100]; +if (prd > 1e-12) +kkt += fabs(acadoWorkspace.lbA[index] * prd); +else if (prd < -1e-12) +kkt += fabs(acadoWorkspace.ubA[index] * prd); +} +return kkt; +} + +real_t acado_getObjective( ) +{ +real_t objVal; + +int lRun1; +/** Row vector of size: 5 */ +real_t tmpDy[ 5 ]; + +/** Row vector of size: 3 */ +real_t tmpDyN[ 3 ]; + +for (lRun1 = 0; lRun1 < 50; ++lRun1) +{ +acadoWorkspace.objValueIn[0] = acadoVariables.x[lRun1 * 6]; +acadoWorkspace.objValueIn[1] = acadoVariables.x[lRun1 * 6 + 1]; +acadoWorkspace.objValueIn[2] = acadoVariables.x[lRun1 * 6 + 2]; +acadoWorkspace.objValueIn[3] = acadoVariables.x[lRun1 * 6 + 3]; +acadoWorkspace.objValueIn[4] = acadoVariables.x[lRun1 * 6 + 4]; +acadoWorkspace.objValueIn[5] = acadoVariables.x[lRun1 * 6 + 5]; +acadoWorkspace.objValueIn[6] = acadoVariables.u[lRun1 * 2]; +acadoWorkspace.objValueIn[7] = acadoVariables.u[lRun1 * 2 + 1]; +acadoWorkspace.objValueIn[8] = acadoVariables.od[lRun1]; + +acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut ); +acadoWorkspace.Dy[lRun1 * 5] = acadoWorkspace.objValueOut[0] - acadoVariables.y[lRun1 * 5]; +acadoWorkspace.Dy[lRun1 * 5 + 1] = acadoWorkspace.objValueOut[1] - acadoVariables.y[lRun1 * 5 + 1]; +acadoWorkspace.Dy[lRun1 * 5 + 2] = acadoWorkspace.objValueOut[2] - acadoVariables.y[lRun1 * 5 + 2]; +acadoWorkspace.Dy[lRun1 * 5 + 3] = acadoWorkspace.objValueOut[3] - acadoVariables.y[lRun1 * 5 + 3]; +acadoWorkspace.Dy[lRun1 * 5 + 4] = acadoWorkspace.objValueOut[4] - acadoVariables.y[lRun1 * 5 + 4]; +} +acadoWorkspace.objValueIn[0] = acadoVariables.x[300]; +acadoWorkspace.objValueIn[1] = acadoVariables.x[301]; +acadoWorkspace.objValueIn[2] = acadoVariables.x[302]; +acadoWorkspace.objValueIn[3] = acadoVariables.x[303]; +acadoWorkspace.objValueIn[4] = acadoVariables.x[304]; +acadoWorkspace.objValueIn[5] = acadoVariables.x[305]; +acadoWorkspace.objValueIn[6] = acadoVariables.od[50]; +acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut ); +acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0] - acadoVariables.yN[0]; +acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1] - acadoVariables.yN[1]; +acadoWorkspace.DyN[2] = acadoWorkspace.objValueOut[2] - acadoVariables.yN[2]; +objVal = 0.0000000000000000e+00; +for (lRun1 = 0; lRun1 < 50; ++lRun1) +{ +tmpDy[0] = + acadoWorkspace.Dy[lRun1 * 5]*(real_t)5.0000000000000000e+01; +tmpDy[1] = + acadoWorkspace.Dy[lRun1 * 5 + 1]; +tmpDy[2] = + acadoWorkspace.Dy[lRun1 * 5 + 2]*(real_t)1.0000000000000000e+02; +tmpDy[3] = + acadoWorkspace.Dy[lRun1 * 5 + 3]; +tmpDy[4] = + acadoWorkspace.Dy[lRun1 * 5 + 4]*(real_t)1.0000000000000000e+02; +objVal += + acadoWorkspace.Dy[lRun1 * 5]*tmpDy[0] + acadoWorkspace.Dy[lRun1 * 5 + 1]*tmpDy[1] + acadoWorkspace.Dy[lRun1 * 5 + 2]*tmpDy[2] + acadoWorkspace.Dy[lRun1 * 5 + 3]*tmpDy[3] + acadoWorkspace.Dy[lRun1 * 5 + 4]*tmpDy[4]; +} + +tmpDyN[0] = + acadoWorkspace.DyN[0]*(real_t)1.0000000000000000e+02; +tmpDyN[1] = + acadoWorkspace.DyN[1]*(real_t)3.0000000000000000e+00; +tmpDyN[2] = + acadoWorkspace.DyN[2]; +objVal += + acadoWorkspace.DyN[0]*tmpDyN[0] + acadoWorkspace.DyN[1]*tmpDyN[1] + acadoWorkspace.DyN[2]*tmpDyN[2]; + +objVal *= 0.5; +return objVal; +} + diff --git a/src/control/mpc_control/model/prueba_kin_export/test.c b/src/control/mpc_control/model/prueba_kin_export/test.c new file mode 100644 index 00000000..39995318 --- /dev/null +++ b/src/control/mpc_control/model/prueba_kin_export/test.c @@ -0,0 +1,119 @@ +/* + * This file was auto-generated using the ACADO Toolkit. + * + * While ACADO Toolkit is free software released under the terms of + * the GNU Lesser General Public License (LGPL), the generated code + * as such remains the property of the user who used ACADO Toolkit + * to generate this code. In particular, user dependent data of the code + * do not inherit the GNU LGPL license. On the other hand, parts of the + * generated code that are a direct copy of source code from the + * ACADO Toolkit or the software tools it is based on, remain, as derived + * work, automatically covered by the LGPL license. + * + * ACADO Toolkit is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. + * + */ + + + +/* + +IMPORTANT: This file should serve as a starting point to develop the user +code for the OCP solver. The code below is for illustration purposes. Most +likely you will not get good results if you execute this code without any +modification(s). + +Please read the examples in order to understand how to write user code how +to run the OCP solver. You can find more info on the website: +www.acadotoolkit.org + +*/ + +#include "acado_common.h" +#include "acado_auxiliary_functions.h" + +#include + +/* Some convenient definitions. */ +#define NX ACADO_NX /* Number of differential state variables. */ +#define NXA ACADO_NXA /* Number of algebraic variables. */ +#define NU ACADO_NU /* Number of control inputs. */ +#define NOD ACADO_NOD /* Number of online data values. */ + +#define NY ACADO_NY /* Number of measurements/references on nodes 0..N - 1. */ +#define NYN ACADO_NYN /* Number of measurements/references on node N. */ + +#define N ACADO_N /* Number of intervals in the horizon. */ + +#define NUM_STEPS 10 /* Number of real-time iterations. */ +#define VERBOSE 1 /* Show iterations: 1, silent: 0. */ + +/* Global variables used by the solver. */ +ACADOvariables acadoVariables; +ACADOworkspace acadoWorkspace; + +/* A template for testing of the solver. */ +int main( ) +{ + /* Some temporary variables. */ + int i, iter; + acado_timer t; + + /* Initialize the solver. */ + acado_initializeSolver(); + + /* Initialize the states and controls. */ + for (i = 0; i < NX * (N + 1); ++i) acadoVariables.x[ i ] = 0.0; + for (i = 0; i < NU * N; ++i) acadoVariables.u[ i ] = 0.0; + + /* Initialize the measurements/reference. */ + for (i = 0; i < NY * N; ++i) acadoVariables.y[ i ] = 0.0; + for (i = 0; i < NYN; ++i) acadoVariables.yN[ i ] = 0.0; + + /* MPC: initialize the current state feedback. */ +#if ACADO_INITIAL_STATE_FIXED + for (i = 0; i < NX; ++i) acadoVariables.x0[ i ] = 0.1; +#endif + + if( VERBOSE ) acado_printHeader(); + + /* Prepare first step */ + acado_preparationStep(); + + /* Get the time before start of the loop. */ + acado_tic( &t ); + + /* The "real-time iterations" loop. */ + for(iter = 0; iter < NUM_STEPS; ++iter) + { + /* Perform the feedback step. */ + acado_feedbackStep( ); + + /* Apply the new control immediately to the process, first NU components. */ + + if( VERBOSE ) printf("\tReal-Time Iteration %d: KKT Tolerance = %.3e\n\n", iter, acado_getKKT() ); + + /* Optional: shift the initialization (look at acado_common.h). */ + /* acado_shiftStates(2, 0, 0); */ + /* acado_shiftControls( 0 ); */ + + /* Prepare for the next step. */ + acado_preparationStep(); + } + /* Read the elapsed time. */ + real_t te = acado_toc( &t ); + + if( VERBOSE ) printf("\n\nEnd of the RTI loop. \n\n\n"); + + /* Eye-candy. */ + + if( !VERBOSE ) + printf("\n\n Average time of one real-time iteration: %.3g microseconds\n\n", 1e6 * te / NUM_STEPS); + + acado_printDifferentialVariables(); + acado_printControlVariables(); + + return 0; +} diff --git a/src/control/mpc_control/model/prueba_kin_old.cpp b/src/control/mpc_control/model/prueba_kin_old.cpp new file mode 100644 index 00000000..b5eecb98 --- /dev/null +++ b/src/control/mpc_control/model/prueba_kin_old.cpp @@ -0,0 +1,154 @@ +/* + * This file is part of ACADO Toolkit. + * + * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. + * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau, + * Milan Vukov, Rien Quirynen, KU Leuven. + * Developed within the Optimization in Engineering Center (OPTEC) + * under supervision of Moritz Diehl. All rights reserved. + * + * ACADO Toolkit is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 3 of the License, or (at your option) any later version. + * + * ACADO Toolkit is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with ACADO Toolkit; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + */ + +#include + +USING_NAMESPACE_ACADO + +int main(int argc, char * const argv[ ]) +{ + // + // Variables + // + + DifferentialState s, mu, phi, vx, vy, r, D, delta; + Control Dp, deltap; + + IntermediateState sp, ax; + IntermediateState T; + + OnlineData k; + + const double m = 300.0; + const double Cm=230*45/11; + const double Cr=0; + const double Cd=0.5; + const double WB=1.535; + const double l_R=0.7; + const double pi=3.14; + + + sp = (vx*cos(phi) - vy*sin(phi))/(1 - mu*k); + ax= (Cm*D + Cr + Cd*vx*vx)/m; + T=1/sp; + + // + // Differential algebraic equation + // + + DifferentialEquation f; + + f << dot( s ) == sp; + f << dot( mu ) == vx*sin(phi) + vy*cos(phi); + f << dot( phi ) == r - sp*k; + f << dot( vx ) == ax; + f << dot( vy ) == (deltap*vx + delta*ax)*l_R/WB; + f << dot( r ) == (deltap*vx + delta*ax)*WB; + f << dot( D ) == Dp; + f << dot( delta ) == deltap; + + // + // Weighting matrices and reference functions + // + + Function rf; + Function rfN; + + rf << mu << phi << deltap << Dp; + rfN << T << mu << phi; + + DMatrix W = eye( rf.getDim() ); + W(0,0) = 5; + W(1,1) = 1; + W(2,2) = 100; + W(3,3) = 1; + + + DMatrix WN = eye( rfN.getDim() ); + WN(0, 0) = 100; + WN(1, 1) = 3; + WN(2, 2) = 1; + + // + // Optimal Control Problem + // + + const int N = 50; + const int Ni = 4; + const double Ts = 0.05; + + OCP ocp(0, N * Ts, N); + + ocp.subjectTo( f ); + + ocp.minimizeLSQ(W, rf); + ocp.minimizeLSQEndTerm(WN, rfN); + + // Box restrictions + ocp.subjectTo(0.0 <= vx <= 10.0); + ocp.subjectTo(-1.0 <= mu <= 1.0); + ocp.subjectTo(-pi/5 <= delta <= pi/5); + ocp.subjectTo(-1.0 <= D <= 1.0); + ocp.subjectTo(-30.0 <= deltap <= 30.0); + ocp.subjectTo(-300 <= Dp <= 300); + ocp.subjectTo(-6<= vx*vx*k <= 6); + + + // + // Export the code: + // + OCPexport mpc( ocp ); + + mpc.set(HESSIAN_APPROXIMATION, GAUSS_NEWTON); + mpc.set(DISCRETIZATION_TYPE, MULTIPLE_SHOOTING); + + mpc.set(INTEGRATOR_TYPE, INT_RK4); + mpc.set(NUM_INTEGRATOR_STEPS, N * Ni); + +// mpc.set(SPARSE_QP_SOLUTION, FULL_CONDENSING); +// mpc.set(SPARSE_QP_SOLUTION, CONDENSING); + mpc.set(QP_SOLVER, QP_QPOASES); +// mpc.set(MAX_NUM_QP_ITERATIONS, 20); + mpc.set(HOTSTART_QP, YES); + +// mpc.set(SPARSE_QP_SOLUTION, SPARSE_SOLVER); +// mpc.set(QP_SOLVER, QP_FORCES); + +// mpc.set(LEVENBERG_MARQUARDT, 1.0e-10); + + mpc.set(GENERATE_TEST_FILE, YES); + mpc.set(GENERATE_MAKE_FILE, YES); + mpc.set(GENERATE_MATLAB_INTERFACE, NO); + +// mpc.set(USE_SINGLE_PRECISION, YES); +// mpc.set(CG_USE_OPENMP, YES); + + if (mpc.exportCode( "prueba_kin_export" ) != SUCCESSFUL_RETURN) + exit( EXIT_FAILURE ); + + mpc.printDimensionsQP( ); + + return EXIT_SUCCESS; +} diff --git a/src/control/mpc_control/package.xml b/src/control/mpc_control/package.xml new file mode 100644 index 00000000..e8125167 --- /dev/null +++ b/src/control/mpc_control/package.xml @@ -0,0 +1,25 @@ + + + mpc_control + 0.0.0 + Model Predictive Control for Quadrotors + + foehnph + + GNU GPL + + catkin + catkin_simple + + + geometry_msgs + quadrotor_common + roscpp + rospy + std_msgs + common_msgs + trajectory_msgs + + + + \ No newline at end of file diff --git a/src/control/mpc_control/src/utrilla_node.cpp b/src/control/mpc_control/src/utrilla_node.cpp new file mode 100644 index 00000000..6afa531b --- /dev/null +++ b/src/control/mpc_control/src/utrilla_node.cpp @@ -0,0 +1,255 @@ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +// #include "acado_common.h" +// #include "acado_auxiliary_functions.h" + +#include + +#include "ros/ros.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include "ros/console.h" +#include "utrilla_mpc/utrilla_wrapper.h" + +using namespace utrilla_mpc; + +/* Some convenient definitions. */ +#define NX ACADO_NX /* Number of differential state variables. */ +#define NXA ACADO_NXA /* Number of algebraic variables. */ +#define NU ACADO_NU /* Number of control inputs. */ +#define NOD ACADO_NOD /* Number of online data values. */ + +#define NY ACADO_NY /* Number of measurements/references on nodes 0..N - 1. */ +#define NYN ACADO_NYN /* Number of measurements/references on node N. */ + +#define N ACADO_N /* Number of intervals in the horizon. */ + +#define NUM_STEPS 1 /* Number of real-time iterations. */ +#define VERBOSE 1 /* Show iterations: 1, silent: 0. */ + + +double prediccion[NX*(N+1)]; + +double u_prediccion[NU*N]; + +bool acado_inicializado = false; +bool acado_preparado = false; +bool primera_iter=true; + +bool track_received = false; + +double i_mu; + +vector< double > k; +vector< double > s; + + +double interpolate( vector &xData, vector &yData, double x, bool extrapolate ) +{ + int size = xData.size(); + + int i = 0; // find left end of interval for interpolation + if ( x >= xData[size - 2] ) // special case: beyond right end + { + i = size - 2; + } + else + { + while ( x > xData[i+1] ) i++; + } + double xL = xData[i], yL = yData[i], xR = xData[i+1], yR = yData[i+1]; // points on either side (unless beyond ends) + if ( !extrapolate ) // if beyond ends of array and not extrapolating + { + if ( x < xL ) yR = yL; + if ( x > xR ) yL = yR; + } + + double dydx = ( yR - yL ) / ( xR - xL ); // gradient + + return yL + dydx * ( x - xL ); // linear interpolation +} + + +/* A template for testing of the solver. */ +void timerCallback(const ros::TimerEvent& event, ros::Publisher& pub, ros::ServiceClient& client){ + + // cout << track_received << endl; + if(track_received){ + // Create a request message + common_msgs::MPCCurrentState srv; + //req.field_name = value; // Populate the request fields as needed + + // Call the service + if (client.call(srv)) { + // Handle the response + printf("Service call successful"); + cout << " " << srv.response.si << " " << srv.response.dist << " " << srv.response.phi << " " << srv.response.vx << " " << srv.response.delta << " " << srv.response.dc << endl; + } else { + printf("Failed to call service"); + } + + /* Some temporary variables. */ + int i; + + // Reset all solver memory + memset(&acadoWorkspace, 0, sizeof( acadoWorkspace )); + memset(&acadoVariables, 0, sizeof( acadoVariables )); + + //Initialize x0 + acadoVariables.x0[ 0 ] = srv.response.si; + acadoVariables.x0[ 1 ] = srv.response.dist; + acadoVariables.x0[ 2 ] = srv.response.phi; + acadoVariables.x0[ 3 ] = srv.response.vx; + acadoVariables.x0[ 4 ] = srv.response.delta; + acadoVariables.x0[ 5 ] = srv.response.dc; + + if (acadoVariables.x0[3]<2.0){ + common_msgs::Controls cmd; + cmd.accelerator = 0.2; + cmd.steering = 0.0;//-0.2*acadoVariables.x0[1]-0.2*i_mu; + printf("cmd: %f, delta: %f\n", cmd.accelerator, cmd.steering ); + cout << "v_real " << acadoVariables.x0[3] << "\n"; + cout << "i_mu " << i_mu << "\n"; + pub.publish(cmd); + primera_iter=true; + } + else{ + /* Initialize the solver. */ + if( !acado_inicializado ) { + acado_initializeSolver(); + acado_inicializado = true; + } + // acado_initializeSolver(); + if( primera_iter ) { + acadoVariables.x0[5] = 0.0; + for (i = 0; i < (N+1); ++i) { + for (int j=0; jtrajectory).size(); i++) { + geometry_msgs::Point p = (msg->trajectory)[i]; + s.push_back(p.x); + k.push_back(p.y); + cout << p.y << endl ; + } + track_received = true; +} + +int main(int argc, char **argv){ + + for (int i = 0; i < NX*(N+1); ++i) prediccion[i] = 0.0; + for (int i = 0; i < N+1; ++i) { + prediccion[i*NX+3] = 2; + prediccion[i*NX+4] = 0.2; + prediccion[i*NX]= 3; + } + for (int i = 0; i < NU*N; ++i) u_prediccion[i] = 0.0; + + i_mu=0; + + ros::init(argc,argv,"utrilla_mpc"); + ros::NodeHandle n; + + ros::Publisher pub = n.advertise("controls_mpc", 1); + // ros::Publisher pub_pred = n.advertise("pred_ruta",1); + // ros::Publisher pub_pred_v = n.advertise("pred_v",1); + + ros::Subscriber sub = n.subscribe("/controller/sk", 1, firstCallback); + + string service = "get_x_msg"; + ros::ServiceClient client = n.serviceClient(service); + + ros::Timer timer = n.createTimer(ros::Duration(0.1), boost::bind(timerCallback, _1, boost::ref(pub), boost::ref(client))); + + + ros::spin(); + + return 0; +} diff --git a/src/control/mpc_control/src/utrilla_wrapper.cpp b/src/control/mpc_control/src/utrilla_wrapper.cpp new file mode 100644 index 00000000..68cb295d --- /dev/null +++ b/src/control/mpc_control/src/utrilla_wrapper.cpp @@ -0,0 +1,20 @@ +#include "utrilla_mpc/utrilla_wrapper.h" + + + +namespace utrilla_mpc { + +// Default Constructor. +template +UtrillaWrapper::UtrillaWrapper() +{ +// // Clear solver memory. +// memset(&acadoWorkspace, 0, sizeof( acadoWorkspace )); +// memset(&acadoVariables, 0, sizeof( acadoVariables )); + + // Initialize the solver. +// acado_initializeSolver(); + std::cout << "acado inicializado" << std::endl; + +} +} diff --git a/src/control/pure_pursuit/CMakeLists.txt b/src/control/pure_pursuit/CMakeLists.txt new file mode 100644 index 00000000..61d9ccb0 --- /dev/null +++ b/src/control/pure_pursuit/CMakeLists.txt @@ -0,0 +1,41 @@ +cmake_minimum_required(VERSION 3.0.2) +project(pure_pursuit) + + +find_package(catkin REQUIRED COMPONENTS + common_msgs + std_msgs + tf2 + tf2_ros + tf2_geometry_msgs +) + +find_package(PCL REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) + +catkin_package( DEPENDS common_msgs + tf2 + tf2_ros + tf2_geometry_msgs + common_msgs + std_msgs +) + + +add_executable(main src/main.cpp src/PurePursuit.cpp src/ControlHandle.cpp) +target_link_libraries(main ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${tf2_ros_LIBRARIES}) + +########### +## Build ## +########### + +include_directories( + ${catkin_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${tf2_ros_INCLUDE_DIRS} + "./include" +) + +link_directories(${PCL_LIBRARY_DIRS}) +add_definitions(${PCL_DEFINITIONS}) diff --git a/src/control/pure_pursuit/config/pure_pursuit.yaml b/src/control/pure_pursuit/config/pure_pursuit.yaml new file mode 100644 index 00000000..a9e30a0f --- /dev/null +++ b/src/control/pure_pursuit/config/pure_pursuit.yaml @@ -0,0 +1,13 @@ +global_frame: "map" +car_frame: "body" +global_mode: false +LAD: 6 +TARGET_SPEED: 4 + +previous_error: 0 +integral: 0 + +KP: 43.87 +KI: 1.29 +KD: 0.0 + diff --git a/src/control/pure_pursuit/include/ControlHandle.hpp b/src/control/pure_pursuit/include/ControlHandle.hpp new file mode 100644 index 00000000..0bbc08cc --- /dev/null +++ b/src/control/pure_pursuit/include/ControlHandle.hpp @@ -0,0 +1,51 @@ +#include "ros/ros.h" +#include +#include +#include +#include "common_msgs/Trajectory.h" +#include "common_msgs/CarState.h" + +#include "PurePursuit.hpp" + +class ControlHandle { + private: + float velocity = 0; + float TARGET_SPEED; + float KP; + float KD; + float KI; + float previous_error; + float prev_target = 0; + float integral; + bool braking = false; + std::vector s; + std::vector k; + + std::chrono::time_point previous_time; + + ros::NodeHandle nh; + ros::Publisher control_publisher; + ros::Publisher pursuit_point_publisher; + ros::Publisher target_speed_pub; + ros::Subscriber velocity_sub; + ros::Subscriber braking_sub; + ros::Subscriber path_sub; + ros::Subscriber sk_sub; + ros::Subscriber speed_profile_sub; + ros::Timer publisher_timer; + + + PurePursuit pPursuit; + + void speed_callback(const common_msgs::CarState); + void path_callback(const common_msgs::Trajectory); + void control_timer_callback(const ros::TimerEvent&); + void braking_callback(const std_msgs::Bool); + void update_target(const std_msgs::Float32MultiArray); + void update_sk(const common_msgs::Trajectory); + + public: + ControlHandle(); + +}; + diff --git a/src/control/pure_pursuit/include/PurePursuit.hpp b/src/control/pure_pursuit/include/PurePursuit.hpp new file mode 100644 index 00000000..60bb00cc --- /dev/null +++ b/src/control/pure_pursuit/include/PurePursuit.hpp @@ -0,0 +1,35 @@ +#include + +#include + +#include + + +class PurePursuit { + private: + ros::NodeHandle nh; + + std::vector distance_along_curve; + bool path_updated = false; + + std::string global_frame; + std::string car_frame; + bool global_mode; // false for local pp + float prev_steer; + + tf2_ros::Buffer tfBuffer; + tf2_ros::TransformListener tfListener{tfBuffer}; + + pcl::PointXY search_pursuit_point(float look_ahead_distance, + const pcl::PointXY car_position); + + public: + std::vector path; + size_t pursuit_index; + float LAD; //Look ahead distance + PurePursuit(); + + void update_path(const std::vector &new_path); + float get_steering_angle(); + +}; diff --git a/src/control/pure_pursuit/launch/pure_pursuit.launch b/src/control/pure_pursuit/launch/pure_pursuit.launch new file mode 100644 index 00000000..44f4172a --- /dev/null +++ b/src/control/pure_pursuit/launch/pure_pursuit.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/control/pure_pursuit/package.xml b/src/control/pure_pursuit/package.xml new file mode 100644 index 00000000..68ce1a90 --- /dev/null +++ b/src/control/pure_pursuit/package.xml @@ -0,0 +1,27 @@ + + + pure_pursuit + 0.1.0 + Implementation of Pure Pursuit in CPP + + Jacobo Pindado Perea + + + TODO + + common_msgs + common_msgs + + std_msgs + std_msgs + + tf2 + tf2_ros + tf2_geometry_msgs + tf2 + tf2_ros + tf2_geometry_msgs + + catkin + + diff --git a/src/control/pure_pursuit/src/ControlHandle.cpp b/src/control/pure_pursuit/src/ControlHandle.cpp new file mode 100644 index 00000000..2f51bf55 --- /dev/null +++ b/src/control/pure_pursuit/src/ControlHandle.cpp @@ -0,0 +1,138 @@ +#include "ControlHandle.hpp" + +#include "ros/ros.h" +#include +#include +#include "common_msgs/Trajectory.h" +#include "common_msgs/Controls.h" +#include "common_msgs/CarState.h" +#include "geometry_msgs/Point.h" + +#include + +#include +#include +#include + +ControlHandle::ControlHandle(){ + + nh.getParam("/pure_pursuit/TARGET_SPEED", TARGET_SPEED); + nh.getParam("/pure_pursuit/KP", KP); + nh.getParam("/pure_pursuit/KD", KD); + nh.getParam("/pure_pursuit/KI", KI); + nh.getParam("/pure_pursuit/previous_error", previous_error); + nh.getParam("/pure_pursuit/integral", integral); + + + velocity_sub = nh.subscribe("/car_state/state", 10, &ControlHandle::speed_callback, this); + + path_sub = nh.subscribe("/route", 1, &ControlHandle::path_callback, this); + braking_sub = nh.subscribe("/braking", 1, &ControlHandle::braking_callback, this); + speed_profile_sub = nh.subscribe("/speed_profile",1, &ControlHandle::update_target, this); + sk_sub = nh.subscribe("controller/sk", 1, &ControlHandle::update_sk, this); + + + control_publisher = nh.advertise("/controls_pp", 1); + pursuit_point_publisher = nh.advertise("pursuit_point",1); + target_speed_pub = nh.advertise("/target_speed", 1); + + + previous_time = std::chrono::high_resolution_clock::now(); + + + publisher_timer = nh.createTimer(ros::Duration(0.01), + &ControlHandle::control_timer_callback, + this); + +} + +void ControlHandle::control_timer_callback(const ros::TimerEvent& event) { + + auto current_time = std::chrono::high_resolution_clock::now(); + std::chrono::duration delta_time = current_time - previous_time; + previous_time = current_time; + + const float v_error = TARGET_SPEED - velocity; + integral += v_error * delta_time.count(); + const float derivative = (v_error - previous_error)/delta_time.count(); + previous_error = v_error; + + const float feed_forward = (TARGET_SPEED-prev_target)/delta_time.count(); + prev_target = TARGET_SPEED; + + const float accelerator_control = (v_error*KP)+(KI*integral)+(KD*derivative) + feed_forward; + + const float angle = pPursuit.get_steering_angle(); + + + common_msgs::Controls msg; + msg.accelerator = accelerator_control/230; + msg.steering = angle; + control_publisher.publish(msg); + + if(!braking){ + std_msgs::Float32 target_speed_msg; + target_speed_msg.data = TARGET_SPEED; + target_speed_pub.publish(target_speed_msg); + } + + if(!pPursuit.path.empty()){ + geometry_msgs::Point p; + p.x = pPursuit.path[pPursuit.pursuit_index].x; + p.y = pPursuit.path[pPursuit.pursuit_index].y; + pursuit_point_publisher.publish(p); + } + +} + +void ControlHandle::speed_callback(const common_msgs::CarState new_state) { + velocity = sqrt(new_state.vx*new_state.vx + new_state.vy*new_state.vy); +} + +void ControlHandle::path_callback(const common_msgs::Trajectory path) { + + std::vector new_path; + + for(const geometry_msgs::Point &point : path.trajectory){ + const pcl::PointXY tmp_point = {point.x, point.y}; + new_path.push_back(tmp_point); + } + + + pPursuit.update_path(new_path); +} + +void ControlHandle::braking_callback(const std_msgs::Bool braking_msg) { + braking = braking_msg.data; +} + +void ControlHandle::update_target(const std_msgs::Float32MultiArray msg){ + float dx = 0.1*std::max(velocity,3.0f); + int index = 0; + std::cout << dx << std::endl; + std::cout << s.size() << std::endl; + while (s.size()>index && s[index]index){ + TARGET_SPEED = msg.data[index]; + } + std::cout << "target: " << TARGET_SPEED << std::endl; + + pPursuit.LAD = 0.1*TARGET_SPEED*TARGET_SPEED + 3; +} + + +void ControlHandle::update_sk(const common_msgs::Trajectory msg){ + if(msg.trajectory.size()>0){ + s.clear(); + k.clear(); + + for(const geometry_msgs::Point &point : msg.trajectory){ + s.push_back(point.x); + k.push_back(point.y); + } + } +} + + diff --git a/src/control/pure_pursuit/src/PurePursuit.cpp b/src/control/pure_pursuit/src/PurePursuit.cpp new file mode 100644 index 00000000..272c04e9 --- /dev/null +++ b/src/control/pure_pursuit/src/PurePursuit.cpp @@ -0,0 +1,137 @@ +#include "PurePursuit.hpp" + +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +using namespace std; +using namespace pcl; + +void PurePursuit::update_path(const vector &new_path) { + // Checking if path is empty since Delaunay sometimes returns empty paths + // In this case just ignore it, the last path should be enough. + + path = new_path; + path_updated = true; +} + + +PointXY PurePursuit::search_pursuit_point(const float look_ahead_distance, const pcl::PointXY car_position) { + // TODO: Should check for empty path in class + + size_t closest_point_index = 0; + float min_distance = numeric_limits::infinity(); + + if(path_updated) { + distance_along_curve.clear(); + } + + for(size_t point_index = 0; point_index < path.size(); point_index++){ + const pcl::PointXY current_point = path[point_index]; + + // Actually not the distance but L2 squared, since the actual distance + // doesn't matter. + const float dx = current_point.x - car_position.x; + const float dy = current_point.y - car_position.y; + const float current_distance = dx*dx + dy*dy; // Multiplying faster than pow + + if(current_distance < min_distance){ + min_distance = current_distance; + closest_point_index = point_index; + } + + // To avoid constantly calculating the length along the curve from + // the beginning of it, just do it when the path has changed. + // Doing it in this loop to avoid an extra loop. + if(path_updated) { + if(point_index == 0){ + distance_along_curve.push_back(0.0f); + } + else { + const pcl::PointXY previous_point = path[point_index-1]; + const float dist_dx = current_point.x - previous_point.x; + const float dist_dy = current_point.y - previous_point.y; + const float distance_from_previous = sqrt(dist_dx*dist_dx + dist_dy*dist_dy); + distance_along_curve.push_back(distance_from_previous + distance_along_curve[distance_along_curve.size() - 1]); + } + } + } + + const float closest_point_dist = distance_along_curve[closest_point_index]; + for(size_t point_index = closest_point_index; point_index < path.size(); point_index++) { + const float cur_dist = distance_along_curve[point_index] - closest_point_dist; + if(cur_dist > look_ahead_distance) { + pursuit_index = point_index; + return path[pursuit_index]; + } + } + + return path[path.size() - 1]; + +} + +float PurePursuit::get_steering_angle() { + if(path.size()<=1) { + return prev_steer; + } + pcl::PointXY car_position; + double roll, pitch, yaw; + + if(global_mode){ + geometry_msgs::TransformStamped transform; + try { + transform = tfBuffer.lookupTransform(global_frame, car_frame , ros::Time(0)); + car_position.x = transform.transform.translation.x; + car_position.y = transform.transform.translation.y; + } catch(tf2::TransformException &ex) { + ROS_ERROR("%s", ex.what()); + return 0.0f; + } + + tf2::Quaternion quaternion; + tf2::fromMsg(transform.transform.rotation, quaternion); + tf2::Matrix3x3 rotationMatrix(quaternion); + + rotationMatrix.getRPY(roll, pitch, yaw); + } else { + car_position.x = 0; + car_position.y = 0; + yaw = 0; + } + + pcl::PointXY pPoint = search_pursuit_point(LAD, car_position); + + + + + float alpha = atan2((pPoint.y - car_position.y),(pPoint.x - car_position.x))-yaw; + + float delta = atan2((2.0 * 1.535 * sin(alpha))/LAD,1.0); + + delta = max(-19.9,min(180*delta/M_PI,19.9)); + + prev_steer = delta; + + return delta; + +} + +PurePursuit::PurePursuit(){ + nh.getParam("/pure_pursuit/global_frame", global_frame); + nh.getParam("/pure_pursuit/car_frame", car_frame); + nh.getParam("/pure_pursuit/global_mode", global_mode); + nh.getParam("/pure_pursuit/LAD", LAD); +} diff --git a/src/control/pure_pursuit/src/main.cpp b/src/control/pure_pursuit/src/main.cpp new file mode 100644 index 00000000..ce78560f --- /dev/null +++ b/src/control/pure_pursuit/src/main.cpp @@ -0,0 +1,11 @@ +#include "ros/ros.h" +#include "ControlHandle.hpp" +#include + + +int main(int argc, char **argv) { + ros::init(argc, argv, "PP_cpp"); + ControlHandle h; + ros::spin(); + return 0; +} diff --git a/src/control/skidpad_control/CMakeLists.txt b/src/control/skidpad_control/CMakeLists.txt new file mode 100644 index 00000000..40fa796c --- /dev/null +++ b/src/control/skidpad_control/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(skidpad_control) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy +) +catkin_package( + DEPENDS common_msgs +) +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES planning +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/planning.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/planning_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_planning.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/control/skidpad_control/config/skidpad_antiguo.yaml b/src/control/skidpad_control/config/skidpad_antiguo.yaml new file mode 100644 index 00000000..c80a8599 --- /dev/null +++ b/src/control/skidpad_control/config/skidpad_antiguo.yaml @@ -0,0 +1,11 @@ +sim_mode: false +kp: 43.87 +ki: 1.29 +kd: 0.0 +target: 8 + +k_mu: 5.5 +k_phi: 10 +k_r: 0 +delta_correction: 1.07 + diff --git a/src/control/skidpad_control/config/skidpad_control.yaml b/src/control/skidpad_control/config/skidpad_control.yaml new file mode 100644 index 00000000..3d66f688 --- /dev/null +++ b/src/control/skidpad_control/config/skidpad_control.yaml @@ -0,0 +1,10 @@ +KP: 43.87 +KI: 1.29 +KD: 0.0 +targetillo: 8 +targetaso: 8 + +stanley_coef: 1 +k_delta: -0.02 +k_yaw_rate: 0.2 + diff --git a/src/control/skidpad_control/launch/skidpad_control.launch b/src/control/skidpad_control/launch/skidpad_control.launch new file mode 100644 index 00000000..343bfe16 --- /dev/null +++ b/src/control/skidpad_control/launch/skidpad_control.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/control/skidpad_control/package.xml b/src/control/skidpad_control/package.xml new file mode 100644 index 00000000..53a437b1 --- /dev/null +++ b/src/control/skidpad_control/package.xml @@ -0,0 +1,44 @@ + + + skidpad_control + 0.0.0 + Acceleration Localization package + + ignacio + + + TODO + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + rospy + rospy + + + + + + + + diff --git a/src/control/skidpad_control/src/main.py b/src/control/skidpad_control/src/main.py new file mode 100755 index 00000000..25a505ee --- /dev/null +++ b/src/control/skidpad_control/src/main.py @@ -0,0 +1,17 @@ +#!/usr/bin/env python3 +import rospy +from skidpad_control import SkidpadControl + + +def main(): + + rospy.init_node('skidpad_control', anonymous=True) + SkidpadControl() # Run node + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/control/skidpad_control/src/main_antiguo.py b/src/control/skidpad_control/src/main_antiguo.py new file mode 100755 index 00000000..15a60cb2 --- /dev/null +++ b/src/control/skidpad_control/src/main_antiguo.py @@ -0,0 +1,17 @@ +#!/usr/bin/env python3 +import rospy +from skidpad_antiguo import SkidpadControl + + +def main(): + + rospy.init_node('skidpad_control', anonymous=True) + SkidpadControl() # Run node + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/control/skidpad_control/src/skidpad_antiguo.py b/src/control/skidpad_control/src/skidpad_antiguo.py new file mode 100644 index 00000000..7e6e8382 --- /dev/null +++ b/src/control/skidpad_control/src/skidpad_antiguo.py @@ -0,0 +1,282 @@ +""" +Script to perform acceleration control based on Álvaro's localization + +@Author: Ignacio Sánchez Isidro +@Date: 20220524 +""" + +# Python libs +import numpy as np +import rospy +import math +import time +import tf2_ros + +# ROS msgs +from common_msgs.msg import Controls, CarState +from fssim_common.msg import State +from visualization_msgs.msg import Marker +from sensor_msgs.msg import PointCloud2 +from std_msgs.msg import Float32,Bool,Int16, Float32MultiArray +from geometry_msgs.msg import Point +from sklearn.cluster import KMeans, DBSCAN +from geometry_msgs.msg import PointStamped + +from skidpad_localization import SkidpadLocalization + +KP = rospy.get_param('/skidpad_control/kp') +KI = rospy.get_param('/skidpad_control/ki') +KD = rospy.get_param('/skidpad_control/kd') +TARGET = rospy.get_param('/skidpad_control/target') + +k_mu = rospy.get_param('/skidpad_control/k_mu') +k_phi = rospy.get_param('/skidpad_control/k_phi') +k_r = rospy.get_param('/skidpad_control/k_r') +delta_correction = rospy.get_param('/skidpad_control/delta_correction') + + +class SkidpadControl(): + + def __init__(self): + + self.skidpad_localizator = SkidpadLocalization() + + ### Inicializaciones ### + + self.steer = 0 + self.acc = 0 + self.speed = 0 + self.pos = np.array([0,0]) + self.yaw = 0 + self.r = 0 + + self.braking = False + self.integral = 0 + self.prev_err = 0 + self.prev_t = time.time() + + self.tfBuffer = tf2_ros.Buffer() + self.listener = tf2_ros.TransformListener(self.tfBuffer) + + self.centers = [] + self.start_time = None + self.calib_time = 5 + self.calibrated = False + + self.i = 0 + + + self.N = 100 + r=9.125 + d = 2*math.pi*r/self.N + + self.plantilla = np.array([[-20 + d*i,0] for i in range(int(20/d)+1)]+2*[[r * np.sin(2 * np.pi * i / self.N), -9.125+r * np.cos(2 * np.pi * i / self.N)] for i in range(self.N)]+2*[[r * np.sin(2 * np.pi * i / self.N), 9.125-r * np.cos(2 * np.pi * i / self.N)] for i in range(self.N)]+[[d*i,0] for i in range(int(20/d)+1)]) + self.route = None + self.delta_real=0 + + + + self.cmd_publisher = rospy.Publisher('/controls_pp', Controls, queue_size=1) + self.braking_publisher = rospy.Publisher('/braking', Bool, queue_size=10) + self.route_pub = rospy.Publisher('/skidpad_route',Marker,queue_size=1) + self.pubb = rospy.Publisher('/phi_dist', Float32MultiArray,queue_size=1) + self.target_speed_pub = rospy.Publisher('/target_speed', Float32, queue_size=10) + rospy.Subscriber('/perception_map', PointCloud2, self.update_route, queue_size=10) + rospy.Subscriber('/car_state/state', CarState, self.update_state, queue_size=1) + rospy.Subscriber('/steering/epos_info', Float32MultiArray, self.update_steer, queue_size=1) + + + + def update_state(self, msg: CarState): + self.speed = math.hypot(msg.vx,msg.vy) + self.pos = np.array([msg.x,msg.y]) + self.yaw = msg.yaw + self.r = msg.r + + if self.calibrated: + self.acc = self.get_acc() + self.steer = self.get_steer() + self.publish_cmd() + + def update_steer(self, msg: Float32MultiArray): + self.delta_real = msg.data[1] + + + def update_route(self, msg: PointCloud2): + t = time.time() + if self.start_time == None: + self.start_time = time.time() + + if time.time()-self.start_time < self.calib_time: + C1,C2 = self.skidpad_localizator.get_centers(msg) + rospy.logwarn([C1,C2]) + self.centers.append(C1) + self.centers.append(C2) + elif not self.calibrated: + + epsilon = 1 # Distancia máxima entre puntos para considerarlos vecinos + min_samples = int(3*self.calib_time) # Número mínimo de puntos para formar un clúster + + dbscan = DBSCAN(eps=epsilon, min_samples=min_samples) + dbscan.fit(np.array(self.centers)) + + centroid1_mask = dbscan.labels_ == 0 + centroid2_mask = dbscan.labels_ == 1 + + centroid1 = np.mean(np.array(self.centers)[centroid1_mask],axis=0) + centroid2 = np.mean(np.array(self.centers)[centroid2_mask],axis=0) + + if np.abs(18.25 - np.linalg.norm(centroid1-centroid2)) < 2: + self.calibrated = True + + center = [(centroid1[0]+centroid2[0])/2,(centroid1[1]+centroid2[1])/2] + yaw = np.pi/2-np.arctan2(centroid1[1]-centroid2[1],centroid1[0]-centroid2[0]) + + # con esto el giro está entre -90º y 90º + if yaw < -np.pi/2: + yaw = yaw+np.pi + elif yaw > np.pi/2: + yaw = yaw-np.pi + + rot = np.array([[math.cos(yaw),-math.sin(yaw)],[math.sin(yaw),math.cos(yaw)]]) + self.route = self.plantilla @ rot + np.array(center) + + marker = Marker() + marker.header.frame_id = "fssim/vehicle/cog" + marker.id = 102 + marker.type = Marker.LINE_STRIP + marker.action = Marker.ADD + marker.scale.x = 0.2 + marker.color.r = 1 + marker.color.a = 1.0 + marker.points = [Point(p[0], p[1], 0.0) for p in self.route] + self.route_pub.publish(marker) + else: + self.centers = [] + self.start_time = time.time() + + # rospy.loginfo(time.time()-t) + + + + def get_acc(self): + error = TARGET - self.speed + + dt=time.time()-self.prev_t + if self.speed > 0.1: + self.integral += error*dt + derivative = (error-self.prev_err)/dt + + self.prev_t = time.time() + self.prev_err = error + + cmd = KP*error + KI*self.integral + KD*derivative + + return max(min(cmd/230, 1),-1) + + + def publish_cmd(self): + controls = Controls() + controls.steering = self.steer + if self.braking: + controls.accelerator = 0 + controls.accelerator = self.acc + self.cmd_publisher.publish(controls) + + if(not self.braking): + target_msg = Float32() + target_msg.data = TARGET + self.target_speed_pub.publish(target_msg) + + + def get_steer(self): + # if self.i+self.N/2 < len(self.route): + # dist = np.linalg.norm(self.route[self.i:self.i+int(self.N/2),:]-self.pos,axis=1) + # self.i+=np.argmin(dist) + # elif self.i< len(self.route)-1: + # dist = np.linalg.norm(self.route[self.i:,:]-self.pos,axis=1) + # self.i+=np.argmin(dist) + + i = self.i + + x = self.route[:,0] + y = self.route[:,1] + + # if x[i]!=x[i+1]: + # recta=(y[self.i+1]-y[i])/(x[i+1]-x[i])*(self.pos[0]-x[i])+y[i]-self.pos[1] + # signo_d=np.sign(recta)*np.sign(x[i]-x[i+1]) + # else: + # signo_d=np.sign(y[i+1]-y[i])*np.sign(self.pos[0]-x[i]) + + rot = np.array([[math.cos(-self.yaw),-math.sin(-self.yaw)],[math.sin(-self.yaw),math.cos(-self.yaw)]]) + local_route = (self.route-self.pos) @ rot.T + + if self.i+self.N/2 < len(local_route): + dist = np.linalg.norm(local_route[self.i:self.i+int(self.N/2),:],axis=1) + self.i+=np.argmin(dist) + elif self.i< len(local_route)-1: + dist = np.linalg.norm(local_route[self.i:,:],axis=1) + self.i+=np.argmin(dist) + signo_d = -np.sign(local_route[self.i,1]) + + d_min=np.min(dist)*signo_d + # rospy.logwarn(d_min) + + theta = np.arctan2(y[(i+5)%len(x)]-y[i],x[(i+5)%len(x)]-x[i]) + phi_corrected = ((self.yaw-theta)+np.pi)%(2*np.pi) - np.pi + + dist = d_min+0.0001 + phi = phi_corrected + + d = 2*math.pi*9.125/self.N + + + if self.i > 4*self.N+int(27/d): + self.braking=True + braking_msg = Bool() + braking_msg.data = True + self.braking_publisher.publish(braking_msg) + return self.steer + + self.si = self.i*d + self.update_k() + + params = Float32MultiArray() + params.data.append(phi) + params.data.append(dist) + self.pubb.publish(params) + + r_target = self.speed*self.k + + ### BASE CONTROL + CORRECTION ### + # delta = delta_correction*math.degrees(np.arctan(self.k*1.535)) - k_mu*((dist**3+0.1*dist)) - k_phi*(phi+2*np.arctan(self.k*1.535/2)) + k_r*(r_target - self.r) + + ### STANLEY CONTROL ### + coef = 1 + delta = -phi - np.arctan(coef*dist/TARGET) + # delta += 0.003*self.r*self.speed + # OPTIONAL CORRECTION + delta += -0.02*(delta-math.radians(self.delta_real)) + 0.2*(r_target - self.r) + delta = math.degrees(delta) + + + return max(-20,min(20,delta)) + + def update_k(self): + s11=5 + s12=2 + s21=6 + s22=4 + f=2 + if self.si < 19-s11: + self.k=0 + elif self.si < 19+s12: + self.k = -(1/9.125)*((self.si-19+s11)/(s12+s11)) + elif self.si < 134.67-s21: + self.k = -(1/9.125) + elif self.si < 134.67+s22: + self.k = 2*(1/9.125)*(self.si-134.67-0.5*(s22-s21))/(s21+s22) + elif self.si < 249.34-f: + self.k = (1/9.125) + else: + self.k = 0 \ No newline at end of file diff --git a/src/control/skidpad_control/src/skidpad_control.py b/src/control/skidpad_control/src/skidpad_control.py new file mode 100644 index 00000000..0fb7ec1e --- /dev/null +++ b/src/control/skidpad_control/src/skidpad_control.py @@ -0,0 +1,276 @@ +""" +Script to perform acceleration control based on Álvaro's localization + +@Author: Ignacio Sánchez Isidro +@Date: 20220524 +""" + +# Python libs +import numpy as np +import rospy +import math +import time +import tf2_ros + +# ROS msgs +from common_msgs.msg import Controls, CarState +from fssim_common.msg import State +from visualization_msgs.msg import Marker +from sensor_msgs.msg import PointCloud2 +from std_msgs.msg import Float32,Bool,Int16, Float32MultiArray +from geometry_msgs.msg import Point +from sklearn.cluster import KMeans, DBSCAN +from geometry_msgs.msg import PointStamped + +from skidpad_localization import SkidpadLocalization + +STANLEY_COEF = rospy.get_param('/skidpad_control/stanley_coef') +K_DELTA = rospy.get_param('/skidpad_control/k_delta') +K_YAW_RATE = rospy.get_param('/skidpad_control/k_yaw_rate') + +TARGETILLO = rospy.get_param('/skidpad_control/targetillo') +TARGETASO = rospy.get_param('/skidpad_control/targetaso') +KP = rospy.get_param('/skidpad_control/KP') +KI = rospy.get_param('/skidpad_control/KI') +KD = rospy.get_param('/skidpad_control/KD') + + +class SkidpadControl(): + + def __init__(self): + + self.skidpad_localizator = SkidpadLocalization() + + ### Inicializaciones ### + + self.steer = 0 + self.acc = 0 + self.speed = 0 + self.pos = np.array([0,0]) + self.yaw = 0 + self.r = 0 + + self.braking = False + self.integral = 0 + self.prev_err = 0 + self.prev_t = time.time() + self.steer_diff = 0 + self.prev_steer = 0 + self.delta = 0 + + self.centers = [] + self.start_time = None + self.calib_time = 5 + self.calibrated = False + + self.i = 0 + self.si = 0 + + + self.N = 100 + r=9.125 + d = 2*math.pi*r/self.N + + self.plantilla = np.array([[-20 + d*i,0] for i in range(int(20/d)+1)]+2*[[r * np.sin(2 * np.pi * i / self.N), -9.125+r * np.cos(2 * np.pi * i / self.N)] for i in range(self.N)]+2*[[r * np.sin(2 * np.pi * i / self.N), 9.125-r * np.cos(2 * np.pi * i / self.N)] for i in range(self.N)]+[[d*i,0] for i in range(int(20/d)+1)]) + self.route = None + + + + self.cmd_publisher = rospy.Publisher('/controls_pp', Controls, queue_size=1) + self.braking_publisher = rospy.Publisher('/braking', Bool, queue_size=10) + self.route_pub = rospy.Publisher('/skidpad_route',Marker,queue_size=1) + self.phi_dist_pub = rospy.Publisher('/phi_dist', Float32MultiArray,queue_size=1) + self.target_speed_pub = rospy.Publisher('/target_speed', Float32, queue_size=10) + rospy.Subscriber('/perception_map', PointCloud2, self.update_route, queue_size=10) + rospy.Subscriber('/car_state/state', CarState, self.update_state, queue_size=1) + rospy.Subscriber('/steering/epos_info', Float32MultiArray, self.update_steer, queue_size=1) + + + + def update_state(self, msg: CarState): + self.speed = math.hypot(msg.vx,msg.vy) + self.pos = np.array([msg.x,msg.y]) + self.yaw = msg.yaw + self.r = msg.r + + if self.calibrated: + self.acc = self.get_acc() + self.steer = self.get_steer() + self.publish_cmd() + + def update_steer(self, msg: Float32MultiArray): + self.steer_diff = self.prev_steer - msg.data[1] + self.prev_steer = msg.data[1] + + + def update_route(self, msg: PointCloud2): + t = time.time() + if self.start_time == None: + self.start_time = time.time() + + if time.time()-self.start_time < self.calib_time: + C1,C2 = self.skidpad_localizator.get_centers(msg) + rospy.logwarn([C1,C2]) + self.centers.append(C1) + self.centers.append(C2) + elif not self.calibrated: + + epsilon = 1 # Distancia máxima entre puntos para considerarlos vecinos + min_samples = int(3*self.calib_time) # Número mínimo de puntos para formar un clúster + + dbscan = DBSCAN(eps=epsilon, min_samples=min_samples) + dbscan.fit(np.array(self.centers)) + + centroid1_mask = dbscan.labels_ == 0 + centroid2_mask = dbscan.labels_ == 1 + + centroid1 = np.mean(np.array(self.centers)[centroid1_mask],axis=0) + centroid2 = np.mean(np.array(self.centers)[centroid2_mask],axis=0) + + if np.abs(18.25 - np.linalg.norm(centroid1-centroid2)) < 2: + self.calibrated = True + + center = [(centroid1[0]+centroid2[0])/2,(centroid1[1]+centroid2[1])/2] + yaw = np.pi/2-np.arctan2(centroid1[1]-centroid2[1],centroid1[0]-centroid2[0]) + + # con esto el giro está entre -90º y 90º + if yaw < -np.pi/2: + yaw = yaw+np.pi + elif yaw > np.pi/2: + yaw = yaw-np.pi + + rot = np.array([[math.cos(yaw),-math.sin(yaw)],[math.sin(yaw),math.cos(yaw)]]) + self.route = self.plantilla @ rot + np.array(center) + + marker = Marker() + marker.header.frame_id = "fssim/vehicle/cog" + marker.id = 102 + marker.type = Marker.LINE_STRIP + marker.action = Marker.ADD + marker.scale.x = 0.2 + marker.color.r = 1 + marker.color.a = 1.0 + marker.points = [Point(p[0], p[1], 0.0) for p in self.route] + self.route_pub.publish(marker) + else: + self.centers = [] + self.start_time = time.time() + + + + + def get_acc(self): + error = self.get_target() - self.speed + + dt=time.time()-self.prev_t + if self.speed > 0.1: + self.integral += error*dt + derivative = (error-self.prev_err)/dt + + self.prev_t = time.time() + self.prev_err = error + + cmd = KP*error + KI*self.integral + KD*derivative + + return max(min(cmd/230, 1),-1) + + + def publish_cmd(self): + controls = Controls() + controls.steering = self.steer + if self.braking: + controls.accelerator = 0 + controls.accelerator = self.acc + self.cmd_publisher.publish(controls) + + + def get_steer(self): + + rot = np.array([[math.cos(-self.yaw),-math.sin(-self.yaw)],[math.sin(-self.yaw),math.cos(-self.yaw)]]) + local_route = (self.route-self.pos) @ rot.T + + if self.i+self.N/2 < len(local_route): + # se halla el punto más cercano al eje delantero + dist = np.linalg.norm(local_route[self.i:self.i+int(self.N/2),:]-np.array([0.94,0]),axis=1) + self.i+=np.argmin(dist) + elif self.i< len(local_route)-1: + dist = np.linalg.norm(local_route[self.i:,:]-np.array([0.94,0]),axis=1) + self.i+=np.argmin(dist) + signo_d = -np.sign(local_route[self.i,1]) + + d_min=np.min(dist)*signo_d + dist = d_min+0.0001 + + phi = -np.arctan2(local_route[self.i+1,1]-local_route[self.i,1],local_route[self.i+1,0]-local_route[self.i,0]) + + d = 2*math.pi*9.125/self.N + + + # brake 7m after last lap + if self.i > 4*self.N+int(27/d): + self.braking=True + braking_msg = Bool() + braking_msg.data = True + self.braking_publisher.publish(braking_msg) + return self.steer + + self.si = self.i*d + self.update_k() + + params = Float32MultiArray() + params.data.append(phi) + params.data.append(dist) + self.phi_dist_pub.publish(params) + + r_target = self.speed*self.k + + phi_ss = 250*self.speed*r_target/(-20000*(1+0.55/0.45)) + + ### STANLEY CONTROL ### + delta = -phi -phi_ss - np.arctan(STANLEY_COEF*dist/self.get_target()) + delta += K_DELTA*self.steer_diff + K_YAW_RATE*(r_target - self.r) + + + delta = math.degrees(delta) + self.delta = 0.8*self.delta + 0.2*delta + + return max(-20,min(20,self.delta)) + + def update_k(self): + s11=5 + s12=2 + s21=6 + s22=4 + f=2 + if self.si < 19-s11: + self.k=0 + elif self.si < 19+s12: + self.k = -(1/9.125)*((self.si-19+s11)/(s12+s11)) + elif self.si < 134.67-s21: + self.k = -(1/9.125) + elif self.si < 134.67+s22: + self.k = 2*(1/9.125)*(self.si-134.67-0.5*(s22-s21))/(s21+s22) + elif self.si < 249.34-f: + self.k = (1/9.125) + else: + self.k = 0 + + def get_target(self): + target_speed = 0 + if self.si < 50: + target_speed = TARGETILLO + elif self.si < 130: + target_speed = TARGETASO + elif self.si < 170: + target_speed = TARGETILLO + elif self.si < 245: + target_speed = TARGETASO + else: + target_speed = TARGETILLO + + if(not self.braking): + target_msg = Float32() + target_msg.data = target_speed + self.target_speed_pub.publish(target_msg) + + return target_speed \ No newline at end of file diff --git a/src/control/skidpad_control/src/skidpad_localization.py b/src/control/skidpad_control/src/skidpad_localization.py new file mode 100644 index 00000000..09d6cd14 --- /dev/null +++ b/src/control/skidpad_control/src/skidpad_localization.py @@ -0,0 +1,108 @@ +#!/usr/bin/env python3 + +import random +import rospy +import numpy as np +import math +from visualization_msgs.msg import Marker, MarkerArray +from geometry_msgs.msg import Point +from sensor_msgs.msg import PointCloud2 +from sensor_msgs import point_cloud2 + + +class SkidpadLocalization(): + + def __init__(self): + self.N_iterations = 500 + self.threshold = 0.3 + + def find_circle_center(self, point1, point2, point3): + # Paso 1: Calcular los puntos medios + mid_point1 = ((point1[0] + point2[0]) / 2, (point1[1] + point2[1]) / 2) + mid_point2 = ((point2[0] + point3[0]) / 2, (point2[1] + point3[1]) / 2) + + # Paso 2: Calcular las pendientes de las mediatrices + slope1 = -(point2[0] - point1[0]) / (point2[1] - point1[1]) if point2[1] != point1[1] else float('inf') + slope2 = -(point3[0] - point2[0]) / (point3[1] - point2[1]) if point3[1] != point2[1] else float('inf') + + # Paso 3: Calcular las ecuaciones de las mediatrices + if slope1 != float('inf'): + intercept1 = mid_point1[1] - slope1 * mid_point1[0] + else: + intercept1 = mid_point1[0] + + if slope2 != float('inf'): + intercept2 = mid_point2[1] - slope2 * mid_point2[0] + else: + intercept2 = mid_point2[0] + + # Paso 4: Resolver el sistema de ecuaciones para encontrar el centro + if slope1 != slope2: + center_x = (intercept2 - intercept1) / (slope1 - slope2) + center_y = slope1 * center_x + intercept1 + else: + # Si las mediatrices son paralelas, el centro es el punto medio entre los puntos medios + center_x = (mid_point1[0] + mid_point2[0]) / 2 + center_y = (mid_point1[1] + mid_point2[1]) / 2 + + # Paso 5: Verificar que el tercer punto esté en la circunferencia + radius = ((point1[0] - center_x)**2 + (point1[1] - center_y)**2)**0.5 + + # Devolver el centro y el radio + return center_x, center_y, radius + + + def get_centers(self, msg: PointCloud2): + + cones_all = point_cloud2.read_points(msg, field_names=("x", "y", "z","color", "score"), skip_nans=True) + cones = np.array([[c[0],c[1]] for c in cones_all]) + + + + max_inliers1=0 + best_center = [0,0] + final_non_used_cones = None + for _ in range(self.N_iterations): + i,j,k = random.choices(range(len(cones)),k=3) + x_center,y_center,r = self.find_circle_center(cones[i], cones[j], cones[k]) + + if ((np.abs(r-7.625)<2) or (np.abs(r-10.625)<2)) and x_center>10: + non_used_cones = np.full(cones.shape[0], True, dtype=np.bool_) + inliers=0 + for i in range(cones.shape[0]): + d = np.linalg.norm(cones[i]-np.array([x_center,y_center])) + if np.abs(d-7.625)max_inliers1: + best_center=[x_center,y_center] + max_inliers1=inliers + final_non_used_cones = non_used_cones + + max_inliers2=0 + best_second_center = best_center + cones = cones[final_non_used_cones] + if len(cones)>=3: + for _ in range(self.N_iterations): + i,j,k = random.choices(range(len(cones)),k=3) + x_center,y_center,r = self.find_circle_center(cones[i],cones[j],cones[k]) + + if ((np.abs(r-7.625)<2) or (np.abs(r-10.625)<2)) and x_center>10 and (np.abs(18.25 - np.linalg.norm([best_center[0]-x_center,best_center[1]-y_center])) < 2): + inliers=0 + for i in range(cones.shape[0]): + d = np.linalg.norm(cones[i]-np.array([x_center,y_center])) + if (np.abs(d-7.625)max_inliers2: + best_second_center=[x_center,y_center] + max_inliers2=inliers + + rospy.loginfo([max_inliers1,max_inliers2]) + + return best_center, best_second_center + + + + diff --git a/src/control/stanley_control/CMakeLists.txt b/src/control/stanley_control/CMakeLists.txt new file mode 100644 index 00000000..d44d7de4 --- /dev/null +++ b/src/control/stanley_control/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(stanley_control) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy +) +catkin_package( + DEPENDS common_msgs +) +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES planning +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/planning.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/planning_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_planning.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/control/stanley_control/config/stanley_control.yaml b/src/control/stanley_control/config/stanley_control.yaml new file mode 100644 index 00000000..527e866b --- /dev/null +++ b/src/control/stanley_control/config/stanley_control.yaml @@ -0,0 +1,10 @@ +KP: 43.87 +KI: 0.0 +KD: 0.0 + +stanley_coef: 1 +k_delta: -0.02 +k_yaw_rate: 0.2 + + + diff --git a/src/control/stanley_control/launch/stanley_control.launch b/src/control/stanley_control/launch/stanley_control.launch new file mode 100644 index 00000000..a97788d0 --- /dev/null +++ b/src/control/stanley_control/launch/stanley_control.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/control/stanley_control/package.xml b/src/control/stanley_control/package.xml new file mode 100644 index 00000000..f909ccf4 --- /dev/null +++ b/src/control/stanley_control/package.xml @@ -0,0 +1,44 @@ + + + stanley_control + 0.0.0 + Stanley Control package + + alvaro + + + TODO + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + rospy + rospy + + + + + + + + diff --git a/src/control/stanley_control/src/main.py b/src/control/stanley_control/src/main.py new file mode 100755 index 00000000..f444da23 --- /dev/null +++ b/src/control/stanley_control/src/main.py @@ -0,0 +1,17 @@ +#!/usr/bin/env python3 +import rospy +from stanley_control import StanleyControl + + +def main(): + + rospy.init_node('stanley_control', anonymous=True) + StanleyControl() # Run node + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/control/stanley_control/src/stanley_control.py b/src/control/stanley_control/src/stanley_control.py new file mode 100644 index 00000000..9da867b1 --- /dev/null +++ b/src/control/stanley_control/src/stanley_control.py @@ -0,0 +1,163 @@ +""" +Script to perform acceleration control based on Álvaro's localization + +@Author: Ignacio Sánchez Isidro +@Date: 20220524 +""" + +# Python libs +import numpy as np +import rospy +import math +import time +import tf2_ros +import tf.transformations as tf + +# ROS msgs +from common_msgs.msg import Controls, CarState, Trajectory +from visualization_msgs.msg import Marker +from sensor_msgs.msg import PointCloud2 +from std_msgs.msg import Float32,Bool,Int16, Float32MultiArray +from geometry_msgs.msg import Point + +STANLEY_COEF = rospy.get_param('/stanley_control/stanley_coef') +K_DELTA = rospy.get_param('/stanley_control/k_delta') +K_YAW_RATE = rospy.get_param('/stanley_control/k_yaw_rate') + +KP = rospy.get_param('/stanley_control/KP') +KI = rospy.get_param('/stanley_control/KI') +KD = rospy.get_param('/stanley_control/KD') + + + +class StanleyControl(): + + def __init__(self): + + self.steer = 0 + self.acc = 0 + self.speed = 0 + self.yaw = 0 + self.r = 0 + + self.i = 0 + self.integral = 0 + self.prev_err = 0 + self.steer_diff = 0 + self.prev_steer = 0 + self.prev_t = time.time() + self.braking = False + + self.s = None + self.k = None + self.speed_profile = None + self.has_route = False + + self.cmd_publisher = rospy.Publisher('/controls_stanley', Controls, queue_size=1) + self.target_speed_pub = rospy.Publisher('/target_speed', Float32, queue_size=1) + rospy.Subscriber('/car_state/state', CarState, self.update_state, queue_size=10) + rospy.Subscriber('/i_phi_dist', Float32MultiArray, self.callback, queue_size=1) + rospy.Subscriber('/controller/sk', Trajectory, self.update_route, queue_size=10) + rospy.Subscriber('/steering/epos_info', Float32MultiArray, self.update_steer, queue_size=1) + rospy.Subscriber('/braking',Bool, self.braking_callback, queue_size=10) + + + def update_state(self, msg: CarState): + self.speed = math.hypot(msg.vx,msg.vy) + self.yaw = msg.yaw + self.r = msg.r + + def braking_callback(self, msg: Bool): + self.braking = msg.data + + def update_route(self, msg: Trajectory): + if not self.has_route: + self.s = np.array([p.x for p in msg.trajectory]) + self.k = np.array([p.y for p in msg.trajectory]) + + speed_profile = [0 for _ in range(len(self.s))] + ax_max = 3 + ay_max = 4 + v_max = 8 + v_grip = [min(np.sqrt(ay_max/np.abs(k+0.0001)),v_max) for k in self.k] + speed_profile[0] = v_max + for j in range(1,len(speed_profile)): + ds = self.s[j]-self.s[j-1] + speed_profile[j] = np.sqrt(speed_profile[j-1]**2 + 2*ax_max*ds) + if speed_profile[j] > v_grip[j]: + speed_profile[j] = v_grip[j] + for j in range(len(speed_profile)-2,-1,-1): + v_max_braking = np.sqrt(speed_profile[j+1]**2 + 2*ax_max*ds) + if speed_profile[j] > v_max_braking: + speed_profile[j] = v_max_braking + + rospy.loginfo(speed_profile) + self.speed_profile = speed_profile + + self.has_route = True + + def callback(self, msg: Float32MultiArray): + if self.has_route: + self.i = int(msg.data[0]) + self.phi = msg.data[1] + self.dist = msg.data[2] + + self.acc = self.get_acc() + self.steer = self.get_steer() + self.publish_cmd() + + + def publish_cmd(self): + controls = Controls() + controls.steering = self.steer + controls.accelerator = self.acc + self.cmd_publisher.publish(controls) + + if(not self.braking): + target_speed = Float32() + target_speed.data = self.speed_profile[self.i] + self.target_speed_pub.publish(target_speed) + + + def get_acc(self): + + error = self.speed_profile[self.i] - self.speed + + dt=time.time()-self.prev_t + if self.speed > 0.1: + self.integral += error*dt + derivative = (error-self.prev_err)/dt + + self.prev_t = time.time() + self.prev_err = error + + cmd = KP*error + KI*self.integral + KD*derivative + + rospy.loginfo(self.speed) + rospy.loginfo([error,self.integral,derivative]) + + return max(min(cmd/230, 1),-1) + + def update_steer(self, msg: Float32MultiArray): + self.steer_diff = self.prev_steer - msg.data[1] + self.prev_steer = msg.data[1] + + + def get_steer(self): + + r_target = self.speed*self.k[self.i] + + phi_ss = 250*self.speed*r_target/(-20000*(1+0.55/0.45)) + + ### STANLEY CONTROL ### + delta = -self.phi -phi_ss - np.arctan(STANLEY_COEF*self.dist/self.speed_profile[self.i]) + delta += K_DELTA*self.steer_diff + K_YAW_RATE*(r_target - self.r) + delta = math.degrees(delta) + + + return max(-20,min(20,delta)) + + + + + diff --git a/src/fssim_interface/CMakeLists.txt b/src/fssim_interface/CMakeLists.txt new file mode 100644 index 00000000..be6216ab --- /dev/null +++ b/src/fssim_interface/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 3.0.2) +project(fssim_interface) + +find_package(catkin REQUIRED COMPONENTS + rospy +) + +catkin_package( + DEPENDS common_msgs, fssim_common + +) + + +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES fssim_interface +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + + diff --git a/src/fssim_interface/config/fssim_interface.yaml b/src/fssim_interface/config/fssim_interface.yaml new file mode 100644 index 00000000..e69de29b diff --git a/src/fssim_interface/launch/simulation.launch b/src/fssim_interface/launch/simulation.launch new file mode 100644 index 00000000..0e16f6b3 --- /dev/null +++ b/src/fssim_interface/launch/simulation.launch @@ -0,0 +1,4 @@ + + + + diff --git a/src/fssim_interface/package.xml b/src/fssim_interface/package.xml new file mode 100644 index 00000000..20b6222b --- /dev/null +++ b/src/fssim_interface/package.xml @@ -0,0 +1,19 @@ + + + fssim_interface + 0.0.0 + Package to connect pipeline to FSSIM + + mariano + + + TODO + + + catkin + rospy + rospy + rospy + + + diff --git a/src/fssim_interface/src/main.py b/src/fssim_interface/src/main.py new file mode 100755 index 00000000..4abc2daf --- /dev/null +++ b/src/fssim_interface/src/main.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python3 + +''' +Script to initialize fssim interface node + +@author: Mariano del Río +@date: 20220524 +''' +import rospy +from transformer import transformerFssim + + +def main(): + + rospy.init_node('fssim_interface', anonymous=True) + transformerFssim() # Run node + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/fssim_interface/src/transformer.py b/src/fssim_interface/src/transformer.py new file mode 100644 index 00000000..7e059db1 --- /dev/null +++ b/src/fssim_interface/src/transformer.py @@ -0,0 +1,101 @@ +""" +Script to execute fssim interface node + +@author: Mariano del Río +@date: 20220524 +""" + +from common_msgs.msg import CarState, Controls, Trajectory +from geometry_msgs.msg import Point, Polygon, PolygonStamped +from sensor_msgs.msg import PointCloud2, PointField +from sensor_msgs import point_cloud2 +from fssim_common.msg import State, Cmd +from visualization_msgs.msg import Marker +from std_msgs.msg import Int16 + +import rospy +import numpy as np +import math + + + +class transformerFssim(): + """ + Listen topics from Fssim and transform them to + our topics and vice versa. + """ + + def __init__(self): + + self.pub_map = None + self.pub_state = None + self.pub_cmd = None + self.pub_as_status = None + self.publish_topics() + self.subscribe_topics() + + + def publish_topics(self): + + self.pub_map = rospy.Publisher('/perception_map', PointCloud2, queue_size=10) + self.pub_state = rospy.Publisher('/car_state/state', CarState, queue_size=10) + self.pub_cmd = rospy.Publisher('/fssim/cmd', Cmd, queue_size=10) + self.pub_as_status = rospy.Publisher('/can/AS_status', Int16, queue_size=10) + + def subscribe_topics(self): + + rospy.Subscriber('/lidar/cones', PointCloud2, self.send_cones) + rospy.Subscriber('/controls', Controls, self.send_controllers) + rospy.Timer(rospy.Duration(1), self.GOsignal_callback) + + def send_cones(self, msg): + + cones = point_cloud2.read_points(msg, + field_names=("x", "y", "z", + "probability_blue", + "probability_yellow", + "probability_orange"), + skip_nans=True) + + points = [] + for c in cones: + prob = np.array(c[3:]) + + # Index of color with highest probability + maxp = np.where(prob == np.amax(prob))[0][0] + + if maxp == 0: # blue + points.append([c[0],c[1],c[2],0,prob[0]]) + elif maxp == 1: # yellow + points.append([c[0],c[1],c[2],1,prob[1]]) + if maxp == 2: # orange + points.append([c[0],c[1],c[2],2,prob[2]]) + + fields = [ + PointField(name="x", offset=0, datatype=PointField.FLOAT32, count=1), + PointField(name="y", offset=4, datatype=PointField.FLOAT32, count=1), + PointField(name="z", offset=8, datatype=PointField.FLOAT32, count=1), + PointField(name="color", offset=12, datatype=PointField.UINT32, count=1), + PointField(name="score", offset=16, datatype=PointField.FLOAT32, count=1) + ] + new_cloud = point_cloud2.create_cloud(header=msg.header, fields=fields,points=points) + new_cloud.is_dense = True + + self.pub_map.publish(new_cloud) + + + def send_controllers(self, msg): + + cmd = Cmd() + cmd.dc = msg.accelerator + cmd.delta = math.radians(msg.steering) + + rospy.loginfo(cmd) + self.pub_cmd.publish(cmd) + + + + def GOsignal_callback(self,msg): + status_msg=Int16() + status_msg.data=0x02 + self.pub_as_status.publish(status_msg) diff --git a/src/localization/data_association/CMakeLists.txt b/src/localization/data_association/CMakeLists.txt new file mode 100644 index 00000000..979157da --- /dev/null +++ b/src/localization/data_association/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(data_association) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES data_association +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/data_association.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/data_association_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_data_association.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/localization/data_association/config/data_association.yaml b/src/localization/data_association/config/data_association.yaml new file mode 100644 index 00000000..e257cd17 --- /dev/null +++ b/src/localization/data_association/config/data_association.yaml @@ -0,0 +1,17 @@ +# Distancia máxima para asociar un landmark: +min_dist: 1.5 + +# Distancia máxima para añadir un landmark: +max_dist: 10 + + +# Número de callbacks sin añadir un landmark al mapa para considerar fin de vuelta: +new_lap_counter: 40 + +# Distancia ente puntos de la ruta del coche +path_gap: 4 + +# Tópicos +state_topic: 'car_state/state' +perception_topic: '/perception_map' +map_topic: '/data_association/map' \ No newline at end of file diff --git a/src/localization/data_association/launch/data_association.launch b/src/localization/data_association/launch/data_association.launch new file mode 100644 index 00000000..1b71e0ca --- /dev/null +++ b/src/localization/data_association/launch/data_association.launch @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/src/localization/data_association/package.xml b/src/localization/data_association/package.xml new file mode 100644 index 00000000..dc128b48 --- /dev/null +++ b/src/localization/data_association/package.xml @@ -0,0 +1,68 @@ + + + data_association + 0.0.0 + The data_association package + + + + + carlos + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/src/localization/data_association/src/data_association_icp.py b/src/localization/data_association/src/data_association_icp.py new file mode 100755 index 00000000..166f97f6 --- /dev/null +++ b/src/localization/data_association/src/data_association_icp.py @@ -0,0 +1,226 @@ +''' +@Author: Carlos Pérez Cantalapiedra +@Description: Data association for mapping using ICP. +@Date: 2023-12-27 +@LastUpdate: 2024-02-15 +''' + +import numpy as np +import open3d as o3d +import rospy +from fssim_common.msg import State +from common_msgs.msg import CarState +from std_msgs.msg import Header +from sensor_msgs.msg import PointCloud2, PointField +from sensor_msgs import point_cloud2 +from visualization_msgs.msg import MarkerArray, Marker +from scipy.interpolate import splprep, splev + +# Constants +min_dist = rospy.get_param('/data_association/min_dist') +max_dist = rospy.get_param('/data_association/max_dist') +new_lap_counter = rospy.get_param('/data_association/new_lap_counter') +path_gap = rospy.get_param('/data_association/path_gap') + +#Topics +state_topic = rospy.get_param('/data_association/state_topic') +perception_topic = rospy.get_param('/data_association/perception_topic') +map_topic = rospy.get_param('/data_association/map_topic') + +class Data_association: + + def __init__(self): + + # Definiendo suscribers y publishers + rospy.Subscriber(state_topic, CarState, self.state_callback, queue_size=20) + rospy.Subscriber(perception_topic, PointCloud2, self.perception_callback, queue_size=1) + self.pMap = rospy.Publisher(map_topic, PointCloud2, queue_size=1) + + + # Inicializando variables + self.map = [] #Mapa + + self.state = np.zeros(3) # Estado del coche [x, y, yaw] + self.measurements = np.empty((0,2)) # Mediciones del sensor + self.u = np.zeros(2) # Inputs de control [v, yaw] + self.empty_map = True # Indica si el mapa está vacío + self.count = 0 + self.enable_mapping = True #Habilita el mapeado + self.measurement_points_ICP= np.empty((0,2)) # Mediciones usadas para el ICP + self.map_points_ICP = np.empty((0,2)) # Puntos del mapa usados para el ICP + self.path = np.array([[0.,0.]]) + self.last_pos = np.array([0.,0.]) + + + def state_callback(self, msg: State): + + # Se actualizan los inputs de control + self.u[0] = np.linalg.norm([msg.vx, msg.vy])-0.010 + self.u[1] = msg.r + + # Se actualiza el estado del coche + self.state[0] = msg.x + self.state[1] = msg.y + self.state[2] = msg.yaw + + + def perception_callback(self, msg: PointCloud2): + + if (np.linalg.norm(self.state[:2]-self.last_pos)>path_gap and np.all([np.linalg.norm(self.state[:2]-pos)>path_gap for pos in self.path])): + self.last_pos = np.array([[self.state[0], self.state[1]]]) + self.path = np.vstack((self.path, [self.state[0], self.state[1]])) + + if self.enable_mapping: + # Se obtienen las mediciones del sensor + points = self.map_to_xyz_array(msg) + self.measurements = np.copy(points) + + # Si el mapa está vacío se añaden las mediciones + if self.empty_map == True: + m = self.measurements.copy() + yaw = self.state[2] + rot = np.array([[np.cos(yaw), -np.sin(yaw)], + [np.sin(yaw), np.cos(yaw)]]) + x = self.state[0] + y = self.state[1] + for i in m: + corrected_position = rot @ i + np.array([x, y]) + self.map.append([corrected_position[0], corrected_position[1],0,2,1]) + self.empty_map = False + + # Si el mapa no está vacío se pasan los landmarks al marco global y se realiza la asociación de datos + else: + self.data_association() + + # Se comprueba si se ha completado una vuelta + if self.count > new_lap_counter and self.u[0] > 0.2: + rospy.loginfo("%s", self.path) + self.coloring() + self.publishMap() + self.map = [] + self.count = 0 + self.path = np.array([[0.,0.]]) + self.empty_map= True + + else: + pass + + + + def data_association(self): + + c = 0 + x = self.state[0] + y = self.state[1] + yaw = self.state[2] + rot = np.array([[np.cos(yaw), -np.sin(yaw)], + [np.sin(yaw), np.cos(yaw)]]) + measurement_points_ICP= np.empty((0,2)) # Mediciones usadas para el ICP + map_points_ICP = np.empty((0,2)) # Puntos del mapa usados para el ICP + new_landmarks_without_correction = np.empty((0,2)) # Landmarks que no se han podido asociar antes de ser corregidos por el ICP + + for measurement in self.measurements: + new_landmark = True + gM = rot @ measurement + np.array([x, y]) + + for l in self.map: + + landmark = np.array([l[0], l[1]]) + + if np.linalg.norm(gM - landmark) < min_dist : + measurement_points_ICP = np.vstack((self.measurement_points_ICP, gM)) + map_points_ICP = np.vstack((self.map_points_ICP, landmark)) + new_landmark = False + break + + if new_landmark and np.linalg.norm(gM-self.state[:2]) < max_dist: + new_landmarks_without_correction = np.vstack((new_landmarks_without_correction, gM)) + c += 1 + + + # Se añaden los landmarks que no se han podido asociar aplicandoles el ICP + transformation_matrix = self.icp(measurement_points_ICP,map_points_ICP) + self.landmarks_correction(new_landmarks_without_correction, transformation_matrix) + + if c == 0 and self.u[0] > 0.2: + self.count += 1 + + else: + self.count = 0 + + + def icp(self,s,t): + #Aplica ICP y devuelve la matriz de transformación + num_map_points = t.shape[0] + num_lidar_points = s.shape[0] + map_cloud = o3d.geometry.PointCloud() + measurement_cloud = o3d.geometry.PointCloud() + map_cloud.points = o3d.utility.Vector3dVector(np.hstack((t, np.zeros((num_map_points, 1))))) + measurement_cloud.points = o3d.utility.Vector3dVector(np.hstack((s, np.zeros((num_lidar_points, 1))))) + transformation_matrix = o3d.pipelines.registration.registration_icp( + source = measurement_cloud, + target = map_cloud, + max_correspondence_distance = 0.1, + estimation_method = o3d.pipelines.registration.TransformationEstimationPointToPoint(), + ).transformation + return transformation_matrix + + + def landmarks_correction(self, new_landmarks_without_correction, transformation_matrix): + + #Se aplica la matriz de transformacion a los landmarks antes de añadirlos al mapa + r = transformation_matrix[:2,:2] + t = transformation_matrix[:2,2] + lc = new_landmarks_without_correction @ r.T + t + for i in lc: + self.map.append([i[0], i[1], 0, 2, 1]) + + def coloring(self): + #Colorea los conos según si están dentro o fuera de la curva generada por el recorrido del coche. + tck, u = splprep(self.path.T, s=0, per=True) + u_new = np.linspace(u.min(), u.max(), 1000) + puntos_curva = np.array(splev(u_new, tck)) + + for c in self.map: + n_cortes = 0 + x0 = c[0] + y0 = c[1] + + for i in range(len(puntos_curva[0]) - 1): + punto1 = puntos_curva[:, i] + punto2 = puntos_curva[:, i + 1] + + if ((punto1[0] < x0 and punto2[0] > x0) or (punto1[0] > x0 and punto2[0] < x0)) and punto1[1]>y0 : + n_cortes += 1 + + if n_cortes % 2 == 0: + c[3] = 0 #Azul + + else: + c[3] = 1 #Amarillo + + + def map_to_xyz_array(self, m : PointCloud2): + cones = point_cloud2.read_points(m, field_names=("x", "y", "z","color","score"),skip_nans=True) + points = np.empty((0,2)) + + for c in cones: + if c[4] > 0.7: + points = np.vstack((points, np.array([[c[0], c[1]]]))) + + return points + + def publishMap(self): + + header = Header() + header.frame_id='map' + header.stamp = rospy.Time().now() + fields = [ + PointField(name="x", offset=0, datatype=PointField.FLOAT32, count=1), + PointField(name="y", offset=4, datatype=PointField.FLOAT32, count=1), + PointField(name="z", offset=8, datatype=PointField.FLOAT32, count=1), + PointField(name="color", offset=12, datatype=PointField.UINT32, count=1), + PointField(name="score", offset=16, datatype=PointField.FLOAT32, count=1) + ] + map_cloud = point_cloud2.create_cloud(header=header, fields=fields,points=self.map) + self.pMap.publish(map_cloud) diff --git a/src/localization/data_association/src/main.py b/src/localization/data_association/src/main.py new file mode 100755 index 00000000..687ebd70 --- /dev/null +++ b/src/localization/data_association/src/main.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 + +import rospy +from data_association_icp import Data_association + +def main(): + rospy.init_node('greedy_data_association', anonymous=True) + data_association = Data_association() + rospy.spin() + +if __name__ == '__main__': + try: + main() + + except rospy.ROSInterruptException: + pass \ No newline at end of file diff --git a/src/localization/fastslam2/CMakeLists.txt b/src/localization/fastslam2/CMakeLists.txt new file mode 100644 index 00000000..5d44f80e --- /dev/null +++ b/src/localization/fastslam2/CMakeLists.txt @@ -0,0 +1,209 @@ +cmake_minimum_required(VERSION 3.0.2) +project(fastslam2) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + tf2_ros + tf2 +) + +catkin_package( + DEPENDS common_msgs +) +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES localization +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/localization.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/localization_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_localization.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/localization/fastslam2/config/fastslam.yaml b/src/localization/fastslam2/config/fastslam.yaml new file mode 100644 index 00000000..87efb9fd --- /dev/null +++ b/src/localization/fastslam2/config/fastslam.yaml @@ -0,0 +1,8 @@ +# Topic names +local_map_topic: 'map_estimation' +global_map_topic: 'global_map' +state_topic: 'control_state' + +# Frames +local_map_frame: 'local_map' +global_map_frame: 'global_map' diff --git a/src/localization/fastslam2/package.xml b/src/localization/fastslam2/package.xml new file mode 100644 index 00000000..dbb403da --- /dev/null +++ b/src/localization/fastslam2/package.xml @@ -0,0 +1,56 @@ + + + fastslam2 + 0.1.0 + FastSlam2 package with M1 particles + + Jacobo Pindado Perea + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + rospy + rospy + + + + + + + + diff --git a/src/localization/fastslam2/src/prueba_main.py b/src/localization/fastslam2/src/prueba_main.py new file mode 100755 index 00000000..849dd19f --- /dev/null +++ b/src/localization/fastslam2/src/prueba_main.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 + +import rospy +from slam_handle import * + +def main(): + rospy.init_node("map", anonymous=True) + slam = FastSLAM2() + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/localization/fastslam2/src/slam_handle.py b/src/localization/fastslam2/src/slam_handle.py new file mode 100644 index 00000000..4f67fc68 --- /dev/null +++ b/src/localization/fastslam2/src/slam_handle.py @@ -0,0 +1,270 @@ +""" +Handle for FastSLAM2 implementation following +[1]: http://robots.stanford.edu/papers/Montemerlo03a.pdf +[2]: http://robots.stanford.edu/papers/Thrun03g.pdf +with M=1 particles. + +We will only be concerned with the state in the current time, so all variables will refer to v^t +where t is now. For any notation doubts consult [1]. + +@author: Jacobo Pindado Perea +@date: 20230410 +""" + +import rospy +from visualization_msgs.msg import MarkerArray, Marker +import numpy as np +from numba import jit, prange, float32 +from scipy.stats import multivariate_normal +import tf +from threading import Lock + +from geometry_msgs.msg import Twist +from sensor_msgs.msg import PointCloud2 +from fssim_common.msg import State +from ros_numpy.point_cloud2 import pointcloud2_to_xyz_array + + +import time + +N_LANDMARKS = 400 +N_PARTICLES = 3 +P = 0.01*np.eye(3, dtype=np.float32) # Cov. matrix of (3) +P[2, 2] = 0.001 +P_inv = np.linalg.inv(P) # Precomputing since it's contant. +R = 0.1*np.eye(2, dtype=np.float32) +TF_FRAME = 'SLAM_POS' + + +class FastSLAM2: + + def __init__(self): + self.position = np.zeros((N_PARTICLES, 3), dtype=np.float32) # [x, y, yaw]^t + self.position_cov = np.empty((3, 3), dtype=np.float32) # \Sigma_s in [1] + self.particle_weights = np.zeros(N_PARTICLES, dtype=np.float32) + self.weighted_position = np.zeros(3, dtype=np.float32) + self.lock = Lock() + + self.landmarks = np.zeros((N_PARTICLES, N_LANDMARKS, 2), dtype=np.float32) # \Theta^t in [1] + self.landmarks_cov = np.zeros((N_PARTICLES, N_LANDMARKS, 2, 2), dtype=np.float32) # \Sigma_\Theta in [1] + self.populated_landmarks = np.zeros(N_LANDMARKS, dtype=np.bool) + self.weighted_landmarks = np.zeros((N_LANDMARKS, 2), dtype=np.float32) + + self.motion = np.zeros(2, dtype=np.float32) # Equivalent to u^t in [1] + self.last_rostime = rospy.get_rostime().secs + self.got_map = False + self.allow_pose_sampling = False + + rospy.Subscriber('/fssim/base_pose_ground_truth', State, self.state_callback, queue_size=20) + rospy.Subscriber('/camera/cones', PointCloud2, self.camera_callback, queue_size=1) + self.tf_broad = tf.TransformBroadcaster() + self.p = rospy.Publisher('/landmarks', MarkerArray, queue_size=1) + + self.vels = list() + + self.i = 0 + + + def process_map(self, observations: np.ndarray): + t = time.time() + if self.i == 5: + self.allow_pose_sampling = True + rospy.logwarn('='*100) + self.i += 1 + with self.lock: + for observation in observations: + self.forward_observation(observation) + self.got_map = True + self.pub_markers() + rospy.loginfo(self.weighted_position) + + def forward_observation(self, observation: np.ndarray): + '''Will apply 4.4 -> 4.1 -> 4.2 for each observation. + observation: [x, y, 1] position of observed landmark with respect to vehicle frame. + ''' + + observed_landmark = self.get_inv_observation_func() @ observation + landmark_ind = self.get_corresponding_landmark(observed_landmark) + + for i in range(N_PARTICLES): + Gtheta, Gs = self.calculate_jacobians(i, landmark_ind) + + # Equivalent to original \hat z in [1] since our g is linear with \theta. + delta_z = observed_landmark - self.landmarks[i, landmark_ind, :] + + Q = R + Gtheta @ self.landmarks_cov[i, landmark_ind] @ Gtheta.T + Q_inv = np.linalg.inv(Q) + + if self.allow_pose_sampling: + self.pose_sampling(Gs, Q_inv, delta_z, i) + + self.update_landmark_estimate(Gs, Gtheta, Q_inv, delta_z, landmark_ind, i) + + self.particle_weights[i] = self.get_particle_weight(i, Q, Gs, delta_z) + self.particle_weights /= self.particle_weights.sum() + + self.weighted_landmarks = np.sum(self.landmarks * self.particle_weights.reshape(-1, 1, 1), axis=0) + self.weighted_position = np.sum(self.position * self.particle_weights.reshape(-1, 1), axis=0) + self.weighted_position[2] = bound_angle(self.weighted_position[2]) + self.update_frame() + + def update_particle(self, delta_time: float): + '''Updates the state of the particle with a bicycle model. Takes current linear velocity + and yaw to update the particle's position. Corresponds to (3) in [1]. + ''' + if not self.got_map: + return + + B = np.zeros((N_PARTICLES, 3, 2), dtype=np.float32) + B[:, 0, 0] = np.cos(self.position[:, 2]) + B[:, 1, 0] = np.sin(self.position[:, 2]) + B[:, 2, 1] = 1 + + with self.lock: + self.position += delta_time * (np.random.multivariate_normal([0, 0, 0], P, size=N_PARTICLES) + B @ self.motion) + for i in prange(N_PARTICLES): # TODO: Change to apply_along_axis, prange + self.position[i, 2] = bound_angle(self.position[i, 2]) + self.weighted_position = np.sum(self.position * self.particle_weights.reshape(-1, 1), axis=0) + + def pose_sampling(self, Gs: np.ndarray, Q_inv: np.ndarray, delta_z: np.ndarray, particle: int): + '''Q defined in (15). Its an input parameter because the matrix is shared with + landmark updating. + delta_z: (z-\hat z) + ''' + self.position_cov = np.linalg.inv(Gs.T @ Q_inv @ Gs + P_inv) + self.position[particle] += self.position_cov @ (Gs.T @ (Q_inv @ delta_z)) + # Right-to-left matmul is faster in this case since delta_z is a vector. Parenthesis are + # ugly, but I am unsure of @ precedence and havent found much in numpy's doc. + + def update_landmark_estimate(self, Gs: np.ndarray, Gtheta: np.ndarray, Q_inv: np.ndarray, + delta_z: np.ndarray, landmark_index: int, particle: int): + K = self.landmarks_cov[particle, landmark_index] @ Gtheta.T @ Q_inv # (16) + + self.landmarks[particle, landmark_index, :] += K @ delta_z # (17) + self.landmarks_cov[particle, landmark_index] -= K @ Gtheta @ self.landmarks_cov[particle, landmark_index] # (18) + + def get_corresponding_landmark(self, observed_landmark: np.ndarray): + distances = np.full(N_LANDMARKS, np.Inf) + distances[self.populated_landmarks] = np.linalg.norm(self.weighted_landmarks[self.populated_landmarks] - observed_landmark, + axis=1) + min_dist_index = np.argmin(distances) + if not self.got_map or distances[min_dist_index] > 2: + available_positions = np.nonzero(self.populated_landmarks == False)[0] + if len(available_positions) == 0: + rospy.logwarn('No available landmark indices in array') + return min_dist_index + else: + new_lm_ind = available_positions[0] + self.landmarks[:, new_lm_ind, :] = observed_landmark + self.landmarks_cov[:, new_lm_ind] = R.copy() + self.populated_landmarks[new_lm_ind] = True + return new_lm_ind + else: + return min_dist_index + + def calculate_jacobians(self, particle_index:int, landmark_index: int): + '''Notation follows [1] using euclidean form of g where instead of distance and bearing + we directly consider landmark position with respect to the car reference frame. + + [[R^t, R^t*t] + g(theta, s)= [0,0, 1 ] * [theta_x, theta_y, 1]^t + + with t the coordinates of the state, and R is the rotation matrix of the state's yaw. + ''' + cosphi = np.cos(self.position[particle_index, 2]) + sinphi = np.sin(self.position[particle_index, 2]) + Rt = np.array([[cosphi, -sinphi], + [sinphi, cosphi]], dtype=np.float32) + Rprime = np.array([[-sinphi, cosphi], + [-cosphi , -sinphi]], dtype=np.float32) + Gtheta = Rt.copy() + + Gs = np.empty((2, 3), dtype=np.float32) + Gs[:, :2] = -Rt.copy() + Gs[:, 2] = (Rprime @ (self.landmarks[particle_index, landmark_index, :] + - self.position[particle_index, :2]).reshape((2, 1))).flat + + return Gtheta, Gs + + def get_inv_observation_func(self): + '''Matrix that changes reference frame from the car's frame to global frame. + ''' + t_mat = np.empty((2, 3), dtype=np.float32) + rmat = np.array([[np.cos(self.weighted_position[2]), -np.sin(self.weighted_position[2])], + [ np.sin(self.weighted_position[2]), np.cos(self.weighted_position[2])]]) + t_mat[:2, :2] = rmat + t_mat[:2, 2] = self.weighted_position[:2] + return t_mat + + def get_particle_weight(self, particle: int, Q: np.ndarray, Gs: np.ndarray, delta_z): + L = Q + Gs @ P @ Gs.T # (60) in [2] + # L is symmetric and pos. def. given that it is a cov. matrix. We can more efficiently calculate + # the distribution using Cholesky. + L_chol = np.linalg.cholesky(L) + L_chol_det = L_chol.diagonal().prod() + Ldz = L_chol @ delta_z + return np.exp(-0.5*Ldz.T @ Ldz)/(np.sqrt(2*np.pi) * L_chol_det) + + def state_callback(self, msg: State): + delta_time = msg.header.stamp.to_sec() - self.last_rostime + self.last_rostime = msg.header.stamp.to_sec() + if not self.allow_pose_sampling: + return + self.motion[0] = np.linalg.norm([msg.vx, msg.vy]) - 0.010 + self.motion[1] = msg.r + self.update_particle(delta_time) + self.update_frame() + + def camera_callback(self, msg: PointCloud2): + points = pointcloud2_to_xyz_array(msg) + points[:, 2] = 1 + self.process_map(points) + + def pub_markers(self): + marray = MarkerArray() + m1 = Marker() + m1.action = Marker.DELETEALL + marray.markers.append(m1) + for i, lm in enumerate(self.weighted_landmarks[self.populated_landmarks]): + marker = Marker() + marker.id = i + marker.header.frame_id = 'map' + marker.header.stamp = rospy.Time().now() + marker.type = Marker.CYLINDER + marker.action = Marker.MODIFY + marker.pose.position.x = lm[0] + marker.pose.position.y = lm[1] + marker.pose.position.z = 0 + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = 0.0 + marker.pose.orientation.w = 1.0 + marker.scale.x = 0.3 + marker.scale.y = 0.3 + marker.scale.z = 0.3 + marker.color.r = 0 + marker.color.g = 0 + marker.color.b = 0 + marker.color.a = 1.0 + + marker.lifetime = rospy.Duration() + + marray.markers.append(marker) + marker.lifetime = rospy.Duration() + marray.markers.append(marker) + + self.p.publish(marray) + + def update_frame(self): + self.tf_broad.sendTransform((self.weighted_position[0], self.weighted_position[1], 0), + tf.transformations.quaternion_from_euler(0, + 0, + self.weighted_position[2]), + rospy.Time.now(), + 'coche', + 'map') + +@jit(float32(float32), nopython=True, nogil=True, cache=True) +def bound_angle(angle: float): + '''Bounds an angle between [-pi, pi] centered at 0''' + return (angle + np.pi) % (2 * np.pi) - np.pi diff --git a/src/localization/sbg_transforms/CMakeLists.txt b/src/localization/sbg_transforms/CMakeLists.txt new file mode 100644 index 00000000..1e44de60 --- /dev/null +++ b/src/localization/sbg_transforms/CMakeLists.txt @@ -0,0 +1,210 @@ +cmake_minimum_required(VERSION 3.0.2) +project(sbg_transforms) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + sbg_driver + tf2_ros + tf2 +) + +catkin_package( + DEPENDS common_msgs +) +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES localization +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/localization.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/localization_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_localization.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/localization/sbg_transforms/launch/localization.launch b/src/localization/sbg_transforms/launch/localization.launch new file mode 100644 index 00000000..7182f642 --- /dev/null +++ b/src/localization/sbg_transforms/launch/localization.launch @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/src/localization/sbg_transforms/package.xml b/src/localization/sbg_transforms/package.xml new file mode 100644 index 00000000..b58222ab --- /dev/null +++ b/src/localization/sbg_transforms/package.xml @@ -0,0 +1,62 @@ + + + sbg_transforms + 0.0.0 + The sbg_transforms package + + + + + jorge + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + rospy + rospy + + + + + + + + diff --git a/src/localization/sbg_transforms/src/handle.py b/src/localization/sbg_transforms/src/handle.py new file mode 100644 index 00000000..0a50151a --- /dev/null +++ b/src/localization/sbg_transforms/src/handle.py @@ -0,0 +1,117 @@ +import rospy +import tf2_ros +import geometry_msgs.msg + +from sbg_driver.msg import SbgGpsPos, SbgEkfNav, SbgImuData, SbgGpsVel +from geometry_msgs.msg import Vector3 + + + +class Localization(): + + def __init__(self): + rospy.logwarn("Running Localization Node...") + + self.subscribe_topics() + self.pub = None + self.publish_topics() + + def subscribe_topics(self): + rospy.Subscriber("/sbg/ekf_nav", SbgEkfNav, self.send_velocity) + rospy.Subscriber("/sbg/gps_pos", SbgGpsPos, self.send_position) + rospy.Subscriber("/sbg/imu_data", SbgImuData, self.send_acceleration) + rospy.Subscriber("/sbg/gps_vel", SbgGpsVel, self.send_gps_velocity) + rospy.Subscriber("/gps_position", Vector3, self.tf2_start_point) + rospy.Subscriber("/gps_position", Vector3, self.tf2_imu_position) + rospy.Subscriber("/gps_position", Vector3, self.tf2_camera_position) + + def publish_topics(self): + self.pub_vel = rospy.Publisher("/velocity", Vector3, queue_size=1) + self.pub_pos = rospy.Publisher("/gps_position", Vector3, queue_size=1) + self.pub_acc = rospy.Publisher("/acceleration", Vector3, queue_size=1) + self.pub_gps_vel = rospy.Publisher("/gps_velocity", Vector3, queue_size=1) + + def send_velocity(self, msg): + vel = Vector3() + vel.x = msg.velocity.x + vel.y = msg.velocity.y + vel.z = msg.velocity.z + self.pub_vel.publish(vel) + + def send_gps_velocity(self, msg): + gps_vel = Vector3() + gps_vel.x = msg.velocity.x # North + gps_vel.y = msg.velocity.y # East + gps_vel.z = msg.velocity.z # Down + self.pub_gps_vel.publish(gps_vel) + + def send_position(self, msg): + position = Vector3() + position.x = msg.latitude + position.y = msg.longitude + self.pub_pos.publish(position) + + def send_acceleration(self, msg): + acc = Vector3() + acc.x = msg.accel.x + acc.y = msg.accel.y + acc.z = msg.accel.z + self.pub_acc.publish(acc) + + # TF2 IMPLEMENTATION + def tf2_start_point(self, msg): + br = tf2_ros.StaticTransformBroadcaster() + t = geometry_msgs.msg.TransformStamped() + + t.header.stamp = rospy.Time.now() + t.header.frame_id = "world" + t.child_frame_id = "start" + + t.transform.translation.x = msg.x + t.transform.translation.y = msg.y + t.transform.translation.z = 0.0 + + t.transform.rotation.x = 0.0 + t.transform.rotation.y = 0.0 + t.transform.rotation.z = 0.0 + t.transform.rotation.w = 1.0 + + br.sendTransform(t) + + def tf2_imu_position(self, msg): + br = tf2_ros.TransformBroadcaster() + t = geometry_msgs.msg.TransformStamped() + + t.header.stamp = rospy.Time.now() + t.header.frame_id = "start" + t.child_frame_id = "imu" + + t.transform.translation.x = msg.x + t.transform.translation.y = msg.y + t.transform.translation.z = 0.0 + + t.transform.rotation.x = 0.0 + t.transform.rotation.y = 0.0 + t.transform.rotation.z = 0.0 + t.transform.rotation.w = 1.0 + + br.sendTransform(t) + + def tf2_camera_position(self, msg): + br = tf2_ros.StaticTransformBroadcaster() + t = geometry_msgs.msg.TransformStamped() + + t.header.stamp = rospy.Time.now() + t.header.frame_id = "imu" + t.child_frame_id = "camera" + + t.transform.translation.x = 0.0 # Modificar para que sea la distancia entre el IMU y la camara + t.transform.translation.y = 0.0 + t.transform.translation.z = 0.0 + + t.transform.rotation.x = 0.0 + t.transform.rotation.y = 0.0 + t.transform.rotation.z = 0.0 + t.transform.rotation.w = 1.0 + + br.sendTransform(t) \ No newline at end of file diff --git a/src/localization/sbg_transforms/src/main.py b/src/localization/sbg_transforms/src/main.py new file mode 100755 index 00000000..457075bf --- /dev/null +++ b/src/localization/sbg_transforms/src/main.py @@ -0,0 +1,20 @@ +#!/usr/bin/env python3 +"""Script to initialize tree tf + +@author: Jorge Muñoz +@date: 20221125 +""" + +import rospy +from handle import Localization + +def main(): + rospy.init_node('car_broadcaster', anonymous=True) + Localization() + rospy.spin() + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/localization/slam_marrano/CMakeLists.txt b/src/localization/slam_marrano/CMakeLists.txt new file mode 100644 index 00000000..55bc90de --- /dev/null +++ b/src/localization/slam_marrano/CMakeLists.txt @@ -0,0 +1,132 @@ +cmake_minimum_required(VERSION 3.0.2) +project(slam_marrano) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + pcl_ros + std_msgs + common_msgs + tf2_ros + tf2 +) + +catkin_package( + DEPENDS common_msgs +) + +add_executable(main src/main.cpp src/icp_slam.cpp) +target_link_libraries(main ${catkin_LIBRARIES} ${PCL_LIBRARIES}) +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES localization +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/localization.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/localization_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_localization.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) +include_directories(${PCL_INCLUDE_DIRS}) + +link_directories(${PCL_LIBRARY_DIRS}) + +add_definitions(${PCL_DEFINITIONS}) diff --git a/src/localization/slam_marrano/config/slam_marrano.yaml b/src/localization/slam_marrano/config/slam_marrano.yaml new file mode 100644 index 00000000..ff9d3abc --- /dev/null +++ b/src/localization/slam_marrano/config/slam_marrano.yaml @@ -0,0 +1,8 @@ +global_frame: "map" +car_frame: "body" + +restart_map: false +restart_map_at_origin: false +restart_iterations: 100 +mission: "none" +braking_offset: 5 \ No newline at end of file diff --git a/src/localization/slam_marrano/launch/slam_marrano.launch b/src/localization/slam_marrano/launch/slam_marrano.launch new file mode 100644 index 00000000..e3abbdf4 --- /dev/null +++ b/src/localization/slam_marrano/launch/slam_marrano.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/localization/slam_marrano/package.xml b/src/localization/slam_marrano/package.xml new file mode 100644 index 00000000..a674d225 --- /dev/null +++ b/src/localization/slam_marrano/package.xml @@ -0,0 +1,57 @@ + + + slam_marrano + 0.1.0 + icp_odometry package + + Jacobo Pindado Perea + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + common_msgs + common_msgs + rospy + rospy + + + + + + + + diff --git a/src/localization/slam_marrano/src/PointXYZColorScore.h b/src/localization/slam_marrano/src/PointXYZColorScore.h new file mode 100644 index 00000000..d4ac7a91 --- /dev/null +++ b/src/localization/slam_marrano/src/PointXYZColorScore.h @@ -0,0 +1,34 @@ +#include +#include +#include + + + + +struct PointXYZColorScore { + PCL_ADD_POINT4D; + int color; + float score; + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + // Constructors + PointXYZColorScore() : color(0), score(0) {} + PointXYZColorScore(float x, float y, float z, int color, float score) { + this->x = x; + this->y = y; + this->z = z; + this->color = color; + this->score = score; + this->data[3] = 1.0f; + } +}; + + +POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZColorScore, + (float, x, x) + (float, y, y) + (float, z, z) + (int, color, color) + (float, score, score) +) \ No newline at end of file diff --git a/src/localization/slam_marrano/src/icp_slam.cpp b/src/localization/slam_marrano/src/icp_slam.cpp new file mode 100644 index 00000000..cc046329 --- /dev/null +++ b/src/localization/slam_marrano/src/icp_slam.cpp @@ -0,0 +1,298 @@ +#define PCL_NO_PRECOMPILE + +#include "ros/ros.h" +#include "sensor_msgs/PointCloud2.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +#include +#include "icp_slam.hpp" + + +using namespace std; + +ICP_handle::ICP_handle(){ + + nh.getParam("/slam_marrano/global_frame", global_frame); + nh.getParam("/slam_marrano/car_frame", car_frame); + nh.getParam("/slam_marrano/restart_map", restart_map); + nh.getParam("/slam_marrano/restart_map_at_origin", restart_map_at_origin); + nh.getParam("/slam_marrano/restart_iterations", restart_iterations); + nh.getParam("/slam_marrano/mission", mission); + nh.getParam("/slam_marrano/braking_offset", braking_offset); + + prev_t = ros::Time::now(); + lap_time = ros::Time::now(); + + previous_map = pcl::PointCloud::Ptr(new pcl::PointCloud); + allp_clustered = pcl::PointCloud::Ptr(new pcl::PointCloud); + + position = Eigen::Matrix4f::Identity(4, 4); + prev_transformation = Eigen::Matrix4f::Identity(4, 4); + + perception_sub = nh.subscribe("/perception_map", 1000, &ICP_handle::map_callback, this); + state_sub = nh.subscribe("/car_state/state", 1000, &ICP_handle::state_callback, this); + + finished_pub = nh.advertise("/braking", 10); + map_publisher = nh.advertise("/mapa_icp", 10); + global_map_publisher = nh.advertise("/global_map", 10); + lap_count_publisher = nh.advertise("/lap_counter", 10); + // slam_speed_publisher = nh.advertise("/slam_speed", 10); +} + +void ICP_handle::state_callback(common_msgs::CarState state_msg) { + vx = state_msg.vx; + yaw_rate = state_msg.r; + + send_position(); +} + +void ICP_handle::map_callback(sensor_msgs::PointCloud2 map_msg) { + + pcl::PointCloud::Ptr new_map(new pcl::PointCloud); + pcl::fromROSMsg(map_msg, *new_map); + + if(!has_map){ + prev_t = ros::Time::now(); + *allp_clustered = *new_map; + *previous_map = *new_map; + has_map = true; + return; + } + + //get ICP transformation + pcl::PointCloud::Ptr map_in_position = pcl::PointCloud::Ptr(new pcl::PointCloud); + pcl::transformPointCloud(*new_map, *map_in_position, position); + + pcl::IterativeClosestPoint icp; + icp.setInputSource(map_in_position); + if(callback_iteration < 10) + icp.setInputTarget(previous_map); + else + icp.setInputTarget(allp_clustered); + icp.setMaximumIterations(5); + icp.setEuclideanFitnessEpsilon(0.005); + icp.setTransformationEpsilon(1e-5); + + pcl::PointCloud::Ptr registered_map = pcl::PointCloud::Ptr(new pcl::PointCloud); + icp.setMaxCorrespondenceDistance (1.0); + icp.align(*registered_map); + Eigen::Matrix4f transformation = icp.getFinalTransformation(); + + + + //get transformation estimation from odometry + float dt = ros::Time::now().toSec()-prev_t.toSec(); + float dx = dt*vx; + float dyaw = dt*yaw_rate; + + float yaw = (float)-atan2(position.coeff(0, 1), position.coeff(0,0)); + Eigen::Matrix4f estimation = Eigen::Matrix4f::Identity(); + estimation(0,3)=dx*cos(yaw+dyaw)+position(0,3)-cos(dyaw)*position(0,3)+sin(dyaw)*position(1,3); + estimation(1,3)=dx*sin(yaw+dyaw)+position(1,3)-sin(dyaw)*position(0,3)-cos(dyaw)*position(1,3); + estimation(0,0)=cos(dyaw); + estimation(1,0)=sin(dyaw); + estimation(0,1)=-sin(dyaw); + estimation(1,1)=cos(dyaw); + + + //get transformation distance + float tx = transformation.coeff(0,0)*position.coeff(0,3) + transformation.coeff(0,1)*position.coeff(1,3) + transformation.coeff(0,3) - position.coeff(0,3); + float ty = transformation.coeff(1,0)*position.coeff(0,3) + transformation.coeff(1,1)*position.coeff(1,3) + transformation.coeff(1,3) - position.coeff(1,3); + float dist = sqrt(tx*tx + ty*ty); + + + //sigmoidal weighting of transformations + float tyaw = (float)-atan2(transformation.coeff(0, 1), transformation.coeff(0,0)); + float w; + if(dist == 0 || std::abs(tyaw-dyaw)>0.1) + w = 1; + else + w = -1 + 2.0/(1.0 + std::exp(-(5*std::abs(dist-dx)+10*std::abs(tyaw-dyaw)))); + // std::cout << "ICP confidence: " << 1-w << std::endl; + + //update position + prev_transformation = (estimation*w + transformation*(1-w)); + float prev_x = position.coeff(0,3); + float prev_y = position.coeff(1,3); + position = prev_transformation*position; + prev_t = ros::Time::now(); + + // std_msgs::Float32 slam_speed_msg; + // slam_speed_msg.data = sqrt((position.coeff(0,3)-prev_x)*(position.coeff(0,3)-prev_x) + (position.coeff(1,3)-prev_y)*(position.coeff(1,3)-prev_y))/dt; + // slam_speed_publisher.publish(slam_speed_msg); + + + //update map + pcl::PointCloud::Ptr registered_map2 = pcl::PointCloud::Ptr(new pcl::PointCloud); + pcl::transformPointCloud(*new_map, *registered_map2, position); + *previous_map += *registered_map2; + + + + //map clustering + pcl::search::KdTree::Ptr tree (new pcl::search::KdTree); + tree->setInputCloud(previous_map); + + std::vector cluster_indices; + pcl::EuclideanClusterExtraction ec; + ec.setClusterTolerance (1.5); + ec.setMinClusterSize (3); + ec.setMaxClusterSize (100000); + ec.setSearchMethod (tree); + ec.setInputCloud (previous_map); + ec.extract (cluster_indices); + + pcl::PointCloud::Ptr clustered_points (new pcl::PointCloud); + for(const auto& cluster : cluster_indices) { + PointXYZColorScore centro; + centro.x = 0; + centro.y = 0; + centro.z = 0; + centro.color = 0; + centro.score = 1; + for (const auto& idx : cluster.indices) { + centro.x += (*previous_map)[idx].x; + centro.y += (*previous_map)[idx].y; + centro.z = 0; + + } + centro.x /= cluster.indices.size(); + centro.y /= cluster.indices.size(); + for (const auto& idx : cluster.indices) { + (*previous_map)[idx].x = centro.x; + (*previous_map)[idx].y = centro.y; + } + + clustered_points->push_back(centro); + + } + *allp_clustered = *clustered_points; + + + + if(callback_iteration % 10 == 9) { + std::vector cluster_indices; + pcl::EuclideanClusterExtraction ec; + ec.setClusterTolerance (1.5); + ec.setMinClusterSize (6); + ec.setMaxClusterSize (200); + ec.setSearchMethod (tree); + ec.setInputCloud (previous_map); + ec.extract (cluster_indices); + + + + pcl::PointCloud::Ptr clustered_points (new pcl::PointCloud); + pcl::PointCloud::Ptr mapa_global (new pcl::PointCloud); + for(const auto& cluster : cluster_indices) { + int j = 0; + PointXYZColorScore cono; + cono.x = (*previous_map)[cluster.indices[0]].x; + cono.y = (*previous_map)[cluster.indices[0]].y; + cono.z = 0; + cono.color = 0; + cono.score = 1; + for (const auto& idx : cluster.indices) { + // This is a botch that works but should be changed. PCL ICP doesn't sopport weighted points, + // so the more reliable we consider a point to be, the more that are placed on the exact same + // coordinates (limited in this case to 50). + if(j < 10) + clustered_points->push_back((*previous_map)[idx]); + else + break; + j++; + } + mapa_global->push_back(cono); + } + + // sensor_msgs::PointCloud2 map_msg; + + // pcl::toROSMsg(*mapa_global, map_msg); + // map_msg.header.frame_id = "map"; + // map_publisher.publish(map_msg); + + *previous_map = *clustered_points; + } + + if(restart_map && callback_iteration>restart_iterations){ + has_map = false; + callback_iteration = 0; + } + + sensor_msgs::PointCloud2 new_map_msg; + + pcl::toROSMsg(*allp_clustered, new_map_msg); + new_map_msg.header.frame_id = global_frame; + map_publisher.publish(new_map_msg); + + callback_iteration++; + +} + +void ICP_handle::send_position() { + float dt = ros::Time::now().toSec()-prev_t.toSec(); + geometry_msgs::TransformStamped transformSt; + transformSt.header.stamp = ros::Time::now(); + transformSt.header.frame_id = global_frame; + transformSt.child_frame_id = car_frame; + tf2::Quaternion q; + float ang = (float)-atan2(position.coeff(0, 1), position.coeff(0,0)) + yaw_rate*dt; + transformSt.transform.translation.x = position.coeff(0,3)+vx*dt*cos(ang); + transformSt.transform.translation.y = position.coeff(1,3)+vx*dt*sin(ang); + q.setRPY(0, 0, ang); + transformSt.transform.rotation.x = q.x(); + transformSt.transform.rotation.y = q.y(); + transformSt.transform.rotation.z = q.z(); + transformSt.transform.rotation.w = q.w(); + + + br.sendTransform(transformSt); + + if (position.coeff(0,3)*position.coeff(0,3)+position.coeff(1,3)*position.coeff(1,3) < 10){ + if(ros::Time::now().toSec()-lap_time.toSec() > 20 && vx>1 ){ + lap_count += 1; + lap_time = ros::Time::now(); + std::cout << "Lap count: " << lap_count << std::endl; + + if ((lap_count==1 && mission=="AUTOX")||(lap_count==10 && mission=="TRACKDRIVE")){ + start_braking = true; + } + + sensor_msgs::PointCloud2 global_map_msg; + pcl::toROSMsg(*allp_clustered, global_map_msg); + global_map_msg.header.frame_id = global_frame; + global_map_publisher.publish(global_map_msg); + + if(restart_map_at_origin){ + has_map = false; + } + + }else{ + lap_time = ros::Time::now(); + } + } + + if(start_braking && position.coeff(0,3)>braking_offset){ + std_msgs::Bool finished_msg; + finished_msg.data = true; + finished_pub.publish(finished_msg); + } + + std_msgs::Int16 lap_count_msg; + lap_count_msg.data = lap_count; + lap_count_publisher.publish(lap_count_msg); + +} diff --git a/src/localization/slam_marrano/src/icp_slam.hpp b/src/localization/slam_marrano/src/icp_slam.hpp new file mode 100644 index 00000000..3984e7dd --- /dev/null +++ b/src/localization/slam_marrano/src/icp_slam.hpp @@ -0,0 +1,64 @@ +#include "ros/ros.h" +#include "std_msgs/Float32MultiArray.h" + +#include + +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "PointXYZColorScore.h" +#include + +using namespace std; + +class ICP_handle { + private: + bool has_map = false; + int callback_iteration = 0; + void send_position(); + ros::Time prev_t; + float yaw_rate=0; + float vx=0; + float lap_count = 0; + ros::Time lap_time; + bool start_braking = false; + public: + ros::NodeHandle nh; + ros::Subscriber perception_sub; + ros::Subscriber state_sub; + ros::Publisher map_publisher; + ros::Publisher global_map_publisher; + ros::Publisher lap_count_publisher; + ros::Publisher finished_pub; + // ros::Publisher slam_speed_publisher; + + std::string global_frame; + std::string car_frame; + + bool restart_map; + bool restart_map_at_origin; + int restart_iterations; + std::string mission; + float braking_offset; + + tf2_ros::TransformBroadcaster br; + + pcl::PointCloud::Ptr previous_map; + pcl::PointCloud::Ptr allp_clustered; + + Eigen::Matrix4f position; + Eigen::Matrix4f prev_transformation; + + float score = 1.0; + + ICP_handle(); + void map_callback(sensor_msgs::PointCloud2); + void state_callback(common_msgs::CarState); +}; diff --git a/src/localization/slam_marrano/src/icp_slam_desguarrado.cpp b/src/localization/slam_marrano/src/icp_slam_desguarrado.cpp new file mode 100644 index 00000000..eb3a3907 --- /dev/null +++ b/src/localization/slam_marrano/src/icp_slam_desguarrado.cpp @@ -0,0 +1,211 @@ +#define PCL_NO_PRECOMPILE + +#include "ros/ros.h" +#include "sensor_msgs/PointCloud2.h" +#include +#include +#include +#include +#include +#include +#include +#include + + +#include +#include "icp_slam.hpp" + + +using namespace std; + +ICP_handle::ICP_handle(){ + previous_map = pcl::PointCloud::Ptr(new pcl::PointCloud); + + position = Eigen::Matrix4f::Identity(4, 4); + prev_transformation = Eigen::Matrix4f::Identity(4, 4); + + sub = nh.subscribe("/perception_map", 1000, &ICP_handle::map_callback, this); + + map_publisher = nh.advertise("/mapa_icp", 10); + + ros::Time hola = ros::Time::now(); + +} + +void ICP_handle::map_callback(sensor_msgs::PointCloud2 map_msg) { + callback_iteration++; + + pcl::PointCloud::Ptr new_map(new pcl::PointCloud); + pcl::fromROSMsg(map_msg, *new_map); + + if(!has_map){ + *previous_map = *new_map; + has_map = true; + + send_position(); + return; + } + + pcl::PointCloud::Ptr map_in_position = pcl::PointCloud::Ptr(new pcl::PointCloud); + pcl::transformPointCloud(*new_map, *map_in_position, position); + + + pcl::IterativeClosestPoint icp; + icp.setInputSource(map_in_position); + icp.setInputTarget(previous_map); + icp.setMaximumIterations(5); + icp.setEuclideanFitnessEpsilon (0.005); + icp.setTransformationEpsilon(1e-5); + + pcl::PointCloud registered_map; + icp.setMaxCorrespondenceDistance (1.0); + icp.align(registered_map); + + Eigen::Matrix4f transformation = icp.getFinalTransformation(); + + + float ang = (float)-atan2(transformation.coeff(0, 1), transformation.coeff(0,0)); + float dist = pow((transformation.coeff(0,3) - prev_transformation.coeff(0,3)),2) + pow((transformation.coeff(1,3) - prev_transformation.coeff(1,3)),2) + pow((transformation.coeff(2,3) - prev_transformation.coeff(2,3)),2); + // std::cout << dist << std::endl; + prev_transformation = transformation; + + + position = transformation * position; + send_position(); + + std::cout << "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" << std::endl; + //*previous_map += registered_map; + for(PointXYZColorScore new_point : registered_map.points){ + float min_dist=INFINITY; + int index; + for(int i=0 ; isize(); i++){ + float dist = sqrt(pow(previous_map->points[i].x-new_point.x,2)+pow(previous_map->points[i].y-new_point.y,2)); + if(distsize() << std::endl; + std::cout << min_dist << std::endl; + if(min_dist<1){ + previous_map->points[index].x = 0.9*previous_map->points[index].x + 0.1*new_point.x; + previous_map->points[index].y = 0.9*previous_map->points[index].y + 0.1*new_point.y; + } else { + previous_map->push_back(new_point); + } + + } + + sensor_msgs::PointCloud2 new_map_msg; + + pcl::toROSMsg(*previous_map, new_map_msg); + new_map_msg.header.frame_id = "map"; + map_publisher.publish(new_map_msg); + + // pcl::search::KdTree::Ptr tree (new pcl::search::KdTree); + // tree->setInputCloud(previous_map); + + // std::vector cluster_indices; + // pcl::EuclideanClusterExtraction ec; + // ec.setClusterTolerance (1.5); + // ec.setMinClusterSize (3); + // ec.setMaxClusterSize (100000); + // ec.setSearchMethod (tree); + // ec.setInputCloud (previous_map); + // ec.extract (cluster_indices); + + // pcl::PointCloud::Ptr clustered_points (new pcl::PointCloud); + // for(const auto& cluster : cluster_indices) { + // PointXYZColorScore centro; + // centro.x = 0; + // centro.y = 0; + // centro.z = 0; + // centro.color = 0; + // centro.score = 1; + // for (const auto& idx : cluster.indices) { + // centro.x += (*previous_map)[idx].x; + // centro.y += (*previous_map)[idx].y; + // centro.z = 0; + + // } + // centro.x /= cluster.indices.size(); + // centro.y /= cluster.indices.size(); + // for (const auto& idx : cluster.indices) { + // (*previous_map)[idx].x = centro.x; + // (*previous_map)[idx].y = centro.y; + // } + + // clustered_points->push_back(centro); + + // } + // *allp_clustered = *clustered_points; + + + + // if(callback_iteration % 10 == 9) { + // std::vector cluster_indices; + // pcl::EuclideanClusterExtraction ec; + // ec.setClusterTolerance (1.5); + // ec.setMinClusterSize (6); + // ec.setMaxClusterSize (200); + // ec.setSearchMethod (tree); + // ec.setInputCloud (previous_map); + // ec.extract (cluster_indices); + + + + // pcl::PointCloud::Ptr clustered_points (new pcl::PointCloud); + // pcl::PointCloud::Ptr mapa_global (new pcl::PointCloud); + // for(const auto& cluster : cluster_indices) { + // int j = 0; + // PointXYZColorScore cono; + // cono.x = (*previous_map)[cluster.indices[0]].x; + // cono.y = (*previous_map)[cluster.indices[0]].y; + // cono.z = 0; + // cono.color = 0; + // cono.score = 1; + // for (const auto& idx : cluster.indices) { + // // This is a botch that works but should be changed. PCL ICP doesn't sopport weighted points, + // // so the more reliable we consider a point to be, the more that are placed on the exact same + // // coordinates (limited in this case to 50). + // if(j < 10) + // clustered_points->push_back((*previous_map)[idx]); + // else + // break; + // j++; + // } + // mapa_global->push_back(cono); + // } + + // // sensor_msgs::PointCloud2 map_msg; + + // // pcl::toROSMsg(*mapa_global, map_msg); + // // map_msg.header.frame_id = "map"; + // // map_publisher.publish(map_msg); + + // *previous_map = *clustered_points; + // } + + + +} + +void ICP_handle::send_position() { + geometry_msgs::TransformStamped transformSt; + transformSt.header.stamp = ros::Time::now(); + transformSt.header.frame_id = "map"; + transformSt.child_frame_id = "body"; + transformSt.transform.translation.x = position.coeff(12); + transformSt.transform.translation.y = position.coeff(13); + tf2::Quaternion q; + float ang = (float)-atan2(position.coeff(0, 1), position.coeff(0,0)); + q.setRPY(0, 0, ang); + transformSt.transform.rotation.x = q.x(); + transformSt.transform.rotation.y = q.y(); + transformSt.transform.rotation.z = q.z(); + transformSt.transform.rotation.w = q.w(); + + br.sendTransform(transformSt); +} diff --git a/src/localization/slam_marrano/src/main.cpp b/src/localization/slam_marrano/src/main.cpp new file mode 100644 index 00000000..722e5772 --- /dev/null +++ b/src/localization/slam_marrano/src/main.cpp @@ -0,0 +1,13 @@ +#include "ros/ros.h" +#include "icp_slam.hpp" +#include +#include + + +int main(int argc, char **argv) { + ros::init(argc, argv, "icp_odometry"); + ICP_handle h; + ros::spin(); + + return 0; +} diff --git a/src/perception/cam_calibration/CMakeLists.txt b/src/perception/cam_calibration/CMakeLists.txt new file mode 100644 index 00000000..0ae64c71 --- /dev/null +++ b/src/perception/cam_calibration/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(cam_calibration) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + common_msgs + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# common_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES cam_detect +# CATKIN_DEPENDS common_msgs rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/cam_detect.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/cam_detect_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_cam_detect.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/perception/cam_calibration/__init__.py b/src/perception/cam_calibration/__init__.py new file mode 100644 index 00000000..8b137891 --- /dev/null +++ b/src/perception/cam_calibration/__init__.py @@ -0,0 +1 @@ + diff --git a/src/perception/cam_calibration/calibration.py b/src/perception/cam_calibration/calibration.py new file mode 100755 index 00000000..b1205b94 --- /dev/null +++ b/src/perception/cam_calibration/calibration.py @@ -0,0 +1,193 @@ +#!/usr/bin/env python3 + +import cv2 +import numpy as np +from darknet import darknet +import time +from tqdm import tqdm +import rospkg + +# Class to get the path of ROS packages +rospack=rospkg.RosPack() + +def frames(file: str): + """Crea un array de algunos frames del vídeo + + Args: + file (str): ruta al vídeo + + Return: + numpy.array: vector con los frames extraídos""" + vid = cv2.VideoCapture(file) + lista = [] + i = 0 + while vid.grab(): + ret, frame = vid.read() + if ret and (i%10==0): + frame = cv2.resize(frame, (1920,1088)) + lista.append(frame) + i += 1 + vid.release() + return lista + +def intrinsecas(video:str, chess_size=(9,6), square_size=0.00239): + """ + Devuelve mtx, dist, rvecs, tvecs + """ + criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) + objp = np.zeros((chess_size[0]*chess_size[1],3), np.float32) + objp[:,:2] = square_size*np.mgrid[0:chess_size[0],0:chess_size[1]].T.reshape(-1,2) + objpoints = [] # 3d point in real world space + imgpoints = [] # 2d points in image plane. + imgs = frames(video) + + for img in tqdm(imgs): + gris = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) + ret, corners = cv2.findChessboardCorners(gris, chess_size) + if ret: + objpoints.append(objp) + corners2 = cv2.cornerSubPix(gris,corners,(11,11),(-1,-1),criteria) + imgpoints.append(corners2) + ret,mtx,dist,rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gris.shape[::-1],None,None) + return cv2.getOptimalNewCameraMatrix(mtx,dist,gris.shape[::-1],0)[0], dist, rvecs, tvecs + +def sort_detections_manual(cones_detected_info, pixel_error): + sorted_cones = [] + y_sort = sorted(cones_detected_info, key=lambda cone: cone[3][1], reverse=True) + for tip in y_sort: + x_sort = [] + level = list(filter(lambda cone: tip[3][1] - pixel_error < cone[3][1] < tip[3][1] + pixel_error, cones_detected_info)) + if len(level) > 0: + x_sort = sorted(level, key=lambda cone: cone[3][0]) + sorted_cones.extend(x_sort) + + sorted_cones_set = [] + for i,cone in enumerate(sorted_cones): + if cone not in sorted_cones_set: + sorted_cones_set.append(cone) + + return sorted_cones_set + +def cones_perception(detection): + """Obtener las bounding box de los conos de la imagen dada. + + Args: + detection (list): contains darknet detections + + Return: + list: coordinates of each bounding box with its prediction + """ + + cones_detected_info = [] + for label,confidence,box in detection: + xmin,ymin,xmax,_ = darknet.bbox2points(box) + mid = xmin + ((xmax-xmin) / 2) + cones_detected_info.append((label, confidence, box, [mid, ymin])) + + # Sorting cones_info first by x axis, then, y axis + sorted_detections = sort_detections_manual(cones_detected_info, 20) + + return np.array([t for _,_,_, t in sorted_detections],np.float32) + +def yolo_detect(img, cfg, weights, data): + """Obtener los pixeles de la punta de los conos + + Args: + img (numpy.ndarray): image from which get pixels + cfg (str): config file path + weights (str): weights file path + data (str): data file path + + Return: + list: detected cones + """ + net, names, _ = darknet.load_network(cfg, data, weights) + w_net, h_net = darknet.network_width(net), darknet.network_height(net) + frame = cv2.resize(img, (w_net, h_net)) + d_img = darknet.make_image(w_net, h_net, 3) + darknet.copy_image_from_bytes(d_img,frame.tobytes()) + detections = darknet.detect_image(net, names, d_img) + return detections + +def ordena_pixeles(cones_detected): + """Sort the cones detected in the image""" + + c1 = sorted(cones_detected, key=lambda x: x[1])[::-1][:2] + c2 = sorted(c1, key=lambda x: x[0]) + c3 = sorted(cones_detected, key=lambda x: x[1])[:2] + c4 = sorted(c3, key=lambda x: x[0]) + c = np.zeros((4,2)) + c[0], c[1], c[2], c[3] = c2[0], c2[1], c4[0], c4[1] + return c + +def escribe_txt(file,mat): + """Crea un archivo txt (o escribe en él si existe) y escribe en él la matriz + + Args: + file (str): directorio del archivo a escribir + mat (numpy.array): matriz para escribir + """ + np.savetxt(file, mat, fmt='%-1g') + + + + +# Paths +path_detect = rospack.get_path('cam_detect') +path_calib = rospack.get_path('cam_calibration') + +# Correct path in cones.data automatically +with open(path_detect + '/weights/cones.data', 'r') as data_file: + lines = data_file.readlines() +lines[3] = 'names = ' + path_detect + '/weights/cones.names' + '\n' +with open(path_detect + '/weights/cones.data', 'w') as archivo: + archivo.writelines(lines) + +cfg = path_detect + '/weights/cones-customanchors.cfg' +data = path_detect + '/weights/cones.data' +weights = path_detect + '/weights/cones5.weights' + +vid = path_calib + '/data/chessvid.mp4' # Chessboard video +image = path_calib + '/data/conos.png' # Cones image +text = path_calib + '/data/conos.txt' # File with the cones real coordinates + + + + + + + +# Get real cones coordinates from file +cones = np.loadtxt(text, dtype=np.float64) + +# Get intrinsic matrix and distortion coefficients +m_int, dist, _, _ = intrinsecas(video=vid) + +# Set up the image for detection +img_dist = cv2.imread(image) +img_res = cv2.resize(img_dist, (1920,1088)) +img_und = cv2.undistort(img_res, m_int, dist) +img = cv2.cvtColor(img_und, cv2.COLOR_BGR2RGB) + +# Detection +detections = yolo_detect(img, cfg, weights, data) +cones_detected = cones_perception(detections) +sorted_cones = ordena_pixeles(cones_detected) + +# Get the rotation and translation vectors +_, rvec1, tvec1 = cv2.solvePnP(cones, sorted_cones, m_int, dist, cv2.SOLVEPNP_IPPE) +_, rvec2, tvec2 = cv2.solvePnP(cones, sorted_cones, m_int, dist, rvec1, tvec1, True) + +rmat = cv2.Rodrigues(rvec2)[0] +hmat = rmat.copy() +hmat[:, 2] = tvec2.T +H = np.linalg.inv(m_int @ hmat) + +# Calcula la matriz de la homografía por findHomografy. Otra opción posible +#H = cv2.findHomography(sorted_cones, cones)[0] + +#Guardado de datos +escribe_txt(path_detect + '/data/mat_int.txt', m_int) # Matriz intrínseca +escribe_txt(path_detect + '/data/dist.txt', dist) # Coeficientes de distorsión +escribe_txt(path_calib + '/detecciones.txt', sorted_cones) # Coordenadas de los conos detectados +escribe_txt(path_detect + '/data/mat_hom.txt', H) # Matriz de homografía diff --git a/src/perception/cam_calibration/darknet/BaseClasses.py b/src/perception/cam_calibration/darknet/BaseClasses.py new file mode 100644 index 00000000..d38abfd1 --- /dev/null +++ b/src/perception/cam_calibration/darknet/BaseClasses.py @@ -0,0 +1,277 @@ +""" +This file includes various classes that will be usefull for many parts of cone detection. Mainly +ImageSize to store width, heights and overlaps; and Object to store detections in +it's different formats. + +@author Jacobo Pindado +@author 20211214 +""" +from dataclasses import dataclass +from math import floor +from copy import deepcopy + +# We use this dataclass for readability and to ease type checking. +@dataclass +class ImageSize: + width: int + height: int + overlap: int = 0 + + def __post_init__(self): + for k, v in vars(self).items(): + if v is None: + raise ValueError("The parameter {0} can't be of NoneType".format(k)) + + +@dataclass +class Point: + x: float + y: float + + def __add__(self, other): + if isinstance(other, Point): + rx = self.x + other.x + ry = self.y + other.y + return Point(rx, ry) + else: + raise TypeError("Cannot add {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def __sub__(self, other): + if isinstance(other, Point): + rx = self.x - other.x + ry = self.y - other.y + return Point(rx, ry) + else: + raise TypeError("Cannot subtract {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def __mul__(self, other): + if isinstance(other, Point): + rx = self.x*other.x + ry = self.y*other.y + return Point(rx, ry) + if isinstance(other, int) or isinstance(other, float): + rx = self.x*other + ry = self.y*other + return Point(rx, ry) + else: + raise TypeError("Cannot multiply {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + __rmul__ = __mul__ + + def __truediv__(self, other): + if isinstance(other, Point): + rx = self.x/other.x + ry = self.x/other.y + return Point(rx, ry) + elif isinstance(other, float) or isinstance(other, int): + rx = self.x/other + ry = self.y/other + return Point(rx, ry) + else: + raise TypeError("Cannot divide {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def to_int(self): + self.x = floor(self.x) + self.y = floor(self.y) + + def tuple(self): + return self.x, self.y + + def __str__(self): + return "({0},{1})".format(self.x, self.y) + + +class Rectangle: + + def __init__(self, tl: Point, br: Point): + if tl.x > br.x or tl.y > br.y: + raise ValueError("tl must be to the left and over br") + + self.tl = tl + self.br = br + self.width = br.x - tl.x + self.height = br.y - tl.y + + def copy(self): + return deepcopy(self) + + def get_shifted(self, point: Point, reverse: bool = False): + obj_ = self.copy() + xShift = point.x*(-1 if reverse else 1) + yShift = point.y*(-1 if reverse else 1) + obj_.tl.x += xShift + obj_.tl.y += yShift + obj_.br.x += xShift + obj_.br.y += yShift + return obj_ + + def overlapping_rectangle(self, rect): + rx1 = min(self.tl.x, rect.tl.x) + ry1 = min(self.tl.y, rect.tl.y) + rx2 = max(self.br.x, rect.br.x) + ry2 = max(self.br.y, rect.br.y) + + rtl = Point(rx1, ry1) + rbr = Point(rx2, ry2) + return Rectangle(rtl, rbr) + + def intersect(self, other): + if isinstance(other, Rectangle): + rx1 = max(self.tl.x, other.tl.x) + ry1 = max(self.tl.y, other.tl.y) + rx2 = min(self.br.x, other.br.x) + ry2 = min(self.br.y, other.br.y) + + rtl = Point(rx1, ry1) + rbr = Point(rx2, ry2) + # This would be an empty intersection. + if rtl.x >= rbr.x or rtl.y >= rbr.y: + return None + return Rectangle(rtl, rbr) + elif isinstance(other, list): + rRect = self + for r in other: + rRect.intersect(r) + + return rRect + else: + raise TypeError("Cannot intersect {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def area(self): + return self.width * self.height + + def union_area(self, other): + if isinstance(other, Rectangle): + intersection = self.intersect(other) + inter_area = 0 if intersection is None else intersection.area() + return self.area() + other.area() - inter_area + else: + raise TypeError("Cannot intersect {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def to_int(self): + self.tl.to_int() + self.br.to_int() + + self.width = floor(self.width) + self.height = floor(self.height) + + def __str__(self): + return "{0},{1}".format(self.tl.__str__, self.br.__str__) + + +class Object(Rectangle): + # TODO include object name and/or id for future + # object_class = 0 + + def __init__(self, tl: Point, width: int, height: int, + object_class: int, image_size: ImageSize): + self.image_size = image_size + self.object_class = object_class + + br = tl + Point(width, height) + super().__init__(tl, br) + + def __str__(self): + return "Obj({0}, [{1},{2}])".format(self.object_class, self.tl, self.br) + + __repr__ = __str__ + + def __add__(self, other): + if isinstance(other, Object) or isinstance(other, Rectangle): + rx1 = min(self.tl.x, other.tl.x) + ry1 = min(self.tl.y, other.tl.y) + rx2 = max(self.br.x, other.br.x) + ry2 = max(self.br.y, other.br.y) + + rtl = Point(rx1, ry1) + rbr = Point(rx2, ry2) + return Object.from_points(rtl, rbr, self.object_class, self.image_size) + elif isinstance(other, Point): + return other + self + else: + raise TypeError("Cannot add {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def from_rect(rect: Rectangle, object_class: int, image_size: ImageSize): + return Object(rect.tl, rect.width, rect.height, object_class, image_size) + + def from_points(tl: Point, br: Point, object_class: int, image_size: ImageSize): + width = br.x - tl.x + height = br.y - tl.y + return Object(tl, width, height, object_class, image_size) + + def intersect(self, other): + if isinstance(other, Rectangle): + rRect = Rectangle.intersect(self, other) + if rRect is not None: + return Object(rRect.tl, rRect.width, rRect.height, + self.object_class, self.image_size) + else: + return None + elif isinstance(other, Object): + if self.object_class == other.object_class: + rRect = super().intersect(other) + if rRect is not None: + return Object(rRect.tl, rRect.width, rRect.height, + self.object_class, self.image_size) + else: + return None + else: + return None + + def fromMIT(x1: int, y1: int, height: int, width: int, + image_size: ImageSize, object_class: int = 0): + if x1 is None or y1 is None: + raise ValueError("The coordinates of the point can't be of NoneType") + elif height is None or width is None: + raise ValueError("Width and height values can't be of NoneType") + elif image_size is None: + raise ValueError("image_size can't be of NoneType") + + rtl = Point(x1, y1) + + return Object(rtl, width, height, object_class, image_size) + + def fromMITStr(string: str, image_size: ImageSize): + def str2tuple(s): return tuple(int(n) for n in s.strip("[]").split(",")) + return Object.fromMIT(*str2tuple(string), image_size) + + def to_YOLO(self): + center = (self.tl + self.br)/2 + center.x /= self.image_size.width + center.y /= self.image_size.height + + rwidth = self.width / self.image_size.width + rheight = self.height / self.image_size.height + + assert 0 < center.x < 1 \ + and 0 < center.y < 1 \ + and 0 < rwidth < 1 \ + and 0 < rheight < 1 + + return center, rwidth, rheight + + def from_YOLO(center: Point, width: float, height: float, object_class: int, image_size): + # factor = Point(image_size.width, image_size.height) + wh_vector = Point(width, height)/2 + + rtl = (center - wh_vector) # * factor + # rwidth *= image_size.width + # rheight *= image_size.height + + return Object(rtl, width, height, object_class, image_size) + + def to_YOLO_str(self): + center, width, height = self.to_YOLO() + output_string = "{0} {1:06f} {2:06f} {3:06f} {4:06f}".format(0, + center.x, + center.y, + width, + height) + return output_string diff --git a/src/perception/cam_calibration/darknet/ImageSlicer.py b/src/perception/cam_calibration/darknet/ImageSlicer.py new file mode 100644 index 00000000..cc3ea185 --- /dev/null +++ b/src/perception/cam_calibration/darknet/ImageSlicer.py @@ -0,0 +1,139 @@ +""" +Classes to split and stitch images in slices that will later be used for YOLO. This allows +for training data and production images to be configured in the right size. This is done +to overcome the size limitations of YOLO detectors. + +@author Jacobo Pindado +@date 20211214 +""" +import numpy as np +from typing import List, Tuple +from math import ceil + +from .BaseClasses import Point, ImageSize, Rectangle, Object + + +class Slice(Rectangle): + def __init__(self, tl: Point, slice_size: ImageSize, image: np.ndarray, + image_size: ImageSize): + + self.image = image + self.image_size = image_size + self.slice_size = slice_size + self.overlap = slice_size.overlap + + br = tl + Point(slice_size.width, slice_size.height) + super().__init__(tl, br) + + # Numpy slices have their coordinates flipped + self.slice_image = image[self.tl.y:self.br.y, self.tl.x:self.br.x, ::] + + def slice_objects(self, + objects: List[Object], + min_size: int = 0, + pad_shift: Point = None): + rObjects = list() + + for o in objects: + obj_ = o.get_shifted(pad_shift).intersect(self) + + if obj_ is None \ + or obj_.width < min_size \ + or obj_.height < min_size: + continue + + obj_ = obj_.get_shifted(self.tl, reverse=True) + obj_.image_size = self.slice_size + + rObjects.append(obj_) + + return rObjects + + def __add__(self, other): + if isinstance(other, Point): + rtl = self.tl + other + + return Slice(rtl, self.slice_size, self.image, self.image_size) + + def __sub__(self, other): + if isinstance(other, Point): + rtl = self.tl - other + + return Slice(rtl, self.slice_size, self.image, self.image_size) + + __rsub__ = __sub__ + + def __str__(self): + return "Slice([{0},{1}])".format(self.tl, self.br) + + +class SliceIterator: + # If w_m is the maximum width, w is the input image width and o is the overlap, the number + # of rows will be (w-w_m)//(w_m-o) + 2. This is the same as floor((w-w_m)/(w_m-o)) + 1. + # Idem. for number of columns. + def __init__(self, image: np.ndarray, image_size: ImageSize, slice_size: ImageSize, + objects: List[Object] = None, + min_object_size: int = 0, + output_image_dims: Tuple[int] = None): + + self.slice_size = slice_size + self.objects = objects + self.min_object_size = min_object_size + + # Calculating the number of total slices, columns and rows + if output_image_dims is None: + self.cols, self.rows, output_width, output_height = SliceIterator.output_image_size(image_size, slice_size) # noqa + else: + self.cols, self.rows, output_width, output_height = output_image_dims + + self.total = self.cols * self.rows + self.current = 0 + + # This image will be the one used for the slices. We need this so that every piece has the + # same size. Padding will be applied equaly so that the resulting image is centered. This is + # to prevent posible slice configurations causing mostly black images. + self.pad_width = ceil((output_width - image_size.width)/2) + self.pad_height = ceil((output_height - image_size.height)/2) + self.pad_shift = Point(self.pad_width, self.pad_height) + + self.padded_image = np.pad(image, + [(self.pad_height, self.pad_height), + (self.pad_width, self.pad_width), (0, 0)], + mode='constant', + constant_values=0) + + # Elements for iterator + self.col_shift = Point(slice_size.width, 0) + self.row_shift = Point(0, slice_size.height) + self.initial_slice = Slice(Point(0, 0), self.slice_size, self.padded_image, image_size) + + def __iter__(self): + return self + + def __next__(self): + if self.current >= self.total: + raise StopIteration + + cur_col = self.current % self.cols + cur_row = self.current // self.cols + + shift = self.col_shift*cur_col + self.row_shift*cur_row + + slice = self.initial_slice + shift + + rObjects = slice.slice_objects(self.objects, + min_size=self.min_object_size, + pad_shift=self.pad_shift) + + self.current += 1 + return cur_col, cur_row, slice, rObjects + + def output_image_size(image_size: ImageSize, slice_size: ImageSize): + cols = ceil((image_size.width-slice_size.width)/(slice_size.width-slice_size.overlap)) + 1 + rows = ceil((image_size.height-slice_size.height)/(slice_size.height-slice_size.overlap))+1 + + output_width = slice_size.width + (slice_size.width - slice_size.overlap)*(cols - 1) + + output_height = slice_size.height + (slice_size.height - slice_size.overlap)*(rows - 1) + + return cols, rows, output_width, output_height diff --git a/src/perception/cam_calibration/darknet/__init__.py b/src/perception/cam_calibration/darknet/__init__.py new file mode 100644 index 00000000..6db393e2 --- /dev/null +++ b/src/perception/cam_calibration/darknet/__init__.py @@ -0,0 +1,3 @@ +from . import BaseClasses +from . import darknet +from . import ImageSlicer diff --git a/src/perception/cam_calibration/darknet/darknet.py b/src/perception/cam_calibration/darknet/darknet.py new file mode 100644 index 00000000..40684a86 --- /dev/null +++ b/src/perception/cam_calibration/darknet/darknet.py @@ -0,0 +1,282 @@ +#!/usr/bin/env python3 +""" +Python 3 wrapper for identifying objects in images + +Requires DLL compilation + +Both the GPU and no-GPU version should be compiled; the no-GPU version should be renamed +"yolo_cpp_dll_nogpu.dll". + +On a GPU system, you can force CPU evaluation by any of: + +- Set global variable DARKNET_FORCE_CPU to True +- Set environment variable CUDA_VISIBLE_DEVICES to -1 +- Set environment variable "FORCE_CPU" to "true" + +Directly viewing or returning bounding-boxed images requires scikit-image to be installed +(`pip install scikit-image`) + +Original *nix 2.7: https://github.com/pjreddie/darknet/blob/0f110834f4e18b30d5f101bf8f1724c34b7b83db/python/darknet.py # noqa +Windows Python 2.7 version: https://github.com/AlexeyAB/darknet/blob/fc496d52bf22a0bb257300d3c79be9cd80e722cb/build/darknet/x64/darknet.py # noqa + +@author: Philip Kahn +@date: 20180503 +""" +from ctypes import Structure, c_float, c_int, POINTER, CDLL, RTLD_GLOBAL, c_char_p, pointer,\ + c_ubyte, c_void_p, c_long +import random +import os + + +class BOX(Structure): + _fields_ = [("x", c_float), + ("y", c_float), + ("w", c_float), + ("h", c_float)] + + +class DETECTION(Structure): + _fields_ = [("bbox", BOX), + ("classes", c_int), + ("prob", POINTER(c_float)), + ("mask", POINTER(c_float)), + ("objectness", c_float), + ("sort_class", c_int), + ("uc", POINTER(c_float)), + ("points", c_int), + ("embeddings", POINTER(c_float)), + ("embedding_size", c_int), + ("sim", c_float), + ("track_id", c_int)] + + +class DETNUMPAIR(Structure): + _fields_ = [("num", c_int), + ("dets", POINTER(DETECTION))] + + +class IMAGE(Structure): + _fields_ = [("w", c_int), + ("h", c_int), + ("c", c_int), + ("data", POINTER(c_float))] + + +class METADATA(Structure): + _fields_ = [("classes", c_int), + ("names", POINTER(c_char_p))] + + +def c_array(ctype, values): + return (ctype * len(values))(*values) + + +def network_width(net): + return lib.network_width(net) + + +def network_height(net): + return lib.network_height(net) + + +def bbox2points(bbox): + """ + From bounding box yolo format + to corner points cv2 rectangle + """ + x, y, w, h = bbox + xmin = int(round(x - (w / 2))) + xmax = int(round(x + (w / 2))) + ymin = int(round(y - (h / 2))) + ymax = int(round(y + (h / 2))) + return xmin, ymin, xmax, ymax + + +def class_colors(names): + """ + Create a dict with one random BGR color for each + class name + """ + return {name: ( + random.randint(0, 255), + random.randint(0, 255), + random.randint(0, 255)) for name in names} + + +def load_network(config_file, data_file, weights, batch_size=1): + """ + load model description and weights from config files + args: + config_file (str): path to .cfg model file + data_file (str): path to .data model file + weights (str): path to weights + returns: + network: trained model + class_names + class_colors + """ + network = load_net_custom( + config_file.encode("ascii"), + weights.encode("ascii"), 0, batch_size) + metadata = load_meta(data_file.encode("ascii")) + class_names = [metadata.names[i].decode("ascii") for i in range(metadata.classes)] + colors = class_colors(class_names) + return network, class_names, colors + + +def print_detections(detections, coordinates=False): + print("\nObjects:") + for label, confidence, bbox in detections: + x, y, w, h = bbox + if coordinates: + print("{}: {}% (left_x: {:.0f} top_y: {:.0f} width: {:.0f} height: {:.0f})" + .format(label, confidence, x, y, w, h)) + else: + print("{}: {}%".format(label, confidence)) + + +def draw_boxes(detections, image, colors): + import cv2 + for label, confidence, bbox in detections: + left, top, right, bottom = bbox2points(bbox) + cv2.rectangle(image, (left, top), (right, bottom), colors[label], 1) + cv2.putText(image, "{} [{:.2f}]".format(label, float(confidence)), + (left, top - 5), cv2.FONT_HERSHEY_SIMPLEX, 0.5, + colors[label], 2) + return image + + +def decode_detection(detections): + decoded = [] + for label, confidence, bbox in detections: + confidence = str(round(confidence * 100, 2)) + decoded.append((str(label), confidence, bbox)) + return decoded + + +def remove_negatives(detections, class_names, num): + """ + Remove all classes with 0% confidence within the detection + """ + predictions = [] + for j in range(num): + for idx, name in enumerate(class_names): + if detections[j].prob[idx] > 0: + bbox = detections[j].bbox + bbox = (bbox.x, bbox.y, bbox.w, bbox.h) + predictions.append((name, detections[j].prob[idx], (bbox))) + return predictions + + +def detect_image(network, class_names, image, thresh=.5, hier_thresh=.5, nms=.45): + """ + Returns a list with highest confidence class and their bbox + """ + pnum = pointer(c_int(0)) + predict_image(network, image) + detections = get_network_boxes(network, image.w, image.h, + thresh, hier_thresh, None, 0, pnum, 0) + num = pnum[0] + if nms: + do_nms_sort(detections, num, len(class_names), nms) + predictions = remove_negatives(detections, class_names, num) + predictions = decode_detection(predictions) + free_detections(detections, num) + return sorted(predictions, key=lambda x: x[1]) + + + +hasGPU = True +lib_path = os.path.join(os.path.dirname(__file__), "libdarknet.so") +lib = CDLL(lib_path, RTLD_GLOBAL) + +lib.network_width.argtypes = [c_void_p] +lib.network_width.restype = c_int +lib.network_height.argtypes = [c_void_p] +lib.network_height.restype = c_int + +copy_image_from_bytes = lib.copy_image_from_bytes +copy_image_from_bytes.argtypes = [IMAGE, c_char_p] + +predict = lib.network_predict_ptr +predict.argtypes = [c_void_p, POINTER(c_float)] +predict.restype = POINTER(c_float) + +if hasGPU: + set_gpu = lib.cuda_set_device + set_gpu.argtypes = [c_int] + +init_cpu = lib.init_cpu + +make_image = lib.make_image +make_image.argtypes = [c_int, c_int, c_int] +make_image.restype = IMAGE + +get_network_boxes = lib.get_network_boxes +get_network_boxes.argtypes = [c_void_p, c_int, c_int, c_float, c_float, POINTER(c_int), c_int, + POINTER(c_int), c_int] +get_network_boxes.restype = POINTER(DETECTION) + +make_network_boxes = lib.make_network_boxes +make_network_boxes.argtypes = [c_void_p] +make_network_boxes.restype = POINTER(DETECTION) + +free_detections = lib.free_detections +free_detections.argtypes = [POINTER(DETECTION), c_int] + +free_batch_detections = lib.free_batch_detections +free_batch_detections.argtypes = [POINTER(DETNUMPAIR), c_int] + +free_ptrs = lib.free_ptrs +free_ptrs.argtypes = [POINTER(c_void_p), c_int] + +network_predict = lib.network_predict_ptr +network_predict.argtypes = [c_void_p, POINTER(c_float)] + +reset_rnn = lib.reset_rnn +reset_rnn.argtypes = [c_void_p] + +load_net = lib.load_network +load_net.argtypes = [c_char_p, c_char_p, c_int] +load_net.restype = c_void_p + +load_net_custom = lib.load_network_custom +load_net_custom.argtypes = [c_char_p, c_char_p, c_int, c_int] +load_net_custom.restype = c_void_p + +do_nms_obj = lib.do_nms_obj +do_nms_obj.argtypes = [POINTER(DETECTION), c_int, c_int, c_float] + +do_nms_sort = lib.do_nms_sort +do_nms_sort.argtypes = [POINTER(DETECTION), c_int, c_int, c_float] + +free_image = lib.free_image +free_image.argtypes = [IMAGE] + +letterbox_image = lib.letterbox_image +letterbox_image.argtypes = [IMAGE, c_int, c_int] +letterbox_image.restype = IMAGE + +load_meta = lib.get_metadata +lib.get_metadata.argtypes = [c_char_p] +lib.get_metadata.restype = METADATA + +load_image = lib.load_image_color +load_image.argtypes = [c_char_p, c_int, c_int] +load_image.restype = IMAGE + +rgbgr_image = lib.rgbgr_image +rgbgr_image.argtypes = [IMAGE] + +predict_image = lib.network_predict_image +predict_image.argtypes = [c_void_p, IMAGE] +predict_image.restype = POINTER(c_float) + +predict_image_letterbox = lib.network_predict_image_letterbox +predict_image_letterbox.argtypes = [c_void_p, IMAGE] +predict_image_letterbox.restype = POINTER(c_float) + +network_predict_batch = lib.network_predict_batch +network_predict_batch.argtypes = [c_void_p, IMAGE, c_int, c_int, c_int, + c_float, c_float, POINTER(c_int), c_int, c_int] +network_predict_batch.restype = POINTER(DETNUMPAIR) diff --git a/src/perception/cam_calibration/data/chessvid.mp4 b/src/perception/cam_calibration/data/chessvid.mp4 new file mode 100644 index 00000000..8b7d4655 Binary files /dev/null and b/src/perception/cam_calibration/data/chessvid.mp4 differ diff --git a/src/perception/cam_calibration/data/conos.png b/src/perception/cam_calibration/data/conos.png new file mode 100644 index 00000000..756f9ceb Binary files /dev/null and b/src/perception/cam_calibration/data/conos.png differ diff --git a/src/perception/cam_calibration/data/conos.txt b/src/perception/cam_calibration/data/conos.txt new file mode 100644 index 00000000..57b093f8 --- /dev/null +++ b/src/perception/cam_calibration/data/conos.txt @@ -0,0 +1,4 @@ +2 2 0 +2 -2 0 +4 2 0 +4 -2 0 diff --git a/src/perception/cam_calibration/data/readme b/src/perception/cam_calibration/data/readme new file mode 100644 index 00000000..e69de29b diff --git a/src/perception/cam_calibration/detecciones.txt b/src/perception/cam_calibration/detecciones.txt new file mode 100644 index 00000000..c31d67ad --- /dev/null +++ b/src/perception/cam_calibration/detecciones.txt @@ -0,0 +1,4 @@ +243 707 +1690 755 +603.5 565 +1316.5 583 diff --git a/src/perception/cam_calibration/disposition.png b/src/perception/cam_calibration/disposition.png new file mode 100644 index 00000000..1d4bf00d Binary files /dev/null and b/src/perception/cam_calibration/disposition.png differ diff --git a/src/perception/cam_calibration/package.xml b/src/perception/cam_calibration/package.xml new file mode 100644 index 00000000..8c4b6d03 --- /dev/null +++ b/src/perception/cam_calibration/package.xml @@ -0,0 +1,68 @@ + + + cam_calibration + 0.0.0 + The cam_detect package + + + + + igsais + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + common_msgs + rospy + std_msgs + common_msgs + rospy + std_msgs + common_msgs + rospy + std_msgs + + + + + + + + diff --git a/src/perception/cam_calibration/readme.md b/src/perception/cam_calibration/readme.md new file mode 100644 index 00000000..f111dcf9 --- /dev/null +++ b/src/perception/cam_calibration/readme.md @@ -0,0 +1,10 @@ +### Pasos para conseguir la matriz de homografía de la cámara +1. Ejecutar el script _saycheese.py_ para hacer foto de los conos con la disposición que aparece en la [imagen](disposition.png) y después grabar el vídeo del tablero de ajedrez. +2. Cambiar el archivo conos.txt con las coordenadas de los conos con 0 en la variable z (no usar comas para separar las coordenadas). +3. Ejecutar el script calibration.py +4. La matriz de homografía se guardará en el archivo mathom.txt, la matriz de intrínsecas en matint.txt. +--- +### Para ejecutar en un nuevo equipo +- Cambiar también la variable **cam_index** el script _saycheese.py_ para que coincida con el índice de la cámara conectada y, si es necesario, cambiar el tiempo que dura la grabación. +- Cambiar la ruta en el archivo _cones.data_ de la carpeta _weights_ para que coincida con el del equipo. +- Añadir el archivo _libdarknet_.so a la carpeta darknet. \ No newline at end of file diff --git a/src/perception/cam_calibration/saycheese.py b/src/perception/cam_calibration/saycheese.py new file mode 100644 index 00000000..3db64634 --- /dev/null +++ b/src/perception/cam_calibration/saycheese.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python3 + +import cv2 +import time +import rospkg +# Class to get the path of ROS packages +rospack=rospkg.RosPack() + +### Configuration parameters + +# Cam info +cam_index = 0 + +# Video duration in seconds +T=45 + +# ROS pkg path +path_calib = rospack.get_path('cam_calibration') + + +### Functions +def foto(index=0): + cam = cv2.VideoCapture(index) + ret, img = cam.read() + if ret: + cv2.imwrite(path_calib + '/data/conos.png',img) + cam.release() + +def video(dur, index=0): + cam = cv2.VideoCapture(index) + fourcc = cv2.VideoWriter_fourcc(*'mp4v') + w = 1920 + h = 1088 + fps = cam.get(cv2.CAP_PROP_FPS) + out = cv2.VideoWriter(path_calib + '/data/chessvid.mp4', fourcc, fps, (w,h)) + t0=time.time() + + while ((time.time() - t0) <= dur): + ret, frame = cam.read() + if not ret: + raise Exception('Camera error.') + if cv2.waitKey(1) == ord('q'): + break + cv2.imshow('Recording...', frame) + if (frame.shape[1] != w) or (frame.shape[0] != h): + frame = cv2.resize(frame, (w,h)) + out.write(frame) + cam.release() + out.release() + cv2.destroyAllWindows() + + +### Main +if __name__ == '__main__': + input('Presiona enter para hacer una foto.') + foto(index=cam_index) + input('Presiona enter para hacer un vídeo.') + video(T, index=cam_index) + print('Completado.') diff --git a/src/perception/cam_perception/CMakeLists.txt b/src/perception/cam_perception/CMakeLists.txt new file mode 100644 index 00000000..eeb3fc9e --- /dev/null +++ b/src/perception/cam_perception/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(cam_detect) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + common_msgs + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# common_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES cam_detect +# CATKIN_DEPENDS common_msgs rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/cam_detect.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/cam_detect_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_cam_detect.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/perception/cam_perception/config/params.yaml b/src/perception/cam_perception/config/params.yaml new file mode 100644 index 00000000..376640e9 --- /dev/null +++ b/src/perception/cam_perception/config/params.yaml @@ -0,0 +1,2 @@ +#Camera or video +cam : '/home/igsais/Escritorio/ARUS/recta.mp4' #2 diff --git a/src/perception/cam_perception/data/dist.txt b/src/perception/cam_perception/data/dist.txt new file mode 100644 index 00000000..3bc8eb5c --- /dev/null +++ b/src/perception/cam_perception/data/dist.txt @@ -0,0 +1 @@ +-0.65088 0.506715 -0.0406738 -0.00388157 -0.695899 diff --git a/src/perception/cam_perception/data/mat_hom.txt b/src/perception/cam_perception/data/mat_hom.txt new file mode 100644 index 00000000..e6ae319b --- /dev/null +++ b/src/perception/cam_perception/data/mat_hom.txt @@ -0,0 +1,3 @@ +4.53609e-05 -0.00128757 1.28361 +-0.000543684 3.06061e-05 0.511167 +-1.26237e-05 0.00037871 -0.0717915 diff --git a/src/perception/cam_perception/data/mat_int.txt b/src/perception/cam_perception/data/mat_int.txt new file mode 100644 index 00000000..24e20357 --- /dev/null +++ b/src/perception/cam_perception/data/mat_int.txt @@ -0,0 +1,3 @@ +1844.57 0 920.05 +0 1382.06 624.618 +0 0 1 diff --git a/src/perception/cam_perception/launch/cam_detect.launch b/src/perception/cam_perception/launch/cam_detect.launch new file mode 100755 index 00000000..3cc100db --- /dev/null +++ b/src/perception/cam_perception/launch/cam_detect.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/perception/cam_perception/launch/cam_stream.launch b/src/perception/cam_perception/launch/cam_stream.launch new file mode 100644 index 00000000..25aebc7c --- /dev/null +++ b/src/perception/cam_perception/launch/cam_stream.launch @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/src/perception/cam_perception/package.xml b/src/perception/cam_perception/package.xml new file mode 100644 index 00000000..6c5a92cd --- /dev/null +++ b/src/perception/cam_perception/package.xml @@ -0,0 +1,68 @@ + + + cam_detect + 0.0.0 + The cam_detect package + + + + + igsais + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + common_msgs + rospy + std_msgs + common_msgs + rospy + std_msgs + common_msgs + rospy + std_msgs + + + + + + + + diff --git a/src/perception/cam_perception/src/__init__.py b/src/perception/cam_perception/src/__init__.py new file mode 100644 index 00000000..50717347 --- /dev/null +++ b/src/perception/cam_perception/src/__init__.py @@ -0,0 +1,3 @@ +from darknet import darknet +from darknet import BaseClasses +from darknet import ImageSlicer diff --git a/src/perception/cam_perception/src/cones_detect.py b/src/perception/cam_perception/src/cones_detect.py new file mode 100755 index 00000000..961826f3 --- /dev/null +++ b/src/perception/cam_perception/src/cones_detect.py @@ -0,0 +1,138 @@ +#!/usr/bin/env python3 +import rospy +import cv2 +import numpy as np +from common_msgs.msg import Cone, Map +from darknet import darknet +from geometry_msgs.msg import Point +from visualization_msgs.msg import MarkerArray,Marker +from sensor_msgs.msg import Image +from cv_bridge import CvBridge +import rospkg + +class Cone_detect(): + + def __init__(self): + self.sub = rospy.Subscriber("/cam/image_raw", Image, self.detecta, queue_size=1) + self.pub = rospy.Publisher("/cam/cones", Map, queue_size=15) #Publisher de los conos detectados + self.pub2 = rospy.Publisher("/cam_marker",MarkerArray,queue_size=1) #Publisher de los markers + self.pub4 = rospy.Publisher("/cam/image_rviz",Image,queue_size=1) #Publisher de la imagen + rospack = rospkg.RosPack() + self.path = rospack.get_path('cam_detect') #Ruta del equipo + mat_hom = self.path + '/data/mat_hom.txt' #Ruta de la matriz de homografía + mat_int = self.path + '/data/mat_int.txt' #Ruta de la matriz intrínseca + dist_path = self.path + '/data/dist.txt' #Ruta del archivo de distorsión + self.hom = np.loadtxt(mat_hom) #Matriz de homografía + self.int = np.loadtxt(mat_int) #Matriz intrínseca + self.dist = np.loadtxt(dist_path) #Matriz de distorsión + self.bridge = CvBridge() + + #YOLO + self.cfg = self.path + '/weights/cones-customanchors.cfg' + self.data = self.path + '/weights/cones.data' + self.weights = self.path + '/weights/cones5.weights' + self.net, self.names, self.colors = darknet.load_network(self.cfg, self.data, self.weights) + self.w_net, self.h_net = darknet.network_width(self.net), darknet.network_height(self.net) + + + def yolo_detect(self, img: np.ndarray): + #frame = cv2.resize(img, (self.w_net, self.h_net)) + d_img = darknet.make_image(self.w_net, self.h_net, 3) + darknet.copy_image_from_bytes(d_img,img.tobytes()) + detections = darknet.detect_image(self.net, self.names, d_img) + return detections + + def cones_perception(self, detection: list): + cones_detected_info = [] + for label,confidence,box in detection: + xmin,ymin,xmax,_ = darknet.bbox2points(box) + mid = xmin + ((xmax-xmin) / 2) + cones_detected_info.append((label, confidence, [mid, ymin,1])) #añado 1 para cuadrar dimensiones con la matriz de la homografía + return cones_detected_info + + def colorea(self,color_cone): + """Función que devuelve el color del cono detectado en el formato de la clase Cone""" + if color_cone == 'blue_cone': + col = 'b' + elif color_cone == 'yellow_cone': + col = 'y' + else: + col = 'o' + return col + + def detecta(self, frame): + img_cv2 = self.bridge.imgmsg_to_cv2(frame, "bgr8") + img_res = cv2.resize(img_cv2, (self.w_net, self.h_net)) + img_und = cv2.undistort(img_res, self.int, self.dist) # Probar los colores de la imagen!!! + img = cv2.cvtColor(img_und, cv2.COLOR_BGR2RGB) # Quitar y renombrar si no es necesario!!! + detections = self.yolo_detect(img) + cones_detected_info = self.cones_perception(detections) + #Mostrar img en rviz + img_msg = self.bridge.cv2_to_imgmsg(img_und, encoding="bgr8") + self.pub4.publish(img_msg) + MA = MarkerArray() + ind=0 + map = Map() + for (tipo, segur, box) in cones_detected_info: + if float(segur)>80: + array = np.array(box) + #Publica los conos homografiados + coord = self.hom @ array + coord /= coord[2] + cone = Cone() + cone.position = Point(coord[0], coord[1], 0.32) + cone.color = self.colorea(tipo) + cone.confidence = np.float64(segur) + map.cones.append(cone) + + + #Mostrar conos en rviz + M = Marker() + M.id = ind + M.header.frame_id = "map" + M.type = Marker.CYLINDER + M.action = Marker.ADD + M.scale.x = 0.2 + M.scale.y = 0.2 + M.scale.z = 0.5 + M.color.a = 1 + if cone.color=='y': + M.color.r = 1.0 + M.color.g = 1.0 + M.color.b = 0.0 + elif cone.color=='b': + M.color.r = 0.0 + M.color.g = 0.0 + M.color.b = 1.0 + else: + M.color.r = 1.0 + M.color.g = 0.0 + M.color.b = 0.0 + M.pose.position.x = cone.position.x + M.pose.position.y = cone.position.y + M.pose.position.z = 0 + MA.markers.append(M) + ind +=1 + self.pub.publish(map) + self.pub2.publish(MA) + + + +class Video_stream(): + def __init__(self): + self.freq = 30 #frecuencia de publicación de la cámara + self.pub = rospy.Publisher("/cam/image_raw", Image, queue_size=1) + self.cam = rospy.get_param("/cam_stream/cam") + self.vid = cv2.VideoCapture(self.cam) + self.bridge = CvBridge() + self.rate = rospy.Rate(self.freq) + + def stream(self): + while not rospy.is_shutdown(): + ret, frame = self.vid.read() + if ret: + img = self.bridge.cv2_to_imgmsg(frame, encoding="bgr8") + self.pub.publish(img) + self.rate.sleep() + self.vid.release() + diff --git a/src/perception/cam_perception/src/darknet/BaseClasses.py b/src/perception/cam_perception/src/darknet/BaseClasses.py new file mode 100644 index 00000000..d38abfd1 --- /dev/null +++ b/src/perception/cam_perception/src/darknet/BaseClasses.py @@ -0,0 +1,277 @@ +""" +This file includes various classes that will be usefull for many parts of cone detection. Mainly +ImageSize to store width, heights and overlaps; and Object to store detections in +it's different formats. + +@author Jacobo Pindado +@author 20211214 +""" +from dataclasses import dataclass +from math import floor +from copy import deepcopy + +# We use this dataclass for readability and to ease type checking. +@dataclass +class ImageSize: + width: int + height: int + overlap: int = 0 + + def __post_init__(self): + for k, v in vars(self).items(): + if v is None: + raise ValueError("The parameter {0} can't be of NoneType".format(k)) + + +@dataclass +class Point: + x: float + y: float + + def __add__(self, other): + if isinstance(other, Point): + rx = self.x + other.x + ry = self.y + other.y + return Point(rx, ry) + else: + raise TypeError("Cannot add {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def __sub__(self, other): + if isinstance(other, Point): + rx = self.x - other.x + ry = self.y - other.y + return Point(rx, ry) + else: + raise TypeError("Cannot subtract {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def __mul__(self, other): + if isinstance(other, Point): + rx = self.x*other.x + ry = self.y*other.y + return Point(rx, ry) + if isinstance(other, int) or isinstance(other, float): + rx = self.x*other + ry = self.y*other + return Point(rx, ry) + else: + raise TypeError("Cannot multiply {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + __rmul__ = __mul__ + + def __truediv__(self, other): + if isinstance(other, Point): + rx = self.x/other.x + ry = self.x/other.y + return Point(rx, ry) + elif isinstance(other, float) or isinstance(other, int): + rx = self.x/other + ry = self.y/other + return Point(rx, ry) + else: + raise TypeError("Cannot divide {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def to_int(self): + self.x = floor(self.x) + self.y = floor(self.y) + + def tuple(self): + return self.x, self.y + + def __str__(self): + return "({0},{1})".format(self.x, self.y) + + +class Rectangle: + + def __init__(self, tl: Point, br: Point): + if tl.x > br.x or tl.y > br.y: + raise ValueError("tl must be to the left and over br") + + self.tl = tl + self.br = br + self.width = br.x - tl.x + self.height = br.y - tl.y + + def copy(self): + return deepcopy(self) + + def get_shifted(self, point: Point, reverse: bool = False): + obj_ = self.copy() + xShift = point.x*(-1 if reverse else 1) + yShift = point.y*(-1 if reverse else 1) + obj_.tl.x += xShift + obj_.tl.y += yShift + obj_.br.x += xShift + obj_.br.y += yShift + return obj_ + + def overlapping_rectangle(self, rect): + rx1 = min(self.tl.x, rect.tl.x) + ry1 = min(self.tl.y, rect.tl.y) + rx2 = max(self.br.x, rect.br.x) + ry2 = max(self.br.y, rect.br.y) + + rtl = Point(rx1, ry1) + rbr = Point(rx2, ry2) + return Rectangle(rtl, rbr) + + def intersect(self, other): + if isinstance(other, Rectangle): + rx1 = max(self.tl.x, other.tl.x) + ry1 = max(self.tl.y, other.tl.y) + rx2 = min(self.br.x, other.br.x) + ry2 = min(self.br.y, other.br.y) + + rtl = Point(rx1, ry1) + rbr = Point(rx2, ry2) + # This would be an empty intersection. + if rtl.x >= rbr.x or rtl.y >= rbr.y: + return None + return Rectangle(rtl, rbr) + elif isinstance(other, list): + rRect = self + for r in other: + rRect.intersect(r) + + return rRect + else: + raise TypeError("Cannot intersect {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def area(self): + return self.width * self.height + + def union_area(self, other): + if isinstance(other, Rectangle): + intersection = self.intersect(other) + inter_area = 0 if intersection is None else intersection.area() + return self.area() + other.area() - inter_area + else: + raise TypeError("Cannot intersect {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def to_int(self): + self.tl.to_int() + self.br.to_int() + + self.width = floor(self.width) + self.height = floor(self.height) + + def __str__(self): + return "{0},{1}".format(self.tl.__str__, self.br.__str__) + + +class Object(Rectangle): + # TODO include object name and/or id for future + # object_class = 0 + + def __init__(self, tl: Point, width: int, height: int, + object_class: int, image_size: ImageSize): + self.image_size = image_size + self.object_class = object_class + + br = tl + Point(width, height) + super().__init__(tl, br) + + def __str__(self): + return "Obj({0}, [{1},{2}])".format(self.object_class, self.tl, self.br) + + __repr__ = __str__ + + def __add__(self, other): + if isinstance(other, Object) or isinstance(other, Rectangle): + rx1 = min(self.tl.x, other.tl.x) + ry1 = min(self.tl.y, other.tl.y) + rx2 = max(self.br.x, other.br.x) + ry2 = max(self.br.y, other.br.y) + + rtl = Point(rx1, ry1) + rbr = Point(rx2, ry2) + return Object.from_points(rtl, rbr, self.object_class, self.image_size) + elif isinstance(other, Point): + return other + self + else: + raise TypeError("Cannot add {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def from_rect(rect: Rectangle, object_class: int, image_size: ImageSize): + return Object(rect.tl, rect.width, rect.height, object_class, image_size) + + def from_points(tl: Point, br: Point, object_class: int, image_size: ImageSize): + width = br.x - tl.x + height = br.y - tl.y + return Object(tl, width, height, object_class, image_size) + + def intersect(self, other): + if isinstance(other, Rectangle): + rRect = Rectangle.intersect(self, other) + if rRect is not None: + return Object(rRect.tl, rRect.width, rRect.height, + self.object_class, self.image_size) + else: + return None + elif isinstance(other, Object): + if self.object_class == other.object_class: + rRect = super().intersect(other) + if rRect is not None: + return Object(rRect.tl, rRect.width, rRect.height, + self.object_class, self.image_size) + else: + return None + else: + return None + + def fromMIT(x1: int, y1: int, height: int, width: int, + image_size: ImageSize, object_class: int = 0): + if x1 is None or y1 is None: + raise ValueError("The coordinates of the point can't be of NoneType") + elif height is None or width is None: + raise ValueError("Width and height values can't be of NoneType") + elif image_size is None: + raise ValueError("image_size can't be of NoneType") + + rtl = Point(x1, y1) + + return Object(rtl, width, height, object_class, image_size) + + def fromMITStr(string: str, image_size: ImageSize): + def str2tuple(s): return tuple(int(n) for n in s.strip("[]").split(",")) + return Object.fromMIT(*str2tuple(string), image_size) + + def to_YOLO(self): + center = (self.tl + self.br)/2 + center.x /= self.image_size.width + center.y /= self.image_size.height + + rwidth = self.width / self.image_size.width + rheight = self.height / self.image_size.height + + assert 0 < center.x < 1 \ + and 0 < center.y < 1 \ + and 0 < rwidth < 1 \ + and 0 < rheight < 1 + + return center, rwidth, rheight + + def from_YOLO(center: Point, width: float, height: float, object_class: int, image_size): + # factor = Point(image_size.width, image_size.height) + wh_vector = Point(width, height)/2 + + rtl = (center - wh_vector) # * factor + # rwidth *= image_size.width + # rheight *= image_size.height + + return Object(rtl, width, height, object_class, image_size) + + def to_YOLO_str(self): + center, width, height = self.to_YOLO() + output_string = "{0} {1:06f} {2:06f} {3:06f} {4:06f}".format(0, + center.x, + center.y, + width, + height) + return output_string diff --git a/src/perception/cam_perception/src/darknet/ImageSlicer.py b/src/perception/cam_perception/src/darknet/ImageSlicer.py new file mode 100644 index 00000000..cc3ea185 --- /dev/null +++ b/src/perception/cam_perception/src/darknet/ImageSlicer.py @@ -0,0 +1,139 @@ +""" +Classes to split and stitch images in slices that will later be used for YOLO. This allows +for training data and production images to be configured in the right size. This is done +to overcome the size limitations of YOLO detectors. + +@author Jacobo Pindado +@date 20211214 +""" +import numpy as np +from typing import List, Tuple +from math import ceil + +from .BaseClasses import Point, ImageSize, Rectangle, Object + + +class Slice(Rectangle): + def __init__(self, tl: Point, slice_size: ImageSize, image: np.ndarray, + image_size: ImageSize): + + self.image = image + self.image_size = image_size + self.slice_size = slice_size + self.overlap = slice_size.overlap + + br = tl + Point(slice_size.width, slice_size.height) + super().__init__(tl, br) + + # Numpy slices have their coordinates flipped + self.slice_image = image[self.tl.y:self.br.y, self.tl.x:self.br.x, ::] + + def slice_objects(self, + objects: List[Object], + min_size: int = 0, + pad_shift: Point = None): + rObjects = list() + + for o in objects: + obj_ = o.get_shifted(pad_shift).intersect(self) + + if obj_ is None \ + or obj_.width < min_size \ + or obj_.height < min_size: + continue + + obj_ = obj_.get_shifted(self.tl, reverse=True) + obj_.image_size = self.slice_size + + rObjects.append(obj_) + + return rObjects + + def __add__(self, other): + if isinstance(other, Point): + rtl = self.tl + other + + return Slice(rtl, self.slice_size, self.image, self.image_size) + + def __sub__(self, other): + if isinstance(other, Point): + rtl = self.tl - other + + return Slice(rtl, self.slice_size, self.image, self.image_size) + + __rsub__ = __sub__ + + def __str__(self): + return "Slice([{0},{1}])".format(self.tl, self.br) + + +class SliceIterator: + # If w_m is the maximum width, w is the input image width and o is the overlap, the number + # of rows will be (w-w_m)//(w_m-o) + 2. This is the same as floor((w-w_m)/(w_m-o)) + 1. + # Idem. for number of columns. + def __init__(self, image: np.ndarray, image_size: ImageSize, slice_size: ImageSize, + objects: List[Object] = None, + min_object_size: int = 0, + output_image_dims: Tuple[int] = None): + + self.slice_size = slice_size + self.objects = objects + self.min_object_size = min_object_size + + # Calculating the number of total slices, columns and rows + if output_image_dims is None: + self.cols, self.rows, output_width, output_height = SliceIterator.output_image_size(image_size, slice_size) # noqa + else: + self.cols, self.rows, output_width, output_height = output_image_dims + + self.total = self.cols * self.rows + self.current = 0 + + # This image will be the one used for the slices. We need this so that every piece has the + # same size. Padding will be applied equaly so that the resulting image is centered. This is + # to prevent posible slice configurations causing mostly black images. + self.pad_width = ceil((output_width - image_size.width)/2) + self.pad_height = ceil((output_height - image_size.height)/2) + self.pad_shift = Point(self.pad_width, self.pad_height) + + self.padded_image = np.pad(image, + [(self.pad_height, self.pad_height), + (self.pad_width, self.pad_width), (0, 0)], + mode='constant', + constant_values=0) + + # Elements for iterator + self.col_shift = Point(slice_size.width, 0) + self.row_shift = Point(0, slice_size.height) + self.initial_slice = Slice(Point(0, 0), self.slice_size, self.padded_image, image_size) + + def __iter__(self): + return self + + def __next__(self): + if self.current >= self.total: + raise StopIteration + + cur_col = self.current % self.cols + cur_row = self.current // self.cols + + shift = self.col_shift*cur_col + self.row_shift*cur_row + + slice = self.initial_slice + shift + + rObjects = slice.slice_objects(self.objects, + min_size=self.min_object_size, + pad_shift=self.pad_shift) + + self.current += 1 + return cur_col, cur_row, slice, rObjects + + def output_image_size(image_size: ImageSize, slice_size: ImageSize): + cols = ceil((image_size.width-slice_size.width)/(slice_size.width-slice_size.overlap)) + 1 + rows = ceil((image_size.height-slice_size.height)/(slice_size.height-slice_size.overlap))+1 + + output_width = slice_size.width + (slice_size.width - slice_size.overlap)*(cols - 1) + + output_height = slice_size.height + (slice_size.height - slice_size.overlap)*(rows - 1) + + return cols, rows, output_width, output_height diff --git a/src/perception/cam_perception/src/darknet/__init__.py b/src/perception/cam_perception/src/darknet/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/src/perception/cam_perception/src/darknet/darknet.py b/src/perception/cam_perception/src/darknet/darknet.py new file mode 100644 index 00000000..40684a86 --- /dev/null +++ b/src/perception/cam_perception/src/darknet/darknet.py @@ -0,0 +1,282 @@ +#!/usr/bin/env python3 +""" +Python 3 wrapper for identifying objects in images + +Requires DLL compilation + +Both the GPU and no-GPU version should be compiled; the no-GPU version should be renamed +"yolo_cpp_dll_nogpu.dll". + +On a GPU system, you can force CPU evaluation by any of: + +- Set global variable DARKNET_FORCE_CPU to True +- Set environment variable CUDA_VISIBLE_DEVICES to -1 +- Set environment variable "FORCE_CPU" to "true" + +Directly viewing or returning bounding-boxed images requires scikit-image to be installed +(`pip install scikit-image`) + +Original *nix 2.7: https://github.com/pjreddie/darknet/blob/0f110834f4e18b30d5f101bf8f1724c34b7b83db/python/darknet.py # noqa +Windows Python 2.7 version: https://github.com/AlexeyAB/darknet/blob/fc496d52bf22a0bb257300d3c79be9cd80e722cb/build/darknet/x64/darknet.py # noqa + +@author: Philip Kahn +@date: 20180503 +""" +from ctypes import Structure, c_float, c_int, POINTER, CDLL, RTLD_GLOBAL, c_char_p, pointer,\ + c_ubyte, c_void_p, c_long +import random +import os + + +class BOX(Structure): + _fields_ = [("x", c_float), + ("y", c_float), + ("w", c_float), + ("h", c_float)] + + +class DETECTION(Structure): + _fields_ = [("bbox", BOX), + ("classes", c_int), + ("prob", POINTER(c_float)), + ("mask", POINTER(c_float)), + ("objectness", c_float), + ("sort_class", c_int), + ("uc", POINTER(c_float)), + ("points", c_int), + ("embeddings", POINTER(c_float)), + ("embedding_size", c_int), + ("sim", c_float), + ("track_id", c_int)] + + +class DETNUMPAIR(Structure): + _fields_ = [("num", c_int), + ("dets", POINTER(DETECTION))] + + +class IMAGE(Structure): + _fields_ = [("w", c_int), + ("h", c_int), + ("c", c_int), + ("data", POINTER(c_float))] + + +class METADATA(Structure): + _fields_ = [("classes", c_int), + ("names", POINTER(c_char_p))] + + +def c_array(ctype, values): + return (ctype * len(values))(*values) + + +def network_width(net): + return lib.network_width(net) + + +def network_height(net): + return lib.network_height(net) + + +def bbox2points(bbox): + """ + From bounding box yolo format + to corner points cv2 rectangle + """ + x, y, w, h = bbox + xmin = int(round(x - (w / 2))) + xmax = int(round(x + (w / 2))) + ymin = int(round(y - (h / 2))) + ymax = int(round(y + (h / 2))) + return xmin, ymin, xmax, ymax + + +def class_colors(names): + """ + Create a dict with one random BGR color for each + class name + """ + return {name: ( + random.randint(0, 255), + random.randint(0, 255), + random.randint(0, 255)) for name in names} + + +def load_network(config_file, data_file, weights, batch_size=1): + """ + load model description and weights from config files + args: + config_file (str): path to .cfg model file + data_file (str): path to .data model file + weights (str): path to weights + returns: + network: trained model + class_names + class_colors + """ + network = load_net_custom( + config_file.encode("ascii"), + weights.encode("ascii"), 0, batch_size) + metadata = load_meta(data_file.encode("ascii")) + class_names = [metadata.names[i].decode("ascii") for i in range(metadata.classes)] + colors = class_colors(class_names) + return network, class_names, colors + + +def print_detections(detections, coordinates=False): + print("\nObjects:") + for label, confidence, bbox in detections: + x, y, w, h = bbox + if coordinates: + print("{}: {}% (left_x: {:.0f} top_y: {:.0f} width: {:.0f} height: {:.0f})" + .format(label, confidence, x, y, w, h)) + else: + print("{}: {}%".format(label, confidence)) + + +def draw_boxes(detections, image, colors): + import cv2 + for label, confidence, bbox in detections: + left, top, right, bottom = bbox2points(bbox) + cv2.rectangle(image, (left, top), (right, bottom), colors[label], 1) + cv2.putText(image, "{} [{:.2f}]".format(label, float(confidence)), + (left, top - 5), cv2.FONT_HERSHEY_SIMPLEX, 0.5, + colors[label], 2) + return image + + +def decode_detection(detections): + decoded = [] + for label, confidence, bbox in detections: + confidence = str(round(confidence * 100, 2)) + decoded.append((str(label), confidence, bbox)) + return decoded + + +def remove_negatives(detections, class_names, num): + """ + Remove all classes with 0% confidence within the detection + """ + predictions = [] + for j in range(num): + for idx, name in enumerate(class_names): + if detections[j].prob[idx] > 0: + bbox = detections[j].bbox + bbox = (bbox.x, bbox.y, bbox.w, bbox.h) + predictions.append((name, detections[j].prob[idx], (bbox))) + return predictions + + +def detect_image(network, class_names, image, thresh=.5, hier_thresh=.5, nms=.45): + """ + Returns a list with highest confidence class and their bbox + """ + pnum = pointer(c_int(0)) + predict_image(network, image) + detections = get_network_boxes(network, image.w, image.h, + thresh, hier_thresh, None, 0, pnum, 0) + num = pnum[0] + if nms: + do_nms_sort(detections, num, len(class_names), nms) + predictions = remove_negatives(detections, class_names, num) + predictions = decode_detection(predictions) + free_detections(detections, num) + return sorted(predictions, key=lambda x: x[1]) + + + +hasGPU = True +lib_path = os.path.join(os.path.dirname(__file__), "libdarknet.so") +lib = CDLL(lib_path, RTLD_GLOBAL) + +lib.network_width.argtypes = [c_void_p] +lib.network_width.restype = c_int +lib.network_height.argtypes = [c_void_p] +lib.network_height.restype = c_int + +copy_image_from_bytes = lib.copy_image_from_bytes +copy_image_from_bytes.argtypes = [IMAGE, c_char_p] + +predict = lib.network_predict_ptr +predict.argtypes = [c_void_p, POINTER(c_float)] +predict.restype = POINTER(c_float) + +if hasGPU: + set_gpu = lib.cuda_set_device + set_gpu.argtypes = [c_int] + +init_cpu = lib.init_cpu + +make_image = lib.make_image +make_image.argtypes = [c_int, c_int, c_int] +make_image.restype = IMAGE + +get_network_boxes = lib.get_network_boxes +get_network_boxes.argtypes = [c_void_p, c_int, c_int, c_float, c_float, POINTER(c_int), c_int, + POINTER(c_int), c_int] +get_network_boxes.restype = POINTER(DETECTION) + +make_network_boxes = lib.make_network_boxes +make_network_boxes.argtypes = [c_void_p] +make_network_boxes.restype = POINTER(DETECTION) + +free_detections = lib.free_detections +free_detections.argtypes = [POINTER(DETECTION), c_int] + +free_batch_detections = lib.free_batch_detections +free_batch_detections.argtypes = [POINTER(DETNUMPAIR), c_int] + +free_ptrs = lib.free_ptrs +free_ptrs.argtypes = [POINTER(c_void_p), c_int] + +network_predict = lib.network_predict_ptr +network_predict.argtypes = [c_void_p, POINTER(c_float)] + +reset_rnn = lib.reset_rnn +reset_rnn.argtypes = [c_void_p] + +load_net = lib.load_network +load_net.argtypes = [c_char_p, c_char_p, c_int] +load_net.restype = c_void_p + +load_net_custom = lib.load_network_custom +load_net_custom.argtypes = [c_char_p, c_char_p, c_int, c_int] +load_net_custom.restype = c_void_p + +do_nms_obj = lib.do_nms_obj +do_nms_obj.argtypes = [POINTER(DETECTION), c_int, c_int, c_float] + +do_nms_sort = lib.do_nms_sort +do_nms_sort.argtypes = [POINTER(DETECTION), c_int, c_int, c_float] + +free_image = lib.free_image +free_image.argtypes = [IMAGE] + +letterbox_image = lib.letterbox_image +letterbox_image.argtypes = [IMAGE, c_int, c_int] +letterbox_image.restype = IMAGE + +load_meta = lib.get_metadata +lib.get_metadata.argtypes = [c_char_p] +lib.get_metadata.restype = METADATA + +load_image = lib.load_image_color +load_image.argtypes = [c_char_p, c_int, c_int] +load_image.restype = IMAGE + +rgbgr_image = lib.rgbgr_image +rgbgr_image.argtypes = [IMAGE] + +predict_image = lib.network_predict_image +predict_image.argtypes = [c_void_p, IMAGE] +predict_image.restype = POINTER(c_float) + +predict_image_letterbox = lib.network_predict_image_letterbox +predict_image_letterbox.argtypes = [c_void_p, IMAGE] +predict_image_letterbox.restype = POINTER(c_float) + +network_predict_batch = lib.network_predict_batch +network_predict_batch.argtypes = [c_void_p, IMAGE, c_int, c_int, c_int, + c_float, c_float, POINTER(c_int), c_int, c_int] +network_predict_batch.restype = POINTER(DETNUMPAIR) diff --git a/src/perception/cam_perception/src/darknet/libdarknet.so b/src/perception/cam_perception/src/darknet/libdarknet.so new file mode 100644 index 00000000..ebbc774d Binary files /dev/null and b/src/perception/cam_perception/src/darknet/libdarknet.so differ diff --git a/src/perception/cam_perception/src/main.py b/src/perception/cam_perception/src/main.py new file mode 100755 index 00000000..194ef6a6 --- /dev/null +++ b/src/perception/cam_perception/src/main.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 +import rospy +from cones_detect import Cone_detect + + +def main(): + rospy.init_node("cam_detect", anonymous=True) + Cone_detect() + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/perception/cam_perception/src/main2.py b/src/perception/cam_perception/src/main2.py new file mode 100755 index 00000000..9c7966fa --- /dev/null +++ b/src/perception/cam_perception/src/main2.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python3 +import rospy +from cones_detect import Video_stream + + +def main(): + rospy.init_node("cam_stream", anonymous=True) + Video_stream().stream() + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/perception/cam_perception/weights/cones-customanchors.cfg b/src/perception/cam_perception/weights/cones-customanchors.cfg new file mode 100755 index 00000000..26b6fe1a --- /dev/null +++ b/src/perception/cam_perception/weights/cones-customanchors.cfg @@ -0,0 +1,281 @@ +[net] +# Testing +#batch=1 +#subdivisions=1 +# Training +batch=64 +subdivisions=16 +width=1920 +height=1088 +channels=3 +momentum=0.9 +decay=0.0005 +angle=0 +saturation = 1.5 +exposure = 1.5 +hue=.1 + +learning_rate=0.00261 +burn_in=1000 +max_batches = 10000 +policy=steps +steps=8000,9000 +scales=.1,.1 + +[convolutional] +batch_normalize=1 +filters=32 +size=3 +stride=2 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=64 +size=3 +stride=2 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=64 +size=3 +stride=1 +pad=1 +activation=leaky + +[route] +layers=-1 +groups=2 +group_id=1 + +[convolutional] +batch_normalize=1 +filters=32 +size=3 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=32 +size=3 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -1,-2 + +[convolutional] +batch_normalize=1 +filters=64 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -6,-1 + +[maxpool] +size=2 +stride=2 + +[convolutional] +batch_normalize=1 +filters=128 +size=3 +stride=1 +pad=1 +activation=leaky + +[route] +layers=-1 +groups=2 +group_id=1 + +[convolutional] +batch_normalize=1 +filters=64 +size=3 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=64 +size=3 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -1,-2 + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -6,-1 + +[maxpool] +size=2 +stride=2 + +[convolutional] +batch_normalize=1 +filters=256 +size=3 +stride=1 +pad=1 +activation=leaky + +[route] +layers=-1 +groups=2 +group_id=1 + +[convolutional] +batch_normalize=1 +filters=128 +size=3 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=128 +size=3 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -1,-2 + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -6,-1 + +[maxpool] +size=2 +stride=2 + +[convolutional] +batch_normalize=1 +filters=512 +size=3 +stride=1 +pad=1 +activation=leaky + +################################## + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=3 +stride=1 +pad=1 +activation=leaky + +[convolutional] +size=1 +stride=1 +pad=1 +filters=30 +activation=linear + + + +[yolo] +mask = 3,4,5 +anchors = 7, 13, 16, 27, 34, 50, 69, 98, 135,187 +classes=5 +num=6 +jitter=.3 +scale_x_y = 1.05 +cls_normalizer=1.0 +iou_normalizer=0.07 +iou_loss=ciou +ignore_thresh = .7 +truth_thresh = 1 +random=0 +resize=1.5 +nms_kind=greedynms +beta_nms=0.6 + +[route] +layers = -4 + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[upsample] +stride=2 + +[route] +layers = -1, 23 + +[convolutional] +batch_normalize=1 +filters=256 +size=3 +stride=1 +pad=1 +activation=leaky + +[convolutional] +size=1 +stride=1 +pad=1 +filters=30 +activation=linear + +[yolo] +mask = 0,1,2 +anchors = 7, 13, 16, 27, 34, 50, 69, 98, 135,187 +classes=5 +num=6 +jitter=.3 +scale_x_y = 1.05 +cls_normalizer=1.0 +iou_normalizer=0.07 +iou_loss=ciou +ignore_thresh = .7 +truth_thresh = 1 +random=0 +resize=1.5 +nms_kind=greedynms +beta_nms=0.6 diff --git a/src/perception/cam_perception/weights/cones.data b/src/perception/cam_perception/weights/cones.data new file mode 100644 index 00000000..d7839ade --- /dev/null +++ b/src/perception/cam_perception/weights/cones.data @@ -0,0 +1,5 @@ +classes = 5 +train = /esto/nos/da/igual/cambiarlo.txt +valid = /pero/abajo/poner/la/ruta/al/archivo/de/cones/./names.txt +names = /home/alvaro/workspaces/arus_ws/src/DRIVERLESS/src/perception/cam_perception/weights/cones.names +backup = backup/ diff --git a/src/perception/cam_perception/weights/cones.names b/src/perception/cam_perception/weights/cones.names new file mode 100644 index 00000000..bf26aafa --- /dev/null +++ b/src/perception/cam_perception/weights/cones.names @@ -0,0 +1,5 @@ +yellow_cone +blue_cone +orange_cone +large_orange_cone +unknown_cone diff --git a/src/perception/cam_perception/weights/cones5.weights b/src/perception/cam_perception/weights/cones5.weights new file mode 100644 index 00000000..8d8457df Binary files /dev/null and b/src/perception/cam_perception/weights/cones5.weights differ diff --git a/src/perception/cam_perception/weights/keypoint_weights.pth b/src/perception/cam_perception/weights/keypoint_weights.pth new file mode 100644 index 00000000..a39d093e Binary files /dev/null and b/src/perception/cam_perception/weights/keypoint_weights.pth differ diff --git a/src/perception/cam_perception/weights/readme.md b/src/perception/cam_perception/weights/readme.md new file mode 100644 index 00000000..5eb24ac2 --- /dev/null +++ b/src/perception/cam_perception/weights/readme.md @@ -0,0 +1,11 @@ +This zip includes the necessary files for running the perception package. The main files are + + + `cones5.weights`: Weights for yolov4-tiny + + `keypoint_weights.pth`: Weights for keypoint NN + + The files cones.data and cones-customanchors.cfg are also needed for YOLO, and must be configured + in the `vision.yaml` config file. + + ============================================ IMPORTANT ============================================ + Paths in the `vision.yaml` and `cones.data` files must be absolute paths. Thus, it must be changed + the first time they are used. diff --git a/src/perception/imycamera/CMakeLists.txt b/src/perception/imycamera/CMakeLists.txt new file mode 100644 index 00000000..2cce8bdf --- /dev/null +++ b/src/perception/imycamera/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.0.2) +project(imycamera) + +find_package(catkin REQUIRED COMPONENTS + rospy + std_msgs +) + +catkin_package( +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/src/perception/imycamera/config/camera.yaml b/src/perception/imycamera/config/camera.yaml new file mode 100644 index 00000000..c26e4009 --- /dev/null +++ b/src/perception/imycamera/config/camera.yaml @@ -0,0 +1,5 @@ +capture_device: 0 +capture_fps: 15.0 +capture_width: 854 +capture_height: 480 +frame: 'camera1' diff --git a/src/perception/imycamera/launch/camera.launch b/src/perception/imycamera/launch/camera.launch new file mode 100644 index 00000000..824bd4a4 --- /dev/null +++ b/src/perception/imycamera/launch/camera.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/perception/imycamera/package.xml b/src/perception/imycamera/package.xml new file mode 100644 index 00000000..c49ed9fd --- /dev/null +++ b/src/perception/imycamera/package.xml @@ -0,0 +1,25 @@ + + + imycamera + 0.1.0 + Custom implementation of cv_camera, which doesnt support not-buffering. + + Jacobo Pindado + + + TODO + + + catkin + rospy + std_msgs + rospy + std_msgs + rospy + std_msgs + + + + + + diff --git a/src/perception/imycamera/src/main.py b/src/perception/imycamera/src/main.py new file mode 100755 index 00000000..25db736f --- /dev/null +++ b/src/perception/imycamera/src/main.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python3 +"""Script to initialize the visual perception node + +@author: Jacobo Pindado +@date 20221113 +""" + +import rospy +import cv2 +from cv_bridge import CvBridge +from sensor_msgs.msg import Image +from std_msgs.msg import Header +import rospkg +import datetime + +if __name__ == '__main__': + rospy.init_node('imycamera', anonymous=True) + + rospack = rospkg.RosPack() + path = rospack.get_path('imycamera') + capture_device = rospy.get_param('~capture_device', 0) + capture_fps = rospy.get_param('~capture_fps', 30.0) + capture_width = rospy.get_param('~capture_width', 1280) + capture_height = rospy.get_param('~capture_height', 960) + camera_frame = rospy.get_param('~camera_frame', None) + + pub = rospy.Publisher('~image_raw', Image, queue_size=1) + + capture = cv2.VideoCapture(capture_device, cv2.CAP_V4L2) + capture.set(cv2.CAP_PROP_FRAME_WIDTH, 1920) + capture.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080) + capture.set(cv2.CAP_PROP_FPS, capture_fps) + capture.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*'MJPG')) + bridge = CvBridge() + + out = cv2.VideoWriter(path+"/VSV_"+datetime.datetime.now().strftime("%H%M%S")+'.mp4', cv2.VideoWriter_fourcc(*'mp4v'), capture_fps, (capture_width, capture_height)) + rate = rospy.Rate(capture_fps) + try: + header = Header() + header.frame_id = camera_frame + + while not rospy.is_shutdown(): + while not capture.grab(): + continue + + _, image = capture.retrieve() + if image is not None: + header.stamp = rospy.get_rostime() + img = cv2.resize(image, (capture_width, capture_height)) + out.write(img) + image_msg = bridge.cv2_to_imgmsg(image, + encoding='bgr8', + header=header) + rospy.logwarn(img.shape) + pub.publish(image_msg) + + if cv2.waitKey(1) & 0xFF == ord('q'): + break + + rate.sleep() + + # If we exit the while loop, release the camera from opencv + capture.release() + out.release() + except rospy.ROSInterruptException: + out.release() + capture.release() diff --git a/src/perception/lidar_perception/CMakeLists.txt b/src/perception/lidar_perception/CMakeLists.txt new file mode 100644 index 00000000..8daa616d --- /dev/null +++ b/src/perception/lidar_perception/CMakeLists.txt @@ -0,0 +1,28 @@ +cmake_minimum_required(VERSION 3.0.2) +project(lidar_perception) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + sensor_msgs + std_msgs + pcl_ros + common_msgs +) + +include_directories( + include ${catkin_INCLUDE_DIRS} +) + +catkin_package( + # INCLUDE_DIRS include +# LIBRARIES lidar_cpp + CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs +) + + +add_executable(main src/main.cpp src/lidar_handle.cpp) +add_executable(limovelo_interface src/limovelo_interface.cpp) +target_link_libraries(main ${catkin_LIBRARIES}) +target_link_libraries(limovelo_interface ${catkin_LIBRARIES}) + diff --git a/src/perception/lidar_perception/config/lidar_cpp.yaml b/src/perception/lidar_perception/config/lidar_cpp.yaml new file mode 100644 index 00000000..f9c29ad5 --- /dev/null +++ b/src/perception/lidar_perception/config/lidar_cpp.yaml @@ -0,0 +1,16 @@ +# Topics names +lidar_topic: '/rslidar_points' +frame_id: 'rslidar' +map_topic: 'perception_map' +filtered_cloud_topic: '/filtered_points' +cones_marker_topic: 'lidar_markers' +car_state_topic: '/car_state/state' + +#FOV restrictions +MAX_X_FOV: 25 # m +MAX_Y_FOV: 20 # m +MAX_Z_FOV: 0 # m +H_FOV: 180 # degrees + +#TIMEOFFSET +FRAMERATE : 0.1 diff --git a/src/perception/lidar_perception/config/lidar_rviz.rviz b/src/perception/lidar_perception/config/lidar_rviz.rviz new file mode 100644 index 00000000..fac1aebc --- /dev/null +++ b/src/perception/lidar_perception/config/lidar_rviz.rviz @@ -0,0 +1,250 @@ +Panels: + - Class: rviz/Displays + Help Height: 85 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Point Cloud1 + - /Grid1 + - /PointCloud21 + - /Axes2 + - /PointCloud22 + Splitter Ratio: 0.5 + Tree Height: 749 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: Point Cloud + - Class: rviz/Displays + Help Height: 85 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 349 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 115; 210; 22 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Point Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: /filtered_points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.5 + Cell Size: 3 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 50 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: + Show Trail: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: false + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: color + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 2 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.5 + Style: Flat Squares + Topic: /mapa_icp + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_delaunay + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /visualization_path + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Class: rviz/Axes + Enabled: false + Length: 5 + Name: Axes + Radius: 1 + Reference Frame: body + Show Trail: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: time + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: /rslidar_points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: rslidar + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 3.442615509033203 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 3.617645263671875 + Y: -0.11094754934310913 + Z: 0.8321141004562378 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.764796793460846 + Target Frame: + Yaw: 3.1949803829193115 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1009 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1832 + X: 88 + Y: 34 diff --git a/src/perception/lidar_perception/launch/lidar_cpp.launch b/src/perception/lidar_perception/launch/lidar_cpp.launch new file mode 100644 index 00000000..ccbcaacb --- /dev/null +++ b/src/perception/lidar_perception/launch/lidar_cpp.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/src/perception/lidar_perception/launch/limovelo_interface.launch b/src/perception/lidar_perception/launch/limovelo_interface.launch new file mode 100644 index 00000000..febb62c8 --- /dev/null +++ b/src/perception/lidar_perception/launch/limovelo_interface.launch @@ -0,0 +1,4 @@ + + + + diff --git a/src/perception/lidar_perception/package.xml b/src/perception/lidar_perception/package.xml new file mode 100644 index 00000000..06516e07 --- /dev/null +++ b/src/perception/lidar_perception/package.xml @@ -0,0 +1,75 @@ + + + lidar_perception + 0.0.0 + The lidar_perception package + + + + + alvaro + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + sensor_msgs + std_msgs + roscpp + rospy + sensor_msgs + std_msgs + roscpp + rospy + sensor_msgs + std_msgs + + common_msgs + common_msgs + common_msgs + + + + + + + + diff --git a/src/perception/lidar_perception/src/PointXYZColorScore.h b/src/perception/lidar_perception/src/PointXYZColorScore.h new file mode 100644 index 00000000..d4ac7a91 --- /dev/null +++ b/src/perception/lidar_perception/src/PointXYZColorScore.h @@ -0,0 +1,34 @@ +#include +#include +#include + + + + +struct PointXYZColorScore { + PCL_ADD_POINT4D; + int color; + float score; + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + // Constructors + PointXYZColorScore() : color(0), score(0) {} + PointXYZColorScore(float x, float y, float z, int color, float score) { + this->x = x; + this->y = y; + this->z = z; + this->color = color; + this->score = score; + this->data[3] = 1.0f; + } +}; + + +POINT_CLOUD_REGISTER_POINT_STRUCT (PointXYZColorScore, + (float, x, x) + (float, y, y) + (float, z, z) + (int, color, color) + (float, score, score) +) \ No newline at end of file diff --git a/src/perception/lidar_perception/src/lidar_handle.cpp b/src/perception/lidar_perception/src/lidar_handle.cpp new file mode 100644 index 00000000..d0161488 --- /dev/null +++ b/src/perception/lidar_perception/src/lidar_handle.cpp @@ -0,0 +1,256 @@ +#include "ros/ros.h" +#include "std_msgs/String.h" +#include "sensor_msgs/PointCloud2.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "pointRT.h" +using namespace std; + +#include "lidar_handle.hpp" + +LidarHandle::LidarHandle() +{ + + nh.getParam("/lidar_perception/lidar_topic", lidar_topic); + nh.getParam("/lidar_perception/car_state_topic", car_state_topic); + nh.getParam("/lidar_perception/frame_id", frame_id); + nh.getParam("/lidar_perception/map_topic", map_topic); + nh.getParam("/lidar_perception/filtered_cloud_topic", filtered_cloud_topic); + nh.getParam("/lidar_perception/cones_marker_topic", cones_marker_topic); + + nh.getParam("/lidar_perception/MAX_X_FOV", MAX_X_FOV); + nh.getParam("/lidar_perception/MAX_Y_FOV", MAX_Y_FOV); + nh.getParam("/lidar_perception/MAX_Z_FOV", MAX_Z_FOV); + nh.getParam("/lidar_perception/H_FOV", H_FOV); + + nh.getParam("/lidar_perception/FRAMERATE", FRAMERATE); + + H_FOV = H_FOV * (M_PI / 180); + nh.getParam("/lidar_perception/inverted", inverted); + + sub = nh.subscribe(lidar_topic, 1, &LidarHandle::callback, this); + car_state_sub = nh.subscribe(car_state_topic, 1, &LidarHandle::CarStateCallback, this); + + map_pub = nh.advertise(map_topic, 1000); + filtered_cloud_pub = nh.advertise(filtered_cloud_topic, 1000); +}; + +void recostruccion(const pcl::PointCloud::Ptr &cloud, const pcl::PointCloud::Ptr &cloud_f, std::vector punto) +{ + pcl::KdTreeFLANN kdtree; + kdtree.setInputCloud(cloud_f); + float search_radius = 0.15; + for (size_t idx = 0; idx < punto.size(); ++idx) + { + std::vector point_indices; + std::vector point_distances; + if (kdtree.radiusSearch(punto[idx], search_radius, point_indices, point_distances) > 0) + { + for (size_t i = 0; i < point_indices.size(); ++i) + { + int point_index = point_indices[i]; + cloud->emplace_back(cloud_f->points[point_index]); + } + } + } +} + +void obtenerPuntosDeClusters(std::vector &puntos, const std::vector &chosen_clusters, const pcl::PointCloud::Ptr &cloud) +{ + + for (const auto &cluster : chosen_clusters) + { + // Tomar el primer punto del cluster y agregarlo al vector de puntos + if (!cluster.indices.empty()) + { + pcl::PointXYZI punto = (*cloud)[cluster.indices[0]]; + puntos.push_back(punto); + } + } +} + +void LidarHandle::CarStateCallback(common_msgs::CarState msg) +{ + vx = msg.vx; + yaw_rate = msg.r; +} + +void LidarHandle::callback(sensor_msgs::PointCloud2 msg) +{ + ros::Time ini = ros::Time::now(); + + // Transformamos el mensaje en una nube de pcl + pcl::PointCloud::Ptr cloud(new pcl::PointCloud); + pcl::PointCloud::Ptr cloud_f(new pcl::PointCloud); + pcl::fromROSMsg(msg, *cloud); + + double Mx = MAX_X_FOV; + double My = MAX_Y_FOV; + double Mz = MAX_Z_FOV; + double H = H_FOV; + // Condición de filtro de puntos + auto condition = [Mx, My, Mz, H](const pcl::PointXYZI &p) + { + return !(p.x < Mx && abs(p.y) < My && p.z < Mz && abs(atan2(p.y, p.x)) < H / 2 && (abs(p.y) > 0.8 || p.x > 2)); + }; + + // Aplicamos el filtro + cloud->erase(std::remove_if(cloud->points.begin(), cloud->points.end(), condition), cloud->points.end()); + + // Create the segmentation object for the planar model and set all the parameters + pcl::SACSegmentation seg; + pcl::PointIndices::Ptr inliers(new pcl::PointIndices); + pcl::PointIndices::Ptr outliers(new pcl::PointIndices); + pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients); + pcl::PointCloud::Ptr cloud_plane(new pcl::PointCloud()); + seg.setOptimizeCoefficients(true); + seg.setModelType(pcl::SACMODEL_PLANE); + seg.setMethodType(pcl::SAC_RANSAC); + seg.setMaxIterations(50); + seg.setDistanceThreshold(0.05); + seg.setInputCloud(cloud); + seg.segment(*inliers, *coefficients); + if (inliers->indices.size() == 0) + { + std::cout << "Could not estimate a planar model for the given dataset." << std::endl; + // break; + } + + // Extract the planar inliers from the input cloud + pcl::ExtractIndices extract; + extract.setInputCloud(cloud); + extract.setIndices(inliers); + extract.setNegative(true); + extract.filter(*cloud_f); + extract.filter(outliers->indices); + + extract.setNegative(false); // Configurar para mantener los inliers como plano dominante + extract.filter(*cloud_plane); + ros::Time fin_r = ros::Time::now(); + ros::Duration t_ransac = fin_r - ini; + + sensor_msgs::PointCloud2Iterator iter_timestamp(msg, "time"); + + for (size_t i = 0; i < outliers->indices.size(); ++i) + { + if (i == 0) + { + iter_timestamp += outliers->indices[i]; + } + else + { + iter_timestamp += (outliers->indices[i] - outliers->indices[i - 1]); + } + + float point_time = *iter_timestamp; + + float time_offset = (FRAMERATE-point_time) + /*0.01*/ +t_ransac.toSec(); + cloud_f->points[i].x -= vx * time_offset; + float yaw = - yaw_rate * time_offset; + + double rotationMatrix[2][2] = { + {cos(yaw), -sin(yaw)}, + {sin(yaw), cos(yaw)}}; + + auto point = cloud_f->points[i]; + float x = point.x; + float y = point.y; + + cloud_f->points[i].x = rotationMatrix[0][0] * x + rotationMatrix[0][1] * y; + cloud_f->points[i].y = rotationMatrix[1][0] * x + rotationMatrix[1][1] * y; + } + + // Creating the KdTree object for the search method of the extraction + pcl::search::KdTree::Ptr tree(new pcl::search::KdTree); + tree->setInputCloud(cloud_f); + + std::vector cluster_indices; + pcl::EuclideanClusterExtraction ec; + ec.setClusterTolerance(0.4); // 2cm + ec.setMinClusterSize(4); + ec.setMaxClusterSize(200); + ec.setSearchMethod(tree); + ec.setInputCloud(cloud_f); + ec.extract(cluster_indices); + + //****OPCIONAL**** + std::vector puntos; + obtenerPuntosDeClusters(puntos, cluster_indices, cloud_f); + + recostruccion(cloud_f, cloud_plane, puntos); + + int i = 0; + // pcl::PointCloud::Ptr cloud_cluster (new pcl::PointCloud); + pcl::PointCloud::Ptr map_cloud(new pcl::PointCloud); + + // common_msgs::Map map; + for (const auto &cluster : cluster_indices) + { + // Crear una nube temporal para el cluster actual + pcl::PointCloud::Ptr cluster_cloud(new pcl::PointCloud); + pcl::copyPointCloud(*cloud_f, cluster, *cluster_cloud); + + // Obtener la caja delimitadora (bounding box) del cluster + pcl::PointXYZI min_pt, max_pt; + pcl::getMinMax3D(*cluster_cloud, min_pt, max_pt); + float max_x = max_pt.x; + float min_x = min_pt.x; + float max_y = max_pt.y; + float min_y = min_pt.y; + float max_z = max_pt.z; + float min_z = min_pt.z; + + if ((max_z - min_z) > 0.1 && (max_z - min_z) < 0.4 && (max_x - min_x) < 0.4 && (max_y - min_y) < 0.4) + { + // for (const auto& idx : cluster.indices) { + // p = (*cloud)[idx]; + // p.intensity = i; + // cloud_cluster->push_back(p); + // } + PointXYZColorScore cone; + cone.x = (max_x + min_x) / 2; + cone.y = (max_y + min_y) / 2; + cone.z = 0; + cone.color = 0; + cone.score = 1; + map_cloud->push_back(cone); + } + + i++; + } + sensor_msgs::PointCloud2 msg2; + pcl::toROSMsg(*cloud_f, msg2); + msg2.header.frame_id = frame_id; + filtered_cloud_pub.publish(msg2); + + sensor_msgs::PointCloud2 map_msg; + pcl::toROSMsg(*map_cloud,map_msg); + map_msg.header.frame_id=frame_id; + map_pub.publish(map_msg); + + ros::Time fin = ros::Time::now(); + // std::cout << (fin - ini) << endl; +} diff --git a/src/perception/lidar_perception/src/lidar_handle.hpp b/src/perception/lidar_perception/src/lidar_handle.hpp new file mode 100755 index 00000000..ae113d82 --- /dev/null +++ b/src/perception/lidar_perception/src/lidar_handle.hpp @@ -0,0 +1,41 @@ +#include "ros/ros.h" +#include "sensor_msgs/PointCloud2.h" +#include +#include +#include "PointXYZColorScore.h" + +using namespace std; + +class LidarHandle +{ +public: + string lidar_topic; + string frame_id; + string map_topic; + string filtered_cloud_topic; + string cones_marker_topic; + string car_state_topic; + + float MAX_X_FOV; + float MAX_Y_FOV; + float MAX_Z_FOV; + float H_FOV; + + float FRAMERATE; + float yaw_rate; + float vx; + + bool inverted; + + ros::NodeHandle nh; + ros::Subscriber sub; + ros::Subscriber car_state_sub; + ros::Publisher map_pub; + ros::Publisher filtered_cloud_pub; + ros::Publisher markers_pub; + +public: + LidarHandle(); + void CarStateCallback(common_msgs::CarState); + void callback(sensor_msgs::PointCloud2); +}; diff --git a/src/perception/lidar_perception/src/limovelo_interface.cpp b/src/perception/lidar_perception/src/limovelo_interface.cpp new file mode 100644 index 00000000..4480e64d --- /dev/null +++ b/src/perception/lidar_perception/src/limovelo_interface.cpp @@ -0,0 +1,201 @@ +#include "ros/ros.h" +#include "std_msgs/String.h" +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +#include + +#include "PointXYZColorScore.h" +#include +#include +#include +#include +#include +#include + +#include + +using namespace Eigen; + +class PointCloudAccumulator +{ +public: + PointCloudAccumulator() + { + seg_.setOptimizeCoefficients(true); + seg_.setModelType(pcl::SACMODEL_PLANE); + seg_.setMethodType(pcl::SAC_RANSAC); + seg_.setMaxIterations(5000); + seg_.setDistanceThreshold(0.1); + + // Inicializar la nube de puntos acumulada + accumulated_cloud_.reset(new pcl::PointCloud()); + R = Matrix3d::Identity(); + + pub_ = nh_.advertise("/limovelo_points", 1); + map_pub_ = nh_.advertise("/limovelo_map", 1); + rot_pub = nh_.advertise("/limovelo/rotation", 1); + + sub_ = nh_.subscribe("/limovelo/pcl", 1, &PointCloudAccumulator::pointCloudCallback, this); + + timer = nh_.createTimer(ros::Duration(0.5), &PointCloudAccumulator::timerCallback,this); + + } + + void timerCallback(const ros::TimerEvent&){ + if (accumulated_cloud_->points.size() == 0) { + return; + } + pcl::PointIndices::Ptr inliers(new pcl::PointIndices); + pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients); + pcl::PointCloud::Ptr cloud_f(new pcl::PointCloud); + + seg_.setInputCloud(accumulated_cloud_); + seg_.segment(*inliers, *coefficients); + if (inliers->indices.size() == 0) + { + std::cout << "Could not estimate a planar model for the given dataset." << std::endl; + } else { + // Extract the planar inliers from the input cloud + pcl::ExtractIndices extract; + extract.setInputCloud(accumulated_cloud_); + extract.setIndices(inliers); + + // Remove the planar inliers, extract the rest + extract.setNegative(true); + extract.filter(*cloud_f); + + // Get rotation matrix from floor coefficients + Vector3d v(coefficients->values[0], coefficients->values[1], coefficients->values[2]); + Vector3d vNorm = v / v.norm(); + Vector3d wNorm(0, 0, 1); + Vector3d k = vNorm.cross(wNorm); + double cosTheta = vNorm.dot(wNorm); + double theta = std::acos(cosTheta); + AngleAxisd angleAxis(theta, k.normalized()); + R = angleAxis.toRotationMatrix(); + } + + + + + pcl::search::KdTree::Ptr tree(new pcl::search::KdTree); + tree->setInputCloud(cloud_f); + + std::vector cluster_indices; + pcl::EuclideanClusterExtraction ec; + ec.setClusterTolerance(0.3); + ec.setMinClusterSize(5); + ec.setMaxClusterSize(200); + ec.setSearchMethod(tree); + ec.setInputCloud(cloud_f); + ec.extract(cluster_indices); + + + pcl::PointCloud::Ptr map_cloud(new pcl::PointCloud); + for (const auto &cluster : cluster_indices) + { + // Crear una nube temporal para el cluster actual + pcl::PointCloud::Ptr cluster_cloud(new pcl::PointCloud); + pcl::copyPointCloud(*cloud_f, cluster, *cluster_cloud); + + // Obtener la caja delimitadora (bounding box) del cluster + pcl::PointXYZI min_pt, max_pt; + pcl::getMinMax3D(*cluster_cloud, min_pt, max_pt); + float max_x = max_pt.x; + float min_x = min_pt.x; + float max_y = max_pt.y; + float min_y = min_pt.y; + float max_z = max_pt.z; + float min_z = min_pt.z; + + if ((max_z - min_z) > 0.1 && (max_z - min_z) < 0.6 && (max_x - min_x) < 0.5 && (max_y - min_y) < 0.5) + { + Vector3d p((max_x + min_x)/2, (max_y + min_y)/2, (max_z + min_z)/2); + Vector3d pRotated = R * p; + PointXYZColorScore cone; + cone.x = pRotated[0]; + cone.y = - pRotated[1]; + cone.z = - pRotated[2]; + cone.color = 0; + cone.score = 1; + map_cloud->push_back(cone); + + } + } + + + sensor_msgs::PointCloud2 map_msg; + pcl::toROSMsg(*map_cloud, map_msg); + map_msg.header.frame_id = "map"; + map_pub_.publish(map_msg); + + sensor_msgs::PointCloud2 output; + pcl::toROSMsg(*cloud_f, output); + output.header.frame_id = "map"; + output.header.stamp = ros::Time::now(); + pub_.publish(output); + + + std_msgs::Float32MultiArray matrix_msg; + matrix_msg.data.resize(9); + for (int i = 0; i < 3; ++i) { + for (int j = 0; j < 3; ++j) { + matrix_msg.data[i * 3 + j] = R(i, j); + } + } + rot_pub.publish(matrix_msg); + + } + + void pointCloudCallback(const sensor_msgs::PointCloud2ConstPtr &input) + { + // Convertir el mensaje de nube de puntos a una nube de puntos PCL + pcl::PointCloud::Ptr transformed_cloud(new pcl::PointCloud); + pcl::fromROSMsg(*input, *transformed_cloud); + + // Agregar la nube de puntos actual a la cola de nubes + for (auto &point : transformed_cloud->points) + { + accumulated_cloud_->points.push_back(point); + } + + } + +private: + ros::NodeHandle nh_; + ros::Subscriber sub_; + ros::Publisher pub_; + ros::Publisher map_pub_; + ros::Publisher rot_pub; + ros::Timer timer; + + pcl::PointCloud::Ptr accumulated_cloud_; + pcl::SACSegmentation seg_; + Matrix3d R; +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "limovelo_interface"); + PointCloudAccumulator pca; + ros::spin(); + return 0; +} diff --git a/src/perception/lidar_perception/src/main.cpp b/src/perception/lidar_perception/src/main.cpp new file mode 100644 index 00000000..b2d99a18 --- /dev/null +++ b/src/perception/lidar_perception/src/main.cpp @@ -0,0 +1,15 @@ +#include "ros/ros.h" + +#include "lidar_handle.hpp" + + +int main(int argc, char **argv){ + + ros::init(argc,argv,"lidar_perception"); + + LidarHandle lidarHandle; + + ros::spin(); + + return 0; +} \ No newline at end of file diff --git a/src/perception/lidar_perception/src/pointRT.h b/src/perception/lidar_perception/src/pointRT.h new file mode 100644 index 00000000..a7be00fc --- /dev/null +++ b/src/perception/lidar_perception/src/pointRT.h @@ -0,0 +1,34 @@ +#include +#include +#include + +struct pointRT +{ + PCL_ADD_POINT4D; // Macro para definir los campos x, y, z, y padding + float intensity; // Intensidad del punto + float time; // Tiempo de captura del punto + uint16_t ring; // Índice del anillo del LiDAR + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW // Macro para la alineación adecuada en Eigen + + pointRT() : x(0), y(0), z(0), intensity(0), time(0), ring(0) + { + } + pointRT(float x, float y, float z, float intensity, float time, uint16_t ring) + { + this->x = x; + this->y = y; + this->z = z; + this->intensity = intensity; + this->time = time; + this->ring = ring; + } +}; + +POINT_CLOUD_REGISTER_POINT_STRUCT(pointRT, + (float, x, x) + (float, y, y) + (float, z, z) + (float, intensity, intensity) + (float, time, time) + (std::uint16_t, ring, ring)) \ No newline at end of file diff --git a/src/perception/perception_meta/CMakeLists.txt b/src/perception/perception_meta/CMakeLists.txt new file mode 100644 index 00000000..6cb60fe7 --- /dev/null +++ b/src/perception/perception_meta/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 3.0.2) +project(perception_meta) +find_package(catkin REQUIRED COMPONENTS) + + +catkin_package() + +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + diff --git a/src/perception/perception_meta/missions/acceleration.launch b/src/perception/perception_meta/missions/acceleration.launch new file mode 100644 index 00000000..a249b39f --- /dev/null +++ b/src/perception/perception_meta/missions/acceleration.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/perception/perception_meta/missions/autox.launch b/src/perception/perception_meta/missions/autox.launch new file mode 100644 index 00000000..a249b39f --- /dev/null +++ b/src/perception/perception_meta/missions/autox.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/perception/perception_meta/missions/ebs_test.launch b/src/perception/perception_meta/missions/ebs_test.launch new file mode 100644 index 00000000..a249b39f --- /dev/null +++ b/src/perception/perception_meta/missions/ebs_test.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/perception/perception_meta/missions/scruti.launch b/src/perception/perception_meta/missions/scruti.launch new file mode 100644 index 00000000..a249b39f --- /dev/null +++ b/src/perception/perception_meta/missions/scruti.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/perception/perception_meta/missions/skidpad.launch b/src/perception/perception_meta/missions/skidpad.launch new file mode 100644 index 00000000..a249b39f --- /dev/null +++ b/src/perception/perception_meta/missions/skidpad.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/perception/perception_meta/missions/trackdrive.launch b/src/perception/perception_meta/missions/trackdrive.launch new file mode 100644 index 00000000..a249b39f --- /dev/null +++ b/src/perception/perception_meta/missions/trackdrive.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/perception/perception_meta/package.xml b/src/perception/perception_meta/package.xml new file mode 100644 index 00000000..fc629f96 --- /dev/null +++ b/src/perception/perception_meta/package.xml @@ -0,0 +1,19 @@ + + + perception_meta + 0.0.0 + Package with all missions defined + + + Mariano + TODO + Mariano + + + catkin + rospy + rospy + rospy + + + diff --git a/src/perception/vision_cone_detector/CMakeLists.txt b/src/perception/vision_cone_detector/CMakeLists.txt new file mode 100644 index 00000000..81278a11 --- /dev/null +++ b/src/perception/vision_cone_detector/CMakeLists.txt @@ -0,0 +1,205 @@ +cmake_minimum_required(VERSION 3.0.2) +project(vision_cone_detector) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES vision_cone_detector +# CATKIN_DEPENDS rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/vision_cone_detector.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/vision_cone_detector_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_vision_cone_detector.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/perception/vision_cone_detector/config/vision.yaml b/src/perception/vision_cone_detector/config/vision.yaml new file mode 100644 index 00000000..90de2961 --- /dev/null +++ b/src/perception/vision_cone_detector/config/vision.yaml @@ -0,0 +1,21 @@ +yolo: + cfg: "/home/jacobo/Documents/YOLO_WEIGHTS/cones-customanchors.cfg" + data: "/home/jacobo/Documents/YOLO_WEIGHTS/cones.data" + weights: "/home/jacobo/Documents/YOLO_WEIGHTS/cones5.weights" + +kpt: + num: 7 + weights: "/home/jacobo/Downloads/trainMariano.pth" + img_size: [80, 80] + +camera: + topic: "/camera1/image_raw" + device: "/dev/camera0" + camera_mat: [1, 0, 0, + 0, 1, 0, + 0, 1, 1] + dist_coefs: [0, 0, 0, 0, 0] + homography_mat: [-7.43127399e-05, -5.97390278e-03, -9.03305818e-01, + -3.01163269e-03, -1.29430178e-03, 3.51877186e+00, + -1.05620391e-04, -3.12059021e-03, 1.00000000e+00] + img_format: "BRG" diff --git a/src/perception/vision_cone_detector/launch/vision_cone_detector.launch b/src/perception/vision_cone_detector/launch/vision_cone_detector.launch new file mode 100644 index 00000000..6d669c92 --- /dev/null +++ b/src/perception/vision_cone_detector/launch/vision_cone_detector.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/src/perception/vision_cone_detector/package.xml b/src/perception/vision_cone_detector/package.xml new file mode 100644 index 00000000..0d4a6e46 --- /dev/null +++ b/src/perception/vision_cone_detector/package.xml @@ -0,0 +1,65 @@ + + + vision_cone_detector + 0.0.0 + The vision_cone_detector package + + + + + mariano + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + std_msgs + rospy + std_msgs + rospy + std_msgs + + + + + + + + diff --git a/src/perception/vision_cone_detector/src/detector/__init__.py b/src/perception/vision_cone_detector/src/detector/__init__.py new file mode 100644 index 00000000..7e412919 --- /dev/null +++ b/src/perception/vision_cone_detector/src/detector/__init__.py @@ -0,0 +1,2 @@ +from .detector import * +from . import utils diff --git a/src/perception/vision_cone_detector/src/detector/detector.py b/src/perception/vision_cone_detector/src/detector/detector.py new file mode 100644 index 00000000..decf64b9 --- /dev/null +++ b/src/perception/vision_cone_detector/src/detector/detector.py @@ -0,0 +1,47 @@ +#!/usr/bin/env python3 +""" +Classes and script to split and stitch images in slices to be separately processed +by darknet.py, a python wrapper for darknet. + +@author: Jacobo Pindado +@date: 20211214 +""" +import os +from typing import List, Union + +import cv2 +import numpy as np + +from .utils import darknet + + +class YoloDetector: + def __init__(self, + cfg: Union[str, bytes, os.PathLike], + data: Union[str, bytes, os.PathLike], + weights: Union[str, bytes, os.PathLike]): + + self.network, self.names, self.colors = darknet.load_network(cfg, data, weights) + self.darknet_width = darknet.network_width(self.network) + self.darknet_height = darknet.network_height(self.network) + + def predict_from_image(self, img: np.ndarray) -> List[darknet.DETECTION]: + """Method to infere image through a given darknet network. + + :param img: Numpy array with image data. Channel order **must** be RGB. + When using cv2 for capturing, this should be taken into + account since it works with BRG. + :type img: np.ndarray + :return: List containing Darknet detections + :rtype: List[darknet.DETECTION] + """ + frame = cv2.resize(img, + (self.darknet_width, self.darknet_height), + interpolation=cv2.INTER_LINEAR) + darknet_image = darknet.make_image(self.darknet_width, self.darknet_height, 3) + darknet.copy_image_from_bytes(darknet_image, frame.tobytes()) + + detections = darknet.detect_image(self.network, self.names, darknet_image) + darknet.free_image(darknet_image) + + return detections diff --git a/src/perception/vision_cone_detector/src/detector/scripts/mit2yolo.py b/src/perception/vision_cone_detector/src/detector/scripts/mit2yolo.py new file mode 100755 index 00000000..3a18e15b --- /dev/null +++ b/src/perception/vision_cone_detector/src/detector/scripts/mit2yolo.py @@ -0,0 +1,205 @@ +#!/usr/bin/env python3 +""" +Script and class to convert from MIT dataset to YOLO format. + +@author: Jacobo Pindado +@date: 20211214 +""" +import os +import sys +import argparse +import pathlib +from random import shuffle, random + +import csv +import cv2 +from tqdm import tqdm + +sys.path.append(pathlib.PosixPath(os.path.abspath(__file__)) + .parents[2].as_posix()) +from detection.utils.ImageSlicer import ImageSize, SliceIterator # noqa +from detection.utils.BaseClasses import Object # noqa + + +INFO_COLUMNS = 5 + + +def main(): + parser = argparser_setup() + args = parser.parse_args() + + csvfile = args.csv + images_folder = args.images + train_file = args.darknet.joinpath('data/train.txt') + validate_file = args.darknet.joinpath('data/test.txt') + output_folder = args.darknet.joinpath('data/obj/') + threshold = args.thresh + evalPercent = args.evalPercent + if args.maxSize is not None: + maxSize = ImageSize(*tuple(args.maxSize)) + else: + maxSize = None + emptySliceProb = args.emptyProbability + display = args.display + + extract(csvfile, images_folder, train_file, validate_file, + output_folder, threshold, evalPercent, maxSize, + emptySliceProb, display) + print("Done!") + + +# This class receives a line from the MIT csv file +# and parses it to be iterable. +class ImageIterator: + def __init__(self, csv_file): + count_reader = open(csv_file, 'r') + self.total = sum(1 for _ in csv.reader(count_reader)) + count_reader.close() + self.stream = open(csv_file, 'r') + self.reader = csv.reader(self.stream, quotechar='"') + # We ignore the headers + next(self.reader) + + def __iter__(self): + return self + + def __next__(self): + line = next(self.reader, None) + if line is None: + raise StopIteration + image_filename = line[0].replace('.jpg', '') + image_width = int(line[2]) + image_height = int(line[3]) + + # Though unlikely, all the columns may be full. In that case + # indexof will return ValueError. + try: + first_empty = line.index('') + except ValueError: + first_empty = len(line) + + # If the image doesn't have any objects, we remove it from our dataset. + # YOLO doesn't require negative images. + if first_empty == INFO_COLUMNS: + return next(self) + + # We parse the strings to list of objects. + imSize = ImageSize(image_width, image_height) + objects = [Object.fromMITStr(s, imSize) for s in line[INFO_COLUMNS:first_empty]] + + return image_filename, image_width, image_height, objects + + # We want to close the reader stream once the iterator is no longer used. + def __del__(self): + self.stream.close() + + +def save_image_and_objects(array, objects, filename, folder): + # Saving the array to file. + image_dest = folder.joinpath(filename + '.jpg') + cv2.imwrite(str(image_dest), array) + + # Saving the objets to file. + objects_dest = folder.joinpath(filename + '.txt') + with open(objects_dest, 'w+') as output: + for o in objects: + output.write(o.to_YOLO_str() + '\n') + + +# Main function to extract images and objects from original MIT dataset format. +def extract(csvfile, images_folder, train_file, validate_file, + output_folder, thresh: int = 5, evalPercent: int = 10, + maxSize: ImageSize = None, emptySliceProb: int = 1, + display: bool = False) -> None: + if not thresh >= 0: + raise ValueError("thresh must be a non negative integer") + elif not (evalPercent >= 0 and evalPercent <= 100): + raise ValueError("evalPercent must be an integer between 0 and 100") + + names = [] + + iterator = ImageIterator(csvfile) + pbar = tqdm(total=iterator.total) + for image_filename, width, height, objects in ImageIterator(csvfile): + pbar.update(1) + # We load the original image as a NumpyArray. + image_location = images_folder.joinpath(image_filename + '.jpg') + im = cv2.imread(str(image_location)) + + if maxSize is None: + save_image_and_objects(im, objects, image_filename, output_folder) + names.append(image_filename + '.jpg') + if display: + for obj in objects: + cv2.rectangle(im, obj.tl.tuple(), obj.br.tuple(), + (0, 0, 255), thickness=1) + cv2.imshow("Images", im) + cv2.waitKey(0) + + else: + + originalSize = ImageSize(width, height) + + for cur_col, cur_row, slice, slice_objects in SliceIterator(im, originalSize, + maxSize, objects, thresh): + slice_filename = '{0}_{1:02d}_{2:02d}'.format(image_filename, cur_col, cur_row) + # Adding the check for != 1 to make it faster in that case. + if len(slice_objects) == 0 and emptySliceProb != 1 and random() > emptySliceProb: + continue + + save_image_and_objects(slice.slice_image, + slice_objects, + slice_filename, + output_folder) + names.append(slice_filename + '.jpg') + + if display: + for obj in slice_objects: + cv2.rectangle(slice.slice_image, obj.tl.tuple(), + obj.br.tuple(), (0, 0, 255), thickness=1) + cv2.imshow("Slices", slice.slice_image) + cv2.waitKey(0) + + if display: + cv2.destroyAllWindows() + + pbar.close() + + with open(train_file, 'w+') as train, open(validate_file, 'w+') as validate: + # To override file + train.seek(0) + validate.seek(0) + shuffle(names) + separation_point = len(names)*evalPercent/100 + for i, name in enumerate(names): + if i < separation_point: + validate.write("data/obj/" + name + '\n') + else: + train.write("data/obj/" + name + '\n') + + +def argparser_setup(): + parser = argparse.ArgumentParser(description='Convert MIT cone DB to YOLO format.') + parser.add_argument('csv', metavar='csv', + help='csv file where names and positions are stored') + parser.add_argument('images', metavar='imgs', type=pathlib.Path, + help='folder where original images are stored') + parser.add_argument('darknet', metavar='darknet', type=pathlib.Path, + help='darknet path to store results') + parser.add_argument('--evalPercent', metavar='e%', type=int, default=10, nargs='?', + help='percentage of images for evaluation of net') + parser.add_argument('--thresh', metavar='thr', type=int, default=0, nargs='?', + help='minimum cone size in px') + parser.add_argument('--maxSize', metavar='px', type=int, nargs=3, + help='size (width height overlap) of the slices to be extracted \ + from each image') + parser.add_argument('--emptyProbability', metavar='ep', type=float, default=1, nargs='?', + help='Probability that a slice with no objects will be saved.') + parser.add_argument('--display', metavar='dsp', action=argparse.BooleanOptionalAction, + help='Display images as they\'re being sliced.') + parser.set_defaults(display=False) + return parser + + +if __name__ == "__main__": + main() diff --git a/src/perception/vision_cone_detector/src/detector/utils/BaseClasses.py b/src/perception/vision_cone_detector/src/detector/utils/BaseClasses.py new file mode 100644 index 00000000..d38abfd1 --- /dev/null +++ b/src/perception/vision_cone_detector/src/detector/utils/BaseClasses.py @@ -0,0 +1,277 @@ +""" +This file includes various classes that will be usefull for many parts of cone detection. Mainly +ImageSize to store width, heights and overlaps; and Object to store detections in +it's different formats. + +@author Jacobo Pindado +@author 20211214 +""" +from dataclasses import dataclass +from math import floor +from copy import deepcopy + +# We use this dataclass for readability and to ease type checking. +@dataclass +class ImageSize: + width: int + height: int + overlap: int = 0 + + def __post_init__(self): + for k, v in vars(self).items(): + if v is None: + raise ValueError("The parameter {0} can't be of NoneType".format(k)) + + +@dataclass +class Point: + x: float + y: float + + def __add__(self, other): + if isinstance(other, Point): + rx = self.x + other.x + ry = self.y + other.y + return Point(rx, ry) + else: + raise TypeError("Cannot add {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def __sub__(self, other): + if isinstance(other, Point): + rx = self.x - other.x + ry = self.y - other.y + return Point(rx, ry) + else: + raise TypeError("Cannot subtract {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def __mul__(self, other): + if isinstance(other, Point): + rx = self.x*other.x + ry = self.y*other.y + return Point(rx, ry) + if isinstance(other, int) or isinstance(other, float): + rx = self.x*other + ry = self.y*other + return Point(rx, ry) + else: + raise TypeError("Cannot multiply {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + __rmul__ = __mul__ + + def __truediv__(self, other): + if isinstance(other, Point): + rx = self.x/other.x + ry = self.x/other.y + return Point(rx, ry) + elif isinstance(other, float) or isinstance(other, int): + rx = self.x/other + ry = self.y/other + return Point(rx, ry) + else: + raise TypeError("Cannot divide {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def to_int(self): + self.x = floor(self.x) + self.y = floor(self.y) + + def tuple(self): + return self.x, self.y + + def __str__(self): + return "({0},{1})".format(self.x, self.y) + + +class Rectangle: + + def __init__(self, tl: Point, br: Point): + if tl.x > br.x or tl.y > br.y: + raise ValueError("tl must be to the left and over br") + + self.tl = tl + self.br = br + self.width = br.x - tl.x + self.height = br.y - tl.y + + def copy(self): + return deepcopy(self) + + def get_shifted(self, point: Point, reverse: bool = False): + obj_ = self.copy() + xShift = point.x*(-1 if reverse else 1) + yShift = point.y*(-1 if reverse else 1) + obj_.tl.x += xShift + obj_.tl.y += yShift + obj_.br.x += xShift + obj_.br.y += yShift + return obj_ + + def overlapping_rectangle(self, rect): + rx1 = min(self.tl.x, rect.tl.x) + ry1 = min(self.tl.y, rect.tl.y) + rx2 = max(self.br.x, rect.br.x) + ry2 = max(self.br.y, rect.br.y) + + rtl = Point(rx1, ry1) + rbr = Point(rx2, ry2) + return Rectangle(rtl, rbr) + + def intersect(self, other): + if isinstance(other, Rectangle): + rx1 = max(self.tl.x, other.tl.x) + ry1 = max(self.tl.y, other.tl.y) + rx2 = min(self.br.x, other.br.x) + ry2 = min(self.br.y, other.br.y) + + rtl = Point(rx1, ry1) + rbr = Point(rx2, ry2) + # This would be an empty intersection. + if rtl.x >= rbr.x or rtl.y >= rbr.y: + return None + return Rectangle(rtl, rbr) + elif isinstance(other, list): + rRect = self + for r in other: + rRect.intersect(r) + + return rRect + else: + raise TypeError("Cannot intersect {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def area(self): + return self.width * self.height + + def union_area(self, other): + if isinstance(other, Rectangle): + intersection = self.intersect(other) + inter_area = 0 if intersection is None else intersection.area() + return self.area() + other.area() - inter_area + else: + raise TypeError("Cannot intersect {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def to_int(self): + self.tl.to_int() + self.br.to_int() + + self.width = floor(self.width) + self.height = floor(self.height) + + def __str__(self): + return "{0},{1}".format(self.tl.__str__, self.br.__str__) + + +class Object(Rectangle): + # TODO include object name and/or id for future + # object_class = 0 + + def __init__(self, tl: Point, width: int, height: int, + object_class: int, image_size: ImageSize): + self.image_size = image_size + self.object_class = object_class + + br = tl + Point(width, height) + super().__init__(tl, br) + + def __str__(self): + return "Obj({0}, [{1},{2}])".format(self.object_class, self.tl, self.br) + + __repr__ = __str__ + + def __add__(self, other): + if isinstance(other, Object) or isinstance(other, Rectangle): + rx1 = min(self.tl.x, other.tl.x) + ry1 = min(self.tl.y, other.tl.y) + rx2 = max(self.br.x, other.br.x) + ry2 = max(self.br.y, other.br.y) + + rtl = Point(rx1, ry1) + rbr = Point(rx2, ry2) + return Object.from_points(rtl, rbr, self.object_class, self.image_size) + elif isinstance(other, Point): + return other + self + else: + raise TypeError("Cannot add {0} and {1}" + .format(type(self).__name__, type(other).__name__)) + + def from_rect(rect: Rectangle, object_class: int, image_size: ImageSize): + return Object(rect.tl, rect.width, rect.height, object_class, image_size) + + def from_points(tl: Point, br: Point, object_class: int, image_size: ImageSize): + width = br.x - tl.x + height = br.y - tl.y + return Object(tl, width, height, object_class, image_size) + + def intersect(self, other): + if isinstance(other, Rectangle): + rRect = Rectangle.intersect(self, other) + if rRect is not None: + return Object(rRect.tl, rRect.width, rRect.height, + self.object_class, self.image_size) + else: + return None + elif isinstance(other, Object): + if self.object_class == other.object_class: + rRect = super().intersect(other) + if rRect is not None: + return Object(rRect.tl, rRect.width, rRect.height, + self.object_class, self.image_size) + else: + return None + else: + return None + + def fromMIT(x1: int, y1: int, height: int, width: int, + image_size: ImageSize, object_class: int = 0): + if x1 is None or y1 is None: + raise ValueError("The coordinates of the point can't be of NoneType") + elif height is None or width is None: + raise ValueError("Width and height values can't be of NoneType") + elif image_size is None: + raise ValueError("image_size can't be of NoneType") + + rtl = Point(x1, y1) + + return Object(rtl, width, height, object_class, image_size) + + def fromMITStr(string: str, image_size: ImageSize): + def str2tuple(s): return tuple(int(n) for n in s.strip("[]").split(",")) + return Object.fromMIT(*str2tuple(string), image_size) + + def to_YOLO(self): + center = (self.tl + self.br)/2 + center.x /= self.image_size.width + center.y /= self.image_size.height + + rwidth = self.width / self.image_size.width + rheight = self.height / self.image_size.height + + assert 0 < center.x < 1 \ + and 0 < center.y < 1 \ + and 0 < rwidth < 1 \ + and 0 < rheight < 1 + + return center, rwidth, rheight + + def from_YOLO(center: Point, width: float, height: float, object_class: int, image_size): + # factor = Point(image_size.width, image_size.height) + wh_vector = Point(width, height)/2 + + rtl = (center - wh_vector) # * factor + # rwidth *= image_size.width + # rheight *= image_size.height + + return Object(rtl, width, height, object_class, image_size) + + def to_YOLO_str(self): + center, width, height = self.to_YOLO() + output_string = "{0} {1:06f} {2:06f} {3:06f} {4:06f}".format(0, + center.x, + center.y, + width, + height) + return output_string diff --git a/src/perception/vision_cone_detector/src/detector/utils/ImageSlicer.py b/src/perception/vision_cone_detector/src/detector/utils/ImageSlicer.py new file mode 100644 index 00000000..cc3ea185 --- /dev/null +++ b/src/perception/vision_cone_detector/src/detector/utils/ImageSlicer.py @@ -0,0 +1,139 @@ +""" +Classes to split and stitch images in slices that will later be used for YOLO. This allows +for training data and production images to be configured in the right size. This is done +to overcome the size limitations of YOLO detectors. + +@author Jacobo Pindado +@date 20211214 +""" +import numpy as np +from typing import List, Tuple +from math import ceil + +from .BaseClasses import Point, ImageSize, Rectangle, Object + + +class Slice(Rectangle): + def __init__(self, tl: Point, slice_size: ImageSize, image: np.ndarray, + image_size: ImageSize): + + self.image = image + self.image_size = image_size + self.slice_size = slice_size + self.overlap = slice_size.overlap + + br = tl + Point(slice_size.width, slice_size.height) + super().__init__(tl, br) + + # Numpy slices have their coordinates flipped + self.slice_image = image[self.tl.y:self.br.y, self.tl.x:self.br.x, ::] + + def slice_objects(self, + objects: List[Object], + min_size: int = 0, + pad_shift: Point = None): + rObjects = list() + + for o in objects: + obj_ = o.get_shifted(pad_shift).intersect(self) + + if obj_ is None \ + or obj_.width < min_size \ + or obj_.height < min_size: + continue + + obj_ = obj_.get_shifted(self.tl, reverse=True) + obj_.image_size = self.slice_size + + rObjects.append(obj_) + + return rObjects + + def __add__(self, other): + if isinstance(other, Point): + rtl = self.tl + other + + return Slice(rtl, self.slice_size, self.image, self.image_size) + + def __sub__(self, other): + if isinstance(other, Point): + rtl = self.tl - other + + return Slice(rtl, self.slice_size, self.image, self.image_size) + + __rsub__ = __sub__ + + def __str__(self): + return "Slice([{0},{1}])".format(self.tl, self.br) + + +class SliceIterator: + # If w_m is the maximum width, w is the input image width and o is the overlap, the number + # of rows will be (w-w_m)//(w_m-o) + 2. This is the same as floor((w-w_m)/(w_m-o)) + 1. + # Idem. for number of columns. + def __init__(self, image: np.ndarray, image_size: ImageSize, slice_size: ImageSize, + objects: List[Object] = None, + min_object_size: int = 0, + output_image_dims: Tuple[int] = None): + + self.slice_size = slice_size + self.objects = objects + self.min_object_size = min_object_size + + # Calculating the number of total slices, columns and rows + if output_image_dims is None: + self.cols, self.rows, output_width, output_height = SliceIterator.output_image_size(image_size, slice_size) # noqa + else: + self.cols, self.rows, output_width, output_height = output_image_dims + + self.total = self.cols * self.rows + self.current = 0 + + # This image will be the one used for the slices. We need this so that every piece has the + # same size. Padding will be applied equaly so that the resulting image is centered. This is + # to prevent posible slice configurations causing mostly black images. + self.pad_width = ceil((output_width - image_size.width)/2) + self.pad_height = ceil((output_height - image_size.height)/2) + self.pad_shift = Point(self.pad_width, self.pad_height) + + self.padded_image = np.pad(image, + [(self.pad_height, self.pad_height), + (self.pad_width, self.pad_width), (0, 0)], + mode='constant', + constant_values=0) + + # Elements for iterator + self.col_shift = Point(slice_size.width, 0) + self.row_shift = Point(0, slice_size.height) + self.initial_slice = Slice(Point(0, 0), self.slice_size, self.padded_image, image_size) + + def __iter__(self): + return self + + def __next__(self): + if self.current >= self.total: + raise StopIteration + + cur_col = self.current % self.cols + cur_row = self.current // self.cols + + shift = self.col_shift*cur_col + self.row_shift*cur_row + + slice = self.initial_slice + shift + + rObjects = slice.slice_objects(self.objects, + min_size=self.min_object_size, + pad_shift=self.pad_shift) + + self.current += 1 + return cur_col, cur_row, slice, rObjects + + def output_image_size(image_size: ImageSize, slice_size: ImageSize): + cols = ceil((image_size.width-slice_size.width)/(slice_size.width-slice_size.overlap)) + 1 + rows = ceil((image_size.height-slice_size.height)/(slice_size.height-slice_size.overlap))+1 + + output_width = slice_size.width + (slice_size.width - slice_size.overlap)*(cols - 1) + + output_height = slice_size.height + (slice_size.height - slice_size.overlap)*(rows - 1) + + return cols, rows, output_width, output_height diff --git a/src/perception/vision_cone_detector/src/detector/utils/__init__.py b/src/perception/vision_cone_detector/src/detector/utils/__init__.py new file mode 100644 index 00000000..6db393e2 --- /dev/null +++ b/src/perception/vision_cone_detector/src/detector/utils/__init__.py @@ -0,0 +1,3 @@ +from . import BaseClasses +from . import darknet +from . import ImageSlicer diff --git a/src/perception/vision_cone_detector/src/detector/utils/darknet.py b/src/perception/vision_cone_detector/src/detector/utils/darknet.py new file mode 100644 index 00000000..40684a86 --- /dev/null +++ b/src/perception/vision_cone_detector/src/detector/utils/darknet.py @@ -0,0 +1,282 @@ +#!/usr/bin/env python3 +""" +Python 3 wrapper for identifying objects in images + +Requires DLL compilation + +Both the GPU and no-GPU version should be compiled; the no-GPU version should be renamed +"yolo_cpp_dll_nogpu.dll". + +On a GPU system, you can force CPU evaluation by any of: + +- Set global variable DARKNET_FORCE_CPU to True +- Set environment variable CUDA_VISIBLE_DEVICES to -1 +- Set environment variable "FORCE_CPU" to "true" + +Directly viewing or returning bounding-boxed images requires scikit-image to be installed +(`pip install scikit-image`) + +Original *nix 2.7: https://github.com/pjreddie/darknet/blob/0f110834f4e18b30d5f101bf8f1724c34b7b83db/python/darknet.py # noqa +Windows Python 2.7 version: https://github.com/AlexeyAB/darknet/blob/fc496d52bf22a0bb257300d3c79be9cd80e722cb/build/darknet/x64/darknet.py # noqa + +@author: Philip Kahn +@date: 20180503 +""" +from ctypes import Structure, c_float, c_int, POINTER, CDLL, RTLD_GLOBAL, c_char_p, pointer,\ + c_ubyte, c_void_p, c_long +import random +import os + + +class BOX(Structure): + _fields_ = [("x", c_float), + ("y", c_float), + ("w", c_float), + ("h", c_float)] + + +class DETECTION(Structure): + _fields_ = [("bbox", BOX), + ("classes", c_int), + ("prob", POINTER(c_float)), + ("mask", POINTER(c_float)), + ("objectness", c_float), + ("sort_class", c_int), + ("uc", POINTER(c_float)), + ("points", c_int), + ("embeddings", POINTER(c_float)), + ("embedding_size", c_int), + ("sim", c_float), + ("track_id", c_int)] + + +class DETNUMPAIR(Structure): + _fields_ = [("num", c_int), + ("dets", POINTER(DETECTION))] + + +class IMAGE(Structure): + _fields_ = [("w", c_int), + ("h", c_int), + ("c", c_int), + ("data", POINTER(c_float))] + + +class METADATA(Structure): + _fields_ = [("classes", c_int), + ("names", POINTER(c_char_p))] + + +def c_array(ctype, values): + return (ctype * len(values))(*values) + + +def network_width(net): + return lib.network_width(net) + + +def network_height(net): + return lib.network_height(net) + + +def bbox2points(bbox): + """ + From bounding box yolo format + to corner points cv2 rectangle + """ + x, y, w, h = bbox + xmin = int(round(x - (w / 2))) + xmax = int(round(x + (w / 2))) + ymin = int(round(y - (h / 2))) + ymax = int(round(y + (h / 2))) + return xmin, ymin, xmax, ymax + + +def class_colors(names): + """ + Create a dict with one random BGR color for each + class name + """ + return {name: ( + random.randint(0, 255), + random.randint(0, 255), + random.randint(0, 255)) for name in names} + + +def load_network(config_file, data_file, weights, batch_size=1): + """ + load model description and weights from config files + args: + config_file (str): path to .cfg model file + data_file (str): path to .data model file + weights (str): path to weights + returns: + network: trained model + class_names + class_colors + """ + network = load_net_custom( + config_file.encode("ascii"), + weights.encode("ascii"), 0, batch_size) + metadata = load_meta(data_file.encode("ascii")) + class_names = [metadata.names[i].decode("ascii") for i in range(metadata.classes)] + colors = class_colors(class_names) + return network, class_names, colors + + +def print_detections(detections, coordinates=False): + print("\nObjects:") + for label, confidence, bbox in detections: + x, y, w, h = bbox + if coordinates: + print("{}: {}% (left_x: {:.0f} top_y: {:.0f} width: {:.0f} height: {:.0f})" + .format(label, confidence, x, y, w, h)) + else: + print("{}: {}%".format(label, confidence)) + + +def draw_boxes(detections, image, colors): + import cv2 + for label, confidence, bbox in detections: + left, top, right, bottom = bbox2points(bbox) + cv2.rectangle(image, (left, top), (right, bottom), colors[label], 1) + cv2.putText(image, "{} [{:.2f}]".format(label, float(confidence)), + (left, top - 5), cv2.FONT_HERSHEY_SIMPLEX, 0.5, + colors[label], 2) + return image + + +def decode_detection(detections): + decoded = [] + for label, confidence, bbox in detections: + confidence = str(round(confidence * 100, 2)) + decoded.append((str(label), confidence, bbox)) + return decoded + + +def remove_negatives(detections, class_names, num): + """ + Remove all classes with 0% confidence within the detection + """ + predictions = [] + for j in range(num): + for idx, name in enumerate(class_names): + if detections[j].prob[idx] > 0: + bbox = detections[j].bbox + bbox = (bbox.x, bbox.y, bbox.w, bbox.h) + predictions.append((name, detections[j].prob[idx], (bbox))) + return predictions + + +def detect_image(network, class_names, image, thresh=.5, hier_thresh=.5, nms=.45): + """ + Returns a list with highest confidence class and their bbox + """ + pnum = pointer(c_int(0)) + predict_image(network, image) + detections = get_network_boxes(network, image.w, image.h, + thresh, hier_thresh, None, 0, pnum, 0) + num = pnum[0] + if nms: + do_nms_sort(detections, num, len(class_names), nms) + predictions = remove_negatives(detections, class_names, num) + predictions = decode_detection(predictions) + free_detections(detections, num) + return sorted(predictions, key=lambda x: x[1]) + + + +hasGPU = True +lib_path = os.path.join(os.path.dirname(__file__), "libdarknet.so") +lib = CDLL(lib_path, RTLD_GLOBAL) + +lib.network_width.argtypes = [c_void_p] +lib.network_width.restype = c_int +lib.network_height.argtypes = [c_void_p] +lib.network_height.restype = c_int + +copy_image_from_bytes = lib.copy_image_from_bytes +copy_image_from_bytes.argtypes = [IMAGE, c_char_p] + +predict = lib.network_predict_ptr +predict.argtypes = [c_void_p, POINTER(c_float)] +predict.restype = POINTER(c_float) + +if hasGPU: + set_gpu = lib.cuda_set_device + set_gpu.argtypes = [c_int] + +init_cpu = lib.init_cpu + +make_image = lib.make_image +make_image.argtypes = [c_int, c_int, c_int] +make_image.restype = IMAGE + +get_network_boxes = lib.get_network_boxes +get_network_boxes.argtypes = [c_void_p, c_int, c_int, c_float, c_float, POINTER(c_int), c_int, + POINTER(c_int), c_int] +get_network_boxes.restype = POINTER(DETECTION) + +make_network_boxes = lib.make_network_boxes +make_network_boxes.argtypes = [c_void_p] +make_network_boxes.restype = POINTER(DETECTION) + +free_detections = lib.free_detections +free_detections.argtypes = [POINTER(DETECTION), c_int] + +free_batch_detections = lib.free_batch_detections +free_batch_detections.argtypes = [POINTER(DETNUMPAIR), c_int] + +free_ptrs = lib.free_ptrs +free_ptrs.argtypes = [POINTER(c_void_p), c_int] + +network_predict = lib.network_predict_ptr +network_predict.argtypes = [c_void_p, POINTER(c_float)] + +reset_rnn = lib.reset_rnn +reset_rnn.argtypes = [c_void_p] + +load_net = lib.load_network +load_net.argtypes = [c_char_p, c_char_p, c_int] +load_net.restype = c_void_p + +load_net_custom = lib.load_network_custom +load_net_custom.argtypes = [c_char_p, c_char_p, c_int, c_int] +load_net_custom.restype = c_void_p + +do_nms_obj = lib.do_nms_obj +do_nms_obj.argtypes = [POINTER(DETECTION), c_int, c_int, c_float] + +do_nms_sort = lib.do_nms_sort +do_nms_sort.argtypes = [POINTER(DETECTION), c_int, c_int, c_float] + +free_image = lib.free_image +free_image.argtypes = [IMAGE] + +letterbox_image = lib.letterbox_image +letterbox_image.argtypes = [IMAGE, c_int, c_int] +letterbox_image.restype = IMAGE + +load_meta = lib.get_metadata +lib.get_metadata.argtypes = [c_char_p] +lib.get_metadata.restype = METADATA + +load_image = lib.load_image_color +load_image.argtypes = [c_char_p, c_int, c_int] +load_image.restype = IMAGE + +rgbgr_image = lib.rgbgr_image +rgbgr_image.argtypes = [IMAGE] + +predict_image = lib.network_predict_image +predict_image.argtypes = [c_void_p, IMAGE] +predict_image.restype = POINTER(c_float) + +predict_image_letterbox = lib.network_predict_image_letterbox +predict_image_letterbox.argtypes = [c_void_p, IMAGE] +predict_image_letterbox.restype = POINTER(c_float) + +network_predict_batch = lib.network_predict_batch +network_predict_batch.argtypes = [c_void_p, IMAGE, c_int, c_int, c_int, + c_float, c_float, POINTER(c_int), c_int, c_int] +network_predict_batch.restype = POINTER(DETNUMPAIR) diff --git a/src/perception/vision_cone_detector/src/estimator.py b/src/perception/vision_cone_detector/src/estimator.py new file mode 100644 index 00000000..f4a885d0 --- /dev/null +++ b/src/perception/vision_cone_detector/src/estimator.py @@ -0,0 +1,107 @@ +#!/usr/bin/env python3 +""" +Class that will be used by rospy to pass each image through all the +perception pipeline. The estimator will take an image as an input, +and will output an estimation of the position of each cone relative +to the car. + +@author: Jacobo Pindado +@date: 20221030 +""" +import os +from typing import Union, List, Tuple +from dataclasses import dataclass + +import cv2 +import numpy as np + +from detector.utils import darknet +from detector import YoloDetector +from keypoints.keypoint_detector import keypoint_detector + + +@dataclass +class CameraConfig: + camera_mat: np.ndarray + dist_coefs: np.ndarray + homography_mat: np.ndarray + new_camera_mat: np.ndarray + inv_new_camera_mat: np.ndarray + transform_matrix: np.ndarray + img_format: str + + def from_param(cam_info): + camera_mat = np.array(cam_info["camera_mat"]).reshape((3, 3)) + dist_coefs = np.array(cam_info["dist_coefs"]) + homography_mat = np.array(cam_info["homography_mat"])\ + .reshape((3, 3)) + + new_camera_mat = cv2.getOptimalNewCameraMatrix(camera_mat, dist_coefs, (1920, 1088), 0)[0] + + inv_new_camera_mat = np.linalg.inv(new_camera_mat) + + transform_matrix = homography_mat @ inv_new_camera_mat + + conf = CameraConfig(camera_mat=camera_mat, + dist_coefs=dist_coefs, + homography_mat=homography_mat, + new_camera_mat=new_camera_mat, + inv_new_camera_mat=inv_new_camera_mat, + transform_matrix=transform_matrix, + img_format=cam_info["img_format"]) + return conf + + +class Estimator: + def __init__(self, + yolo_cfg: Union[str, bytes, os.PathLike], + yolo_data: Union[str, bytes, os.PathLike], + yolo_weights: Union[str, bytes, os.PathLike], + kpt_num: int, + kpt_weights: Union[str, bytes, os.PathLike], + kpt_img_size: Tuple[int, int], + camera: CameraConfig): + + self.yolo_detector = YoloDetector(yolo_cfg, yolo_data, yolo_weights) + self.kpt_detector = keypoint_detector(kpt_num, kpt_weights, kpt_img_size) + self.cam_conf = camera + + def map_from_image(self, + img: np.ndarray) -> List[Tuple[str, float, Tuple[float, float]]]: + + if img.shape != (1088, 1920, 3): + img = cv2.resize(img, (1920, 1088)) + img = cv2.undistort(img, self.cam_conf.camera_mat, + self.cam_conf.dist_coefs, None, + self.cam_conf.new_camera_mat) + + detections = self.yolo_detector.predict_from_image(img) + + vertex_array = np.empty((3, len(detections))) + vertex_array[2, :] = np.ones(len(detections)) + vertex_properties = list() + + for i, (class_name, confidence, bbox) in enumerate(detections): + xmin, ymin, xmax, ymax = darknet.bbox2points(bbox) + # Due to rounding errors, boxes may fall outside the image + xmin = max(0, xmin) + ymin = max(0, ymin) + xmax = min(xmax, img.shape[1] - 1) + ymax = min(ymax, img.shape[0] - 1) + cone_bbox_img = img[ymin:ymax, xmin:xmax] + + # keypoints relative to bounding box + kpts_relative = self.kpt_detector.get_keypoint_from_image(cone_bbox_img) + + # Right now, we only apply homography to the vertex of the cone. Detecting 7 kpts + # is unnecesary, but is left for future use. We also transform from relative to + # absolute to whole image. + vertex_array[:2, i] = kpts_relative[0] + np.array([xmin, ymin]) + + vertex_properties.append((class_name, float(confidence)/100)) + + vertex_array = self.cam_conf.transform_matrix @ vertex_array + vertex_array /= vertex_array[2, :] # We normalize the affine point + + return list((class_name, conf, (p[0], p[1])) for (class_name, conf), p + in zip(vertex_properties, vertex_array.T)) diff --git a/src/perception/vision_cone_detector/src/estimator_handle.py b/src/perception/vision_cone_detector/src/estimator_handle.py new file mode 100644 index 00000000..92cc12a8 --- /dev/null +++ b/src/perception/vision_cone_detector/src/estimator_handle.py @@ -0,0 +1,75 @@ +#!/usr/bin/env python3 +"""Script to execute the node visual perception node handle + +@author: Jacobo Pindado +@date 20221113 +""" +import rospy +from sensor_msgs.msg import Image +from geometry_msgs.msg import Point +from std_msgs.msg import Header +from cv_bridge import CvBridge + +from estimator import Estimator, CameraConfig +from common_msgs.msg import Cone, Map + +yolo_cfg = rospy.get_param("/vision_cone_detector/yolo/cfg") +yolo_data = rospy.get_param("/vision_cone_detector/yolo/data") +yolo_weights = rospy.get_param("/vision_cone_detector/yolo/weights") +kpt_num = rospy.get_param("/vision_cone_detector/kpt/num") +kpt_weights = rospy.get_param("/vision_cone_detector/kpt/weights") +kpt_img_size = tuple(rospy.get_param("/vision_cone_detector/kpt/img_size")) +camera = rospy.get_param("/vision_cone_detector/camera") + + +class EstimatorHandle(): + + def __init__(self): + self.estimator = Estimator(yolo_cfg, + yolo_data, + yolo_weights, + kpt_num, + kpt_weights, + kpt_img_size, + CameraConfig.from_param(camera)) + + rospy.Subscriber(camera["topic"], Image, self.camera_callback, queue_size=1) + + self.pub = rospy.Publisher("/vision_cone_detector/estimated_map", Map, queue_size=10) + + def camera_callback(self, msg: Image): + pub_map = Map() + # The timestamp is the same as the camera's to ignore inference time when using + # tf2 and other time dependent transforms. + pub_map.header = Header() + pub_map.header.stamp = msg.header.stamp + pub_map.header.frame_id = "camera_2d" + + encoding = "passthrough" if camera["img_format"] == "RGB" else "rgb8" + image = CvBridge().imgmsg_to_cv2(msg, desired_encoding=encoding) + + estimated_points = self.estimator.map_from_image(image) + + pub_map.cones = list() + for color, confidence, (x, y) in estimated_points: + cone = Cone() + cone.position = Point() + cone.position.x = x + cone.position.y = y + cone.position.z = 0 + + if color == "yellow_cone": + cone.color = 'y' + elif color == "blue_cone": + cone.color = 'b' + elif color == "orange_cone": + cone.color = 'o' + elif color == "large_orange_cone": + cone.color = 'O' + else: + cone.color = 'u' + + cone.confidence = confidence + pub_map.cones.append(cone) + + self.pub.publish(pub_map) diff --git a/src/perception/vision_cone_detector/src/keypoints/Loss_graphics.png b/src/perception/vision_cone_detector/src/keypoints/Loss_graphics.png new file mode 100644 index 00000000..1a55a362 Binary files /dev/null and b/src/perception/vision_cone_detector/src/keypoints/Loss_graphics.png differ diff --git a/src/perception/vision_cone_detector/src/keypoints/__init__.py b/src/perception/vision_cone_detector/src/keypoints/__init__.py new file mode 100644 index 00000000..a25f5e5c --- /dev/null +++ b/src/perception/vision_cone_detector/src/keypoints/__init__.py @@ -0,0 +1,5 @@ +from . import dataset +from . import keypoint_detector +from . import net_architecture +from . import net_train +from . import utils diff --git a/src/perception/vision_cone_detector/src/keypoints/cross_ratio_loss.py b/src/perception/vision_cone_detector/src/keypoints/cross_ratio_loss.py new file mode 100644 index 00000000..4fd353bb --- /dev/null +++ b/src/perception/vision_cone_detector/src/keypoints/cross_ratio_loss.py @@ -0,0 +1,75 @@ +""" +Script to implement class of loss. + +@author: Mariano del Río +@date: 20211204 +""" + +import torch +from torch import nn +import torch.nn.functional as F + + +class CrossRatioLoss(nn.Module): + """ + Custom loss to take in account paralalism. + It is possible to choose between several loss functions. + """ + + def __init__(self, loss_type, include_geo: bool, + geo_loss_gamma_horz: float, geo_loss_gamma_vert: float): + + super(CrossRatioLoss, self).__init__() + self.loss_type = loss_type + self.include_geo = include_geo + self.geo_loss_gamma_vert = geo_loss_gamma_vert + self.geo_loss_gamma_horz = geo_loss_gamma_horz + + print(f"Including geometric loss: {include_geo}") + print(f"Loss type: {loss_type}") + + def forward(self, heatmap, points, target_hm, target_points): + """ + All arguments must be numpy arrays. + """ + + if (self.loss_type == 'l2_softargmax' or self.loss_type == 'l2_sm'): + mse_loss = (points - target_points) ** 2 + location_loss = mse_loss.sum(2).sum(1).mean() + elif (self.loss_type == 'l2_heatmap' or self.loss_type == 'l2_hm'): + mse_loss = (heatmap - target_hm) ** 2 + location_loss = mse_loss.sum(3).sum(2).sum(1).mean() + elif (self.loss_type == 'l1_softargmax' or self.loss_type == 'l1_sm'): + l1_loss = torch.abs(points - target_points) + location_loss = l1_loss.sum(2).sum(1).mean() + + if self.include_geo: + # Loss on co-linearity of points along side of cone + v53 = F.normalize(points[:, 5] - points[:, 3], dim=1) + v31 = F.normalize(points[:, 3] - points[:, 1], dim=1) + vA = 1.0 - torch.tensordot(v31, v53, dims=([1], [1])) + v10 = F.normalize(points[:, 1] - points[:, 0], dim=1) + vB = 1.0 - torch.tensordot(v10, v31, dims=([1], [1])) + + v64 = F.normalize(points[:, 6] - points[:, 4], dim=1) + v42 = F.normalize(points[:, 4] - points[:, 2], dim=1) + vC = 1.0 - torch.tensordot(v64, v42, dims=([1], [1])) + + v20 = F.normalize(points[:, 2] - points[:, 0], dim=1) + vD = 1.0 - torch.tensordot(v42, v20, dims=([1], [1])) + + # Loss on horizontals on cones (color boundaries) + h21 = F.normalize(points[:, 2] - points[:, 1], dim=1) + h43 = F.normalize(points[:, 4] - points[:, 3], dim=1) + hA = 1.0 - torch.tensordot(h43, h21, dims=([1], [1])) + + h65 = F.normalize(points[:, 6] - points[:, 5], dim=1) + hB = 1.0 - torch.tensordot(h65, h43, dims=([1], [1])) + + factorA = self.geo_loss_gamma_horz * (hA + hB).mean() / 2 + factorB = self.geo_loss_gamma_vert * (vA + vB + vC + vD).mean() / 4 + geo_loss = factorA + factorB + else: + geo_loss = torch.tensor(0) + + return location_loss, geo_loss, location_loss+geo_loss diff --git a/src/perception/vision_cone_detector/src/keypoints/dataset.py b/src/perception/vision_cone_detector/src/keypoints/dataset.py new file mode 100644 index 00000000..59a40e42 --- /dev/null +++ b/src/perception/vision_cone_detector/src/keypoints/dataset.py @@ -0,0 +1,86 @@ +""" +Script to implement dataset class for train + +@author: Mariano del Río +@date: 20211204 + +""" + +import torch +from torch.utils.data import Dataset +import numpy as np +import cv2 + +from .utils import get_labels, get_scale, scale_labels, prep_image, prep_label + + +class ConeDataset(Dataset): + + def __init__(self, start, num_images, dataset_images_path, + dataset_labels_path, target_image_size, + num_kpt, i, j): + + labels, images = get_labels(dataset_labels_path, num_images, start, i, j) + self.images = images + self.labels = labels + self.target_image_size = target_image_size + self.dataset_path = dataset_images_path + self.num_keypoints = num_kpt + + def __len__(self): + return len(self.images) + + def __getitem__(self, index): + + image = cv2.imread(self.dataset_path+self.images[index]) + orig_image_size = image.shape + image_name = self.images[index].split(".")[0] + image = prep_image(image=image, + target_image_size=self.target_image_size) + + hm = prep_label(label=self.labels[index], + target_image_size=self.target_image_size, + orig_image_size=orig_image_size, + image_path=self.images[index]) + + h_scale, w_scale = get_scale(actual_image_size=orig_image_size, + target_image_size=self.target_image_size) + + scaled_labels = scale_labels(self.labels[index], h_scale, w_scale) + scaled_labels = scaled_labels / self.target_image_size[0] + + image = image.transpose((2, 0, 1)) / 255.0 + tensor_image = torch.from_numpy(image).type('torch.FloatTensor') + heat_map = torch.from_numpy(hm).type('torch.FloatTensor') + tensor_labels = torch.from_numpy(scaled_labels).type('torch.FloatTensor') + + return tensor_image, heat_map, tensor_labels, image_name, orig_image_size + + +class Dataset_for_test(Dataset): + """ + Dataset used to test images no labeled. + Parameters: + -images: Numpy array os images processed + -target_image_size: Size of image to reduce all + """ + def __init__(self, images: np.ndarray, target_image_size): + self.images = images + self.target_image_size = target_image_size + + def __len__(self): + return len(self.images) + + def __getitem__(self, index): + + image = self.images[index] + orig_image_size = image.shape + image = prep_image(image=image, target_image_size=self.target_image_size) + + if image.shape[-1] == 3: + image = image.transpose((2, 0, 1)) + # Transpose if matrix is not correct + + image = image / 255.0 + tensor_image = torch.from_numpy(image).type('torch.FloatTensor') + return tensor_image, orig_image_size diff --git a/src/perception/vision_cone_detector/src/keypoints/keypoint_detector.py b/src/perception/vision_cone_detector/src/keypoints/keypoint_detector.py new file mode 100644 index 00000000..3a4f83b1 --- /dev/null +++ b/src/perception/vision_cone_detector/src/keypoints/keypoint_detector.py @@ -0,0 +1,170 @@ +""" +Script to implement a keypoint detector class to +train a neural net and detect keypoints of images. + +@author: Mariano del Río +@date: 20211204 +""" + +import argparse + +import cv2 +import numpy as np +import torch +from torch.utils.data import DataLoader + +from .net_train import train_model, evaluate_model +from .dataset import Dataset_for_test +from .net_architecture import KeypointNet + + +class keypoint_detector(): + + def __init__(self, num_kpt, path_weights, target_image_size=(80, 80)): + ''' + Initialization of a keypoints detector. + ''' + + self.device = 'cuda' if torch.cuda.is_available() else 'cpu' + self.kNet = KeypointNet(target_image_size, num_kpt).to(self.device) + if path_weights is not None: + self.kNet.load_state_dict(torch.load(path_weights, map_location=self.device)) + + self.target_image_size = target_image_size + self.num_kpt = num_kpt + + print("Net ready!") + + def train(self, epochs, dataset_images_path, dataset_labels_path, + include_geo): + ''' + Train model with images and labels. + These are all parameters to build, train and validate + the model. + ''' + num_images_train = 36 + num_images_validation = 36 + lr = 0.1 + geo_loss_gamma_horz = 0.0 + geo_loss_gamma_vert = 0.0 + batch_train = 6 + batch_validation = 6 + loss_type = 'l1_softargmax' + first_kp, last_kp = 0, self.num_kpt # Range of keypoints + + if last_kp != 7: + print("Not allowed paralelism loss") + include_geo = False + + print("Train!") + train_model(self.kNet, epochs, dataset_images_path, + dataset_labels_path, num_images_train, + num_images_validation, self.target_image_size, + lr, geo_loss_gamma_horz, geo_loss_gamma_vert, + self.num_kpt, first_kp, last_kp, batch_train, + batch_validation, loss_type, include_geo, self.device) + + # Save model + train_file_name = "train.pth" + torch.save(self.kNet.state_dict(), train_file_name) + + def get_keypoints_from_images(self, test_images: np.ndarray): + ''' + Method to get keypoints from a set of images. + Images must be a numpy array of images read by openCV. + This returns a numpy array of arrays of keypoints + ''' + datasetTest = Dataset_for_test(test_images, self.target_image_size) + dataloaderTest = DataLoader(datasetTest, len(test_images)) + + pts2d = evaluate_model(self.kNet, datasetTest, dataloaderTest, + self.device) + + pts2d = np.array([cone[0] for cone in pts2d]) + + print("Evaluated!") + return pts2d + + def get_keypoint_from_image(self, image: np.ndarray): + ''' + Method to predict keypoints of an image. + This image must be an array of the image read by openCV. + This returns a numpy array of keypoints + ''' + + images = [image] + datasetTest = Dataset_for_test(images, self.target_image_size) + dataloaderTest = DataLoader(datasetTest) + + pts2d = evaluate_model(self.kNet, datasetTest, dataloaderTest, + self.device) + pts2d = pts2d[0][0] + + print("Evaluated!") + return pts2d + + def show_keypoint_image(self, image: np.ndarray, keypoints: np.ndarray, name): + ''' + Method to show keypoints drown in image. + Name is the path of the generated image to save + ''' + + point_size = 1 + point_color1 = (0, 0, 255) + thickness = 1 + + for point in keypoints: + cv2.circle(image, point, point_size, point_color1, thickness) + + # Save the image with keypoints + cv2.imwrite(name, image) + print("Image has been saved in this project with name: " + name) + + +def main(images_path, labels_path, output_path, epochs, draw_keypoints, + include_geo, num_kpt, path_image, train, path_weights): + + if draw_keypoints and path_image is None: + print("Insert path image to detect keypoints or \ + modify draw_keypoints to False to not evaluate") + else: + + detector = keypoint_detector(num_kpt, path_weights) + + if train: + detector.train(epochs, images_path, labels_path, include_geo) + + if path_image is not None: + img = cv2.imread(path_image) + pts = detector.get_keypoint_from_image(img) + name = path_image.split("/")[-1] + out = output_path + "detected_" + name + detector.show_keypoint_image(img, pts, out) + + +if __name__ == "__main__": + + parser = argparse.ArgumentParser(description='Detection of keypoints:\ + Train and evaluate a model') + + parser.add_argument('--epochs', default=1, help='Epochs to train the model.', type=int) + parser.add_argument('--dataset_images_path', default="Dataset/Images/RektNet_Dataset/", + help='Insert dataset images path') + parser.add_argument('--dataset_labels_path', default="Dataset/Labels/rektnet_labels.csv", + help='Insert dataset labels path') + parser.add_argument('--draw_keypoints', default=True, + help='True by default if you want to draw keypoints') + parser.add_argument('--output_path', default="", + help='Insert path for output images if you want to draw keypoints') + parser.add_argument('--include_geo', default=False, + help='True if add paralelism to loss') + parser.add_argument('--num_kpt', default=7, help='Number of keypoints to detect') + parser.add_argument('--path_image', default=None, help='Path of image to detect keypoints') + parser.add_argument('--train', default=True, help='True if you want to train ') + parser.add_argument('--path_weights', default=None, + help='Path of weights. By default train with initial weights') + args = parser.parse_args() + + main(args.dataset_images_path, args.dataset_labels_path, args.output_path, + args.epochs, args.draw_keypoints, args.include_geo, args.num_kpt, + args.path_image, args.train, args.path_weights) diff --git a/src/perception/vision_cone_detector/src/keypoints/net_architecture.py b/src/perception/vision_cone_detector/src/keypoints/net_architecture.py new file mode 100644 index 00000000..a730a687 --- /dev/null +++ b/src/perception/vision_cone_detector/src/keypoints/net_architecture.py @@ -0,0 +1,106 @@ +""" +Script to implement net architecture of detector. + +@author: Mariano del Río +@date: 20211204 +""" + +import torch.nn as nn +import torch +import torch.nn.functional + + +class ResNet(nn.Module): + def __init__(self, in_channels, out_channels): + + super(ResNet, self).__init__() + + self.conv1 = nn.Conv2d(in_channels=in_channels, + out_channels=out_channels, kernel_size=3, + stride=1, padding=2, dilation=2) + self.bn1 = nn.BatchNorm2d(out_channels) + self.relu1 = nn.ReLU() + self.conv2 = nn.Conv2d(in_channels=out_channels, + out_channels=out_channels, kernel_size=3, + stride=1, padding=1) + self.bn2 = nn.BatchNorm2d(out_channels) + self.relu2 = nn.ReLU() + + self.shortcut_conv = nn.Conv2d(in_channels=in_channels, + out_channels=out_channels, + kernel_size=1, stride=1) + self.shortcut_bn = nn.BatchNorm2d(out_channels) # Capas de atajo + + def forward(self, x): + c1 = self.conv1(x) + b1 = self.bn1(c1) + act1 = self.relu1(b1) + out = self.relu2(self.shortcut_bn(self.shortcut_conv(x)) + self.bn2(self.conv2(act1))) + return out + + +class KeypointNet(nn.Module): + def __init__(self, image_size=(80, 80), num_kpt=7, init_weight=True): + + super(KeypointNet, self).__init__() + net_size = 16 + self.conv = nn.Conv2d(in_channels=3, out_channels=net_size, + kernel_size=7, stride=1, padding=3) + self.bn = nn.BatchNorm2d(net_size) + self.relu = nn.ReLU() + self.res1 = ResNet(net_size, net_size) + self.res2 = ResNet(net_size, net_size * 2) + self.res3 = ResNet(net_size * 2, net_size * 4) + self.res4 = ResNet(net_size * 4, net_size * 8) + self.out = nn.Conv2d(in_channels=net_size*8, out_channels=7, + kernel_size=1) + + if init_weight: + self._initialize_weights() + + self.image_size = image_size + self.num_kpt = num_kpt + + def _initialize_weights(self): + for m in self.modules(): + if isinstance(m, nn.Conv2d): + nn.init.kaiming_normal_(m.weight, mode='fan_out', + nonlinearity='relu') + if m.bias is not None: + nn.init.constant_(m.bias, 0) + elif isinstance(m, (nn.BatchNorm2d, nn.GroupNorm)): + nn.init.constant_(m.weight, 1) + nn.init.constant_(m.bias, 0) + elif isinstance(m, nn.Linear): + nn.init.normal_(m.weight, 0, 0.01) + nn.init.constant_(m.bias, 0) + + def flat_softmax(self, inp): + flat = inp.view(-1, self.image_size[0] * self.image_size[1]) + flat = torch.nn.functional.softmax(flat, 1) + return flat.view(-1, self.num_kpt, self.image_size[0], self.image_size[1]) + + def soft_argmax(self, inp): + values_y = torch.linspace(0, (self.image_size[0] - 1.) / self.image_size[0], + self.image_size[0], + dtype=inp.dtype, + device=inp.device) + values_x = torch.linspace(0, (self.image_size[1] - 1.) / self.image_size[1], + self.image_size[1], + dtype=inp.dtype, + device=inp.device) + + exp_y = (inp.sum(3) * values_y).sum(-1) + exp_x = (inp.sum(2) * values_x).sum(-1) + return torch.stack([exp_x, exp_y], -1) + + def forward(self, x): + act1 = self.relu(self.bn(self.conv(x))) + act2 = self.res1(act1) + act3 = self.res2(act2) + act4 = self.res3(act3) + act5 = self.res4(act4) + hm = self.out(act5) + hm = self.flat_softmax(self.out(act5)) + out = self.soft_argmax(hm) + return hm, out.view(-1, self.num_kpt, 2) diff --git a/src/perception/vision_cone_detector/src/keypoints/net_train.py b/src/perception/vision_cone_detector/src/keypoints/net_train.py new file mode 100644 index 00000000..9c9b0c41 --- /dev/null +++ b/src/perception/vision_cone_detector/src/keypoints/net_train.py @@ -0,0 +1,193 @@ +""" +Script to develope functions to initialize, train +and evaluate a model + +@author: Mariano del Río +@date: 20211204 +""" + +from tqdm import tqdm + +import torch +from torch.utils.data import DataLoader + +from .utils import draw_and_save_graphic +from .dataset import ConeDataset +from .cross_ratio_loss import CrossRatioLoss +from .utils import get_scale, unscale_labels + + +def train_model(kNet, epochs, dataset_images_path, + dataset_labels_path, num_images_train, + num_images_validation, target_image_size, + lr, geo_loss_gamma_horz, + geo_loss_gamma_vert, num_kpt, i, j, + batch_train, batch_validation, loss_type, include_geo, device): + ''' + Function to initialize a model and train it. These are all necessary + parameters to do it. + ''' + criterion = CrossRatioLoss(loss_type, include_geo, + geo_loss_gamma_horz, + geo_loss_gamma_vert) + + # Create datasets + datasetTrain = ConeDataset(0, num_images_train, dataset_images_path, + dataset_labels_path, target_image_size, + num_kpt, i, j) + + datasetValidation = ConeDataset(num_images_train, + num_images_train + num_images_validation, + dataset_images_path, dataset_labels_path, + target_image_size, num_kpt, i, j) + + # Create dataloader + dataloader = {'Train': DataLoader(datasetTrain, batch_train, + shuffle=True, drop_last=True), + 'Validation': DataLoader(datasetValidation, batch_validation, + shuffle=True, drop_last=True)} + + # Create optimizer for train + optimizer = torch.optim.Adam(kNet.parameters(), lr=lr) + scheduler = torch.optim.lr_scheduler.ExponentialLR(optimizer, gamma=0.99) + + # Train + kNet.zero_grad() + + fit(kNet, dataloader, epochs, criterion, scheduler, + optimizer, num_kpt, device) + + +def fit(net, dataloader, epochs, loss_function, scheduler, + optimizer, num_kpt, device): + + train_list_loss = [] + val_list_loss = [] + + best_val_loss = float('inf') + best_epoch = 0 + max_tolerance = 10 + tolerance = 0 + + for epoch in range(1, epochs+1): + print(f"EPOCH {epoch}") + net.train() # Net in train mode + total_loss = [0, 0, 0] + batch_num = 0 + train_process = tqdm(dataloader["Train"]) + for X, Y_hm, Y_points, name, imsize in train_process: + + X = X.to(device) + Y_hm = Y_hm.to(device) + Y_points = Y_points.to(device) + + optimizer.zero_grad() + + output = net(X) + + loc_loss, geo_loss, loss = loss_function(output[0], + output[1], + Y_hm, + Y_points) + loss.backward() + optimizer.step() + + loc_loss, geo_loss, loss = loc_loss.item(), geo_loss.item(), loss.item() + train_process.set_description(f"Batch {batch_num}. Location Loss: {round(loc_loss,5)}. \ + Geo Loss: {round(geo_loss,5)}. \ + Total Loss: {round(loss,5)}") + + total_loss[0] += loc_loss + total_loss[1] += geo_loss + total_loss[2] += loss + batch_num += 1 + train_list_loss.append(loss) + + print(f"\tTraining: MSE/Geometric/Total Loss: \ + {round(total_loss[0]/batch_num,10)}/ \ + {round(total_loss[1]/batch_num,10)}/ \ + {round(total_loss[2]/batch_num,10)}") + + scheduler.step() + + net.eval() # Net in evaluation mode + val_loc_loss, val_geo_loss, val_loss = 0, 0, 0 + with torch.no_grad(): + loss_sums = [0, 0, 0] + batch_num = 0 + for X, Y_hm, Y_points, name, imsize in dataloader["Validation"]: + X = X.to(device) + Y_hm = Y_hm.to(device) + Y_points = Y_points.to(device) + + output = net(X) + loc_loss, geo_loss, loss = loss_function(output[0], + output[1], + Y_hm, + Y_points) + + loss_sums[0] += loc_loss.item() + loss_sums[1] += geo_loss.item() + loss_sums[2] += loss.item() + batch_num += 1 + + val_loc_loss = loss_sums[0] / batch_num + val_geo_loss = loss_sums[1] / batch_num + val_loss = loss_sums[2] / batch_num + val_list_loss.append(val_loss) + + print(f"\tValidation: MSE/Geometric/Total Loss: \ + {round(val_loc_loss,10)}/ {round(val_geo_loss,10)}/ {round(val_loss,10)}") + + if val_loss < best_val_loss: + best_val_loss = val_loss + best_epoch = epoch + tolerance = 0 + else: + tolerance += 1 + + if tolerance >= max_tolerance: + print(f"Training is stopped due; loss no longer decreases. \ + Epoch {best_epoch} is has the best validation loss.") + break + + # Train finished, then draw the graphics + n = 0 + pathname = "Loss_graphics.png" + draw_and_save_graphic(epochs, train_list_loss, + val_list_loss, n, pathname) + + print("A file with graphics with the improvement \ + of loss and accuracy has been saved in your project") + + +def evaluate_model(net, dataset, dataloader, device): + ''' + Function to predict keypoints of dataset of any images choosen. + Net must be trained. + Device must be between GPU and CPU + ''' + target_image_size = dataset.target_image_size + net.eval() # Net in evaluation mode + pts2dimgs = [] + for X, imsize in dataloader: + + X = X.to(device) + y_map, y_pred = net(X) + pts2d = [] + + for i in range(len(X)): + # Unscale + labels = y_pred[i].detach().cpu().numpy() + h_scale, w_scale = get_scale((imsize[0][i], imsize[1][i]), + target_image_size) + labels = labels * target_image_size[0] + unscaled_labels = unscale_labels(labels, h_scale, w_scale) + + # Add keypoints to list + pts2d.append(unscaled_labels) + + # Add list of keypoints of an image to all + pts2dimgs.append(pts2d) + + return pts2dimgs diff --git a/src/perception/vision_cone_detector/src/keypoints/optimize_hiper.py b/src/perception/vision_cone_detector/src/keypoints/optimize_hiper.py new file mode 100644 index 00000000..b198763f --- /dev/null +++ b/src/perception/vision_cone_detector/src/keypoints/optimize_hiper.py @@ -0,0 +1,152 @@ +""" +Script to optimize hiperparameters of keypoint +neural net by bayesian optimization. + +@author: Mariano del Río +@date: 20211204 +""" + +import numpy as np +import torch + +from net_architecture import KeypointNet +from utils import euclidean_distance_loss +from cross_ratio_loss import CrossRatioLoss +from dataset import ConeDataset + +from ax.service.managed_loop import optimize +from torch.utils.data import DataLoader + + +def fit_hiperparameters(net, dataloader, epochs, loss_function, + optimizer, scheduler, device): + + for epoch in range(1, epochs+1): + net.train() # Model in train mode + for X, Y_hm, Y_points, name, imsize in dataloader["Train"]: + X = X.to(device) + Y_hm = Y_hm.to(device) + Y_points = Y_points.to(device) + optimizer.zero_grad() + output = net(X) + loc_loss, geo_loss, loss = loss_function(output[0], output[1], + Y_hm, Y_points) + loss.backward() + optimizer.step() + + if epoch % 100 == 0: + print("Epoch -> "+str(epoch)) + + scheduler.step() + + +def evaluate(net, dataloader, num_kpt, device): + + val_acc = [] + + net.eval() # Net in evaluation mode + with torch.no_grad(): + for X, Y_hm, Y_points, name, imsize in dataloader["Validation"]: + X = X.to(device) + Y_hm = Y_hm.to(device) + Y_points = Y_points.to(device) + output = net(X) # 0 is heat map and 1 points + acc = euclidean_distance_loss(output[1], Y_points) + val_acc.append(acc) + + return np.mean(val_acc) + + +def train_evaluate(parameters): + """ + Main function to pass to bayesian optimization API + Create a model, train and evaluate it. + """ + + # Create neural net + num_kpt = 7 + target_image_size = (80, 80) + kNet = KeypointNet(target_image_size, num_kpt) + device = 'cuda' if torch.cuda.is_available() else 'cpu' + kNet = kNet.to(device) + + # Parameters + epochs = 4 + dataset_images_path = "Dataset/Images/RektNet_Dataset/" + dataset_labels_path = "Dataset/Labels/rektnet_labels.csv" + num_images_train = 16 + num_images_validation = 16 + first_kp = 0 + last_kp = 7 + batch_train = 16 + batch_validation = 16 + loss_type = "l1_softargmax" + include_geo = True + + lr = parameters["lr"] + geo_loss_gamma_horz = parameters["geo_loss_gamma_horz"] + geo_loss_gamma_vert = parameters["geo_loss_gamma_vert"] + gamma = parameters["gamma"] + + loss_function = CrossRatioLoss(loss_type, include_geo, + geo_loss_gamma_horz, geo_loss_gamma_vert) + + # Create datasets + datasetTrain = ConeDataset(0, num_images_train, dataset_images_path, + dataset_labels_path, target_image_size, + num_kpt, first_kp, last_kp) + + datasetValidation = ConeDataset(num_images_train, + num_images_train + num_images_validation, + dataset_images_path, dataset_labels_path, + target_image_size, num_kpt, first_kp, last_kp) + + # Create dataloader + dataloader = {'Train': DataLoader(datasetTrain, batch_train, + shuffle=True, drop_last=True), + 'Validation': DataLoader(datasetValidation, batch_validation, + shuffle=True, drop_last=True)} + + # Create optimizer for train + optimizer = torch.optim.Adam(kNet.parameters(), lr=lr) + scheduler = torch.optim.lr_scheduler.ExponentialLR(optimizer, gamma) + + # Train + kNet.zero_grad() + fit_hiperparameters(kNet, dataloader, epochs, loss_function, + optimizer, scheduler, device) + accuracy = evaluate(kNet, dataloader, num_kpt, device) + + print("Euclidean loss -> ", accuracy) + + return accuracy + + +def optimize_param(): + ''' + Function to optimize keypoint detector. We choose these hiperparameters + and its range or values and the method optimize neural net. + ''' + parameterization = [ + {"name": "lr", "type": "range", "bounds": [1e-6, 0.1]}, + {"name": "geo_loss_gamma_horz", "type": "range", "bounds": [1e-8, 0.1]}, + {"name": "geo_loss_gamma_vert", "type": "range", "bounds": [1e-8, 0.1]}, + {"name": "gamma", "type": "range", "bounds": [1e-8, 1.0]}, + ] + + best_parameters, values, experiment, model = optimize( + parameters=parameterization, + evaluation_function=train_evaluate, + minimize=True, + total_trials=200) + + print(best_parameters) + + +def main(): + + optimize_param() + + +if __name__ == "__main__": + main() diff --git a/src/perception/vision_cone_detector/src/keypoints/train.pth b/src/perception/vision_cone_detector/src/keypoints/train.pth new file mode 100644 index 00000000..a9b037df Binary files /dev/null and b/src/perception/vision_cone_detector/src/keypoints/train.pth differ diff --git a/src/perception/vision_cone_detector/src/keypoints/utils.py b/src/perception/vision_cone_detector/src/keypoints/utils.py new file mode 100644 index 00000000..1e9f7f2c --- /dev/null +++ b/src/perception/vision_cone_detector/src/keypoints/utils.py @@ -0,0 +1,141 @@ +''' +Script utils to develope auxiliar functions. + +@author: Mariano del Río +@date: 20211204 +''' + +import csv +import numpy as np +import cv2 +from matplotlib import pyplot as PLT +import random as rd + + +def get_labels(dataset_labels_path, num_images, start, i, j): + ''' + Function to get labels of a csv file. + ''' + labels = [] + list_name_images = [] + + with open(dataset_labels_path, encoding='utf-8') as f: + lector = csv.reader(f) + next(lector) + for name, _, top, mid_L_top, mid_R_top, mid_L_bot, mid_R_bot, bot_L, bot_R, _ in lector: + + top = getPoints(top) + mid_L_top = getPoints(mid_L_top) + mid_R_top = getPoints(mid_R_top) + mid_L_bot = getPoints(mid_L_bot) + mid_R_bot = getPoints(mid_R_bot) + bot_L = getPoints(bot_L) + bot_R = getPoints(bot_R) + + tuplekp = (top, mid_L_top, mid_R_top, mid_L_bot, mid_R_bot, bot_L, bot_R) + tuplekp2 = tuplekp[i:j] + + keypointsCono = list(tuplekp2) + labels.append(keypointsCono) + list_name_images.append(name) + + zip_rd = [[e0, e1] for e0, e1 in zip(labels, list_name_images)] + rd.shuffle(zip_rd) + l0 = [e0 for e0, e1 in zip_rd] + l1 = [e1 for e0, e1 in zip_rd] + return np.array(l0[start:num_images]), l1[start:num_images] + + +def getPoints(string): + + c1 = int(string.split(",")[0][1:]) + c2 = int(string.split(",")[1][:-1]) + coordinates = [c1, c2] + return np.array(coordinates) + + +def prep_image(image, target_image_size): + image = cv2.resize(image, target_image_size) + return image + + +def prep_label(label, target_image_size, orig_image_size, image_path): + + hm = np.zeros((label.shape[0], target_image_size[0], target_image_size[1])) + for i in range(label.shape[0]): + + row = label[i] + hm_tmp = np.zeros((orig_image_size[0], orig_image_size[1])) + hm_tmp[int(row[1]), int(row[0])] = 1.0 + hm[i] = cv2.resize(hm_tmp, target_image_size) + hm[i] = cv2.GaussianBlur(hm[i], (5, 5), 0) + + if hm[i].sum() == 0: + print("Incorrect Data Label Detected!") + print(image_path) + + hm[i] /= hm[i].sum() + return hm + + +def get_scale(actual_image_size, target_image_size): + target_h, target_w = target_image_size + h_scale = target_h / actual_image_size[0] + w_scale = target_w / actual_image_size[1] + return h_scale, w_scale + + +def scale_labels(labels, h_scale, w_scale): + scale = np.array([w_scale, h_scale]) + n_labels = np.array(labels) * scale + return np.array(n_labels, dtype=int) + + +def unscale_labels(labels, h_scale, w_scale): + scale = np.array([w_scale, h_scale]) + n_labels = np.array(labels) / scale + return np.array(n_labels, dtype=int) + + +def calculate_distance(target_points, pred_points): + """ + Return matrix of distances between target point + and predicted point + """ + + tpt = target_points.T + ppt = pred_points.T + return np.linalg.norm(tpt-ppt, axis=0) + + +def euclidean_distance_loss(y_pred, Y): + + distances = calculate_distance(Y, y_pred) + return distances.mean() + + +def draw_and_save_graphic(epochs, train_final_loss, val_final_loss, n, pathname): + ''' + Function to draw graphic of a train of keypoint net. Four graphics are + drown with train loss, validation loss. + It removes first n values to avoid noisy data + ''' + + fig = PLT.figure() + PLT.rcParams.update({'font.size': 6}) # Size of text + + ax1 = fig.add_subplot(221) + ax1.plot(train_final_loss[n:], label='train_loss') + ax1.set_xlim(0, epochs+1) + ax1.set_ylim(0, max(train_final_loss[n:])) + PLT.legend() + + ax2 = fig.add_subplot(222) + ax2.plot(val_final_loss[n:], label='validation_loss') + ax2.set_xlim(0, epochs+1) + ax2.set_ylim(0, max(val_final_loss[n:])) + PLT.legend() + + PLT.legend() + # PLT.show() + PLT.savefig(pathname) diff --git a/src/perception/vision_cone_detector/src/main.py b/src/perception/vision_cone_detector/src/main.py new file mode 100755 index 00000000..f1428171 --- /dev/null +++ b/src/perception/vision_cone_detector/src/main.py @@ -0,0 +1,22 @@ +#!/usr/bin/env python3 +"""Script to initialize the visual perception node + +@author: Jacobo Pindado +@date 20221113 +""" + +import rospy +from estimator_handle import EstimatorHandle + + +def main(): + rospy.init_node("vision_cone_detector", anonymous=True) + EstimatorHandle() + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/planning/delaunay_detector/CMakeLists.txt b/src/planning/delaunay_detector/CMakeLists.txt new file mode 100644 index 00000000..cb3eb9c5 --- /dev/null +++ b/src/planning/delaunay_detector/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(delaunay_detector) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy +) +catkin_package( + DEPENDS common_msgs +) +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES planning +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/planning.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/planning_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_planning.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/planning/delaunay_detector/config/delaunay.yaml b/src/planning/delaunay_detector/config/delaunay.yaml new file mode 100644 index 00000000..13b75ee6 --- /dev/null +++ b/src/planning/delaunay_detector/config/delaunay.yaml @@ -0,0 +1,32 @@ +# Topics names of planning node +topic_perception_map: 'perception_map' +topic_global_map: '/global_map' +topic_route: 'route' +topic_simplices: '/delaunay_detector/simplices' +send_simplices_marker: true + +global_frame: 'map' +car_frame: 'body' +slam: 'none' + +MODE: 'PP' # PP or STANLEY + +# velocity profile parameters +SMOOTH: false +ax_max: 3 +ay_max: 1.5 +v_max: 8 + +# Hiperparameters of delaunay detector +MAX_DISTANCE: 8 +W_DISTANCE: 1 +W_ANGLE: 4 +W_THRESH: 8 +PREV_ANGLE: 0 +MAX_ROUTE_LENGTH: 9999 + +# Parameters of spline aproximation of path +NUM_POINTS: 10 + +# Color detection enabled +color_enabled: false diff --git a/src/planning/delaunay_detector/launch/planning.launch b/src/planning/delaunay_detector/launch/planning.launch new file mode 100644 index 00000000..23660d55 --- /dev/null +++ b/src/planning/delaunay_detector/launch/planning.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/src/planning/delaunay_detector/package.xml b/src/planning/delaunay_detector/package.xml new file mode 100644 index 00000000..5a277e68 --- /dev/null +++ b/src/planning/delaunay_detector/package.xml @@ -0,0 +1,44 @@ + + + delaunay_detector + 0.0.0 + Planning package + + mariano + + + TODO + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + rospy + rospy + + + + + + + + diff --git a/src/planning/delaunay_detector/src/delaunay_detector.py b/src/planning/delaunay_detector/src/delaunay_detector.py new file mode 100644 index 00000000..42ffeb34 --- /dev/null +++ b/src/planning/delaunay_detector/src/delaunay_detector.py @@ -0,0 +1,221 @@ +"""Script to implement delaunay triangulation and +search path. + +@author: Mariano del Río +@date: 20220902 +""" + +import rospy +from scipy.spatial import Delaunay +from treelib import Tree + +from utils import distance2D, midpoint, get_cos + +# Constants +W_DISTANCE = rospy.get_param('/delaunay_detector/W_DISTANCE') +W_ANGLE = rospy.get_param('/delaunay_detector/W_ANGLE') +MAX_COST1 = rospy.get_param('/delaunay_detector/MAX_COST1') +MAX_COST2 = rospy.get_param('/delaunay_detector/MAX_COST2') +MAX_DISTANCE = rospy.get_param('/delaunay_detector/MAX_DISTANCE') + + +def contains(p: tuple, points: list): + + value = False + for c in points: + if c[0] == p[0] and c[1] == p[1]: + value = True + break + + return value + + +def correct_colors(p1: tuple, p2: tuple, y_cones: list, + b_cones: list): + + value = True + condition1 = contains(p1, y_cones) and contains(p2, y_cones) + condition2 = contains(p1, b_cones) and contains(p2, b_cones) + + if condition1 or condition2: + value = False + + return value + + +def filter_edge(points: list, i1: int, i2: int, y_cones: list, + b_cones: list): + """Filter edges larger than a maximum distance and edges with + cones of the same color. + """ + + v = False + if distance2D(points[i1], points[i2]) < MAX_DISTANCE: + if correct_colors(points[i1], points[i2], y_cones, b_cones): + v = True + return v + + +def delaunay_triangulation(points: list, y_cones: list, + b_cones: list): + + triangles = Delaunay(points) + midpoints = [] + for t in triangles.simplices: + if filter_edge(points, t[0], t[1], y_cones, b_cones): + + p = midpoint(points[t[0]], points[t[1]]) + if not contains(p, midpoints): + midpoints.append(p) + + if filter_edge(points, t[1], t[2], y_cones, b_cones): + + p = midpoint(points[t[1]], points[t[2]]) + if not contains(p, midpoints): + midpoints.append(p) + + if filter_edge(points, t[0], t[2], y_cones, b_cones): + + p = midpoint(points[t[0]], points[t[2]]) + if not contains(p, midpoints): + midpoints.append(p) + + return midpoints + + +def cost_function(o_path: list, new_point: tuple): + """Cost function to build best path. It takes in account distance + and angles between midpoints. + """ + + path = o_path.copy() + len_path = len(path) + path.append(new_point) + + cost_dist = 0 + cost_angle = 0 + + cost_dist += distance2D(path[0], path[1]) + if len_path > 2: + for i in range(1, len(path)-1): + d = distance2D(path[i], path[i+1]) + a = get_cos(path[i-1], path[i], path[i+1]) + if a > 0: + a = 10000 + if d > 10: + d = 10000 + cost_dist += d + cost_angle += a + + else: + for i in range(1, len(path)-1): + d = distance2D(path[i], path[i+1]) + cost_dist += d + + return (cost_dist*W_DISTANCE + W_ANGLE*cost_angle)/(len_path+1) + + +def build_path_tree(path: list, points: list): + """Recursive function (use of build_tree_children) to build a tree + being nodes next point of path and choose best path according + to a defined cost function. + """ + + path_tree = Tree() + counter = 0 # Counter to identify every node + path_tree.create_node(tag=0, identifier=counter, data=path) + + # Sorted list of pair (point, cost of path with this point) + c_points = sorted([[cost_function(path.copy(), p), p] for p in points]) + + # To take in account that it is possible to get less than + # two elements in list c_points + t1, t2 = None, None + c1, c2 = 0, 0 + if len(c_points) > 1: + t1, t2 = c_points[:2] + c2, p2 = t2 # Cost and point associated + c1, p1 = t1 + elif len(c_points) == 1: + t1 = c_points[0] + c1, p1 = t1 + + if c1 < MAX_COST1 and t1 is not None: + # If cost is higher than a max, prune tree + new_path = path + new_path.append(p1) + new_points = points + new_points.remove(p1) + path_tree = build_tree_children(new_path, new_points, counter, + path_tree, c1) + + if c2 < MAX_COST1 and t2 is not None: + new_path = path + new_path.append(p2) + new_points = points + new_points.remove(p2) + path_tree = build_tree_children(new_path, new_points, + counter, path_tree, c2) + + return path_tree + + +def build_tree_children(path: list, points: list, id_parent: int, + tree: Tree, cost: float): + """Auxiliar recursive function of build_path_tree. + """ + + counter = id_parent+1 + while tree.contains(counter): + counter = counter+1 # To identify every node + + tree.create_node(tag=cost, identifier=counter, data=path, + parent=id_parent) + + # Sorted list of pair (point, cost of path with this point) + c_points = sorted([[cost_function(path.copy(), p), p] for i, p in enumerate(points)]) + + # To take in account that it is possible to get less than + # two elements in list c_points + t1, t2 = None, None + c1, c2 = 0, 0 + if len(c_points) > 1: + t1, t2 = c_points[:2] + c2, p2 = t2 # Cost and point associated + c1, p1 = t1 + elif len(c_points) == 1: + t1 = c_points[0] + c1, p1 = t1 + + if c1 < MAX_COST2 and t1 is not None: + # If cost is higher than a max, prune tree + new_path = path.copy() + new_path.append(p1) + new_points = points.copy() + new_points.remove(p1) + tree = build_tree_children(new_path, new_points, counter, tree, c1) + + if c2 < MAX_COST2 and t2 is not None: + new_path2 = path.copy() + new_path2.append(p2) + new_points2 = points.copy() + new_points2.remove(p2) + tree = build_tree_children(new_path2, new_points2, counter, tree, c2) + + return tree + + +def find_best_path(tree: Tree): + """Function to choose best path of tree taking in account costs + of every path represented in every leave. + Cost is accumulated in attribute tag of node. + """ + + leaves = tree.leaves() + min_node = leaves[0] + + for node in leaves[1:]: + if node.tag < min_node.tag: + min_node = node + + return min_node.data, min_node.tag diff --git a/src/planning/delaunay_detector/src/main.py b/src/planning/delaunay_detector/src/main.py new file mode 100755 index 00000000..4149b0ef --- /dev/null +++ b/src/planning/delaunay_detector/src/main.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python3 +"""Script to initialize planning node + +@author: Mariano del Río +@date: 20220504 +""" + +import rospy +from planning_handle import PlanningHandle + + +def main(): + + rospy.init_node('delaunay_detector', anonymous=True) + PlanningHandle() # Run node + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/src/planning/delaunay_detector/src/planning.py b/src/planning/delaunay_detector/src/planning.py new file mode 100644 index 00000000..ddb7502d --- /dev/null +++ b/src/planning/delaunay_detector/src/planning.py @@ -0,0 +1,287 @@ +""" +Class to get middle route from estimated circuit + + +@author: Jacobo Pindado +@date: 20221130 +""" +from itertools import combinations, permutations + +import rospy +import numpy as np +from scipy.spatial import Delaunay +from scipy.interpolate import BSpline + +from common_msgs.msg import Simplex, Triangulation +from geometry_msgs.msg import Point +from scipy.interpolate import splprep, splev +import math +import time + + +MAX_DISTANCE = rospy.get_param('/delaunay_detector/MAX_DISTANCE') +W_DISTANCE = rospy.get_param('/delaunay_detector/W_DISTANCE') +W_ANGLE = rospy.get_param('/delaunay_detector/W_ANGLE') +W_THRESH = rospy.get_param('/delaunay_detector/W_THRESH') +MAX_ROUTE_LENGTH = rospy.get_param('/delaunay_detector/MAX_ROUTE_LENGTH') +NUM_POINTS = rospy.get_param('/delaunay_detector/NUM_POINTS') +MODE = rospy.get_param('/delaunay_detector/MODE') +PREV_ANGLE = 0 + + +SMOOTH = rospy.get_param('/delaunay_detector/SMOOTH') +AX_MAX = rospy.get_param('/delaunay_detector/ax_max') +AY_MAX = rospy.get_param('/delaunay_detector/ay_max') +V_MAX = rospy.get_param('/delaunay_detector/v_max') + +class PlanningSystem(): + """Update tracklimits with new cones detected, calculate + new path via Delaunay triangulation and smooth it with + spline. + """ + ORIGIN = (0.0, 0.0) + + def __init__(self): + self.cones = None + self.colours = None + self.path = None + self.distances = None + + self.previous_perceptions = [] + self.speed = 0 + self.speed_profile = [] + self.route = None + self.triang = None + self.s = None + self.k = None + + def update_tracklimits(self, cones): + self.colours = list() + cone_points = list() + for c in cones: + if c[4] > 0.5 and c[3] != 2: + cone_points.append((c[0], c[1])) + self.colours.append(c[3]) + self.cones = np.array(cone_points) + self.distances = dict() + + + def calculate_path(self): + + global PREV_ANGLE + + if len(self.cones) < 3: + return list(), list() + triangles = Delaunay(self.cones) + + preproc_simplices = list() + midpoints = list() + midpoints_x = list() + midpoints_index = list() + + if(rospy.get_param('~color_enabled')): + + for simplex in triangles.simplices: + if all(self.get_distance(self.cones[p1], self.cones[p2]) < MAX_DISTANCE + for p1, p2 in combinations(simplex, 2)): + for p1, p2 in combinations(simplex, 2): # TODO Could be optimized. + if not self.colours[p1] == self.colours[p2]: + m = (self.cones[p1] + self.cones[p2])/2 + if m[0] not in midpoints_x: + midpoints.append(m) + midpoints_x.append(m[0]) + preproc_simplices.append(simplex) + # si quito el break hay el doble de midpoints + # break + + + else: + valid_simplices = [True for _ in range(len(triangles.simplices))] + for i in range(len(triangles.simplices)): + simplex = triangles.simplices[i] + for a,b,c in permutations(simplex, 3): + vectA = self.cones[b] - self.cones[a] + vectB = self.cones[c] - self.cones[a] + + angle = np.degrees(np.arccos(np.dot(vectA, vectB) / (np.linalg.norm(vectA) * np.linalg.norm(vectB)))) + + if angle>=130 or angle<=15: + valid_simplices[i]=False + break + + dict = {} + for i in range(len(triangles.simplices)): + simplex = triangles.simplices[i] + if all(self.get_distance(self.cones[i], self.cones[j]) < MAX_DISTANCE + for i,j in combinations(simplex, 2)) and valid_simplices[i]: + for (i,j) in combinations(simplex,2): + if (i,j) in dict.keys(): + dict[(i,j)]+=1 + elif (j,i) in dict.keys(): + dict[(j,i)]+=1 + else: + dict[(i,j)]=1 + + preproc_simplices.append(simplex) + + + for (i,j) in dict.keys(): + if dict[(i,j)]>=2: + m = (self.cones[i] + self.cones[j])/2 + if m[0] not in midpoints_x: + midpoints.append([m[0],m[1]]) + midpoints_x.append(m[0]) + midpoints_index.append((i,j)) + + if MODE == 'STANLEY': + opposite_angle = PREV_ANGLE - math.pi if PREV_ANGLE > 0 else PREV_ANGLE + math.pi + back_path = self.compute_path(np.array(midpoints), np.array([0, 0]), opposite_angle)[1:] + if len(back_path)>0: + orig = [back_path[0][0],back_path[0][1]] + midpoints.remove(orig) + else: + orig = [0,0] + path = self.compute_path(np.array(midpoints), np.array(orig), PREV_ANGLE) + else: + path = self.compute_path(np.array(midpoints), np.array([0, 0]), PREV_ANGLE) + + if len(path)>2: + PREV_ANGLE = np.arctan2(path[1][1], path[1][0])/2 + + rospy.loginfo(path) + if(SMOOTH): + # SMOOTHED PATH + route = np.array(path) + if(len(route)>2): + degrees = 3 if len(route)>3 else 2 + tck, u = splprep(route.T, s=3, k=degrees) + u_new = np.linspace(u.min(), u.max(), 30) + route = np.array(splev(u_new, tck)).T + + acum=0 + s=[] + s.append(0) + xp = [] + yp = [] + for i in range(route.shape[0]-1): + p1=route[i] + p2=route[i+1] + xp.append(p2[0]-p1[0]) + yp.append(p2[1]-p1[1]) + acum+=np.sqrt((p1[0]-p2[0])**2+(p1[1]-p2[1])**2) + s.append(acum) + xp.append(xp[-1]) + yp.append(yp[-1]) + + + xpp=[] + ypp=[] + for i in range(len(xp)-1): + xpp.append(xp[i+1]-xp[i]) + ypp.append(yp[i+1]-yp[i]) + xpp.append(xpp[-1]) + ypp.append(xpp[-1]) + + k=[] + for i in range(len(xpp)): + if xp[i]!=yp[i]: + k.append((xp[i]*ypp[i] - xpp[i]*yp[i])/(xp[i]**2+yp[i]**2)**1.5) + else: + k.append(0) + + + speed_profile = [0 for _ in range(len(s))] + v_grip = [min(np.sqrt(AY_MAX/np.abs(c+0.0001)),V_MAX) for c in k] + speed_profile[0] = self.speed + for j in range(1,len(speed_profile)): + ds = s[j]-s[j-1] + speed_profile[j] = np.sqrt(speed_profile[j-1]**2 + 2*AX_MAX*ds) + if speed_profile[j] > v_grip[j]: + speed_profile[j] = v_grip[j] + for j in range(len(speed_profile)-2,-1,-1): + v_max_braking = np.sqrt(speed_profile[j+1]**2 + 2*AX_MAX*ds) + if speed_profile[j] > v_max_braking: + speed_profile[j] = v_max_braking + + self.speed_profile = speed_profile + self.s = s + self.k = k + + rospy.loginfo(route) + rospy.loginfo(speed_profile) + + + else: + # UPSAMPLED PATH + route=[] + for i in range(len(path)-1): + route.extend([[(1-a)*path[i][0] + a*path[i+1][0],(1-a)*path[i][1] + a*path[i+1][1]] for a in np.linspace(0,1, num=NUM_POINTS)]) + route = np.array(route) + + + triang = Triangulation() + for simplex in preproc_simplices: + s = Simplex() + for ind in simplex: + p = Point() + p.x = self.cones[ind][0] + p.y = self.cones[ind][1] + p.z = 0 + s.simplex.append(p) + triang.simplices.append(s) + + self.route = route + self.triang = triang + + + + def compute_path(self,midpoints, orig, first_angle): + last_element = orig + last_angle=first_angle + acum_distances=0 + non_used_midpoints = np.full(midpoints.shape[0], True, dtype=np.bool_) + path = [last_element] + + while len(path) < len(midpoints)+1 and acum_distances max_angle: + # angles[i]=np.Inf + + weights = W_DISTANCE*distances + W_ANGLE*angles + + next_midpoint = np.nanargmin(weights) + if weights[next_midpoint] < W_THRESH: + non_used_midpoints[next_midpoint] = False + path.append(midpoints[next_midpoint]) + last_element = midpoints[next_midpoint] + last_angle = np.arctan2(vectors[next_midpoint][1], vectors[next_midpoint][0]) + acum_distances+=distances[next_midpoint] + # rospy.logwarn([distances[next_midpoint],angles[next_midpoint],weights[next_midpoint]]) + else: + break + + return path + + def get_distance(self, p1, p2): + p1b = p1.tobytes() + p2b = p2.tobytes() + if (p1b, p2b) in self.distances: + return self.distances.get((p1b, p2b)) + elif (p2b, p1b) in self.distances: + return self.distances.get((p2b, p1b)) + else: + distance = np.linalg.norm(p1 - p2) + self.distances[(p1b, p2b)] = distance + return distance diff --git a/src/planning/delaunay_detector/src/planning_handle.py b/src/planning/delaunay_detector/src/planning_handle.py new file mode 100644 index 00000000..b6a84ab8 --- /dev/null +++ b/src/planning/delaunay_detector/src/planning_handle.py @@ -0,0 +1,132 @@ +"""Script to execute planning node + +@author: Mariano del Río +@date: 20220504 +""" + +from itertools import combinations +from common_msgs.msg import Trajectory, CarState +from visualization_msgs.msg import Marker +from geometry_msgs.msg import Point +from common_msgs.msg import Simplex, Triangulation +from sensor_msgs.msg import PointCloud2 +from sensor_msgs import point_cloud2 +from scipy.interpolate import splprep, splev +from std_msgs.msg import Int16, Float32MultiArray +import numpy as np +import tf2_ros +import tf2_sensor_msgs.tf2_sensor_msgs as tf2_sensor_msgs + +import rospy + +from planning import PlanningSystem + +global_frame = rospy.get_param('/delaunay_detector/global_frame') +car_frame = rospy.get_param('/delaunay_detector/car_frame') +slam = rospy.get_param('/delaunay_detector/slam') +SMOOTH = rospy.get_param('/delaunay_detector/SMOOTH') + +class PlanningHandle(): + """Listen map of cones, calculate center track via Delaunay + triangulation and publish trajectory message. + Every message received of cones, a new trajectory is published. + """ + + def __init__(self): + self.first_lap = True + + self.tf_buffer = tf2_ros.Buffer() + self.listener = tf2_ros.TransformListener(self.tf_buffer) + + self.planning_system = PlanningSystem() + + topic_perception_map = rospy.get_param('~topic_perception_map') + rospy.Subscriber(topic_perception_map, PointCloud2, self.get_trajectory, queue_size=1) + + topic_global_map = rospy.get_param('~topic_global_map') + rospy.Subscriber(topic_global_map, PointCloud2, self.get_global_track, queue_size=1) + + topic_route = rospy.get_param('~topic_route') + self.pub_route = rospy.Publisher(topic_route, Trajectory, queue_size=1) + + topic_simplices = rospy.get_param('~topic_simplices') + self.delaunay_publisher = rospy.Publisher(topic_simplices, Triangulation, queue_size=1) + + self.pub_global_route = rospy.Publisher('/delaunay/global_route', Trajectory, queue_size=1) + + if(SMOOTH): + rospy.Subscriber("/car_state/state", CarState, self.update_state) + self.pub_speed_profile = rospy.Publisher("/speed_profile", Float32MultiArray, queue_size=1) + self.pub_sk = rospy.Publisher('/controller/sk',Trajectory,queue_size=1) + + + def get_trajectory(self, msg): + if(slam=="marrano"): + # usamos el mapeado global como percepción local para ganar estabilidad + trans=self.tf_buffer.lookup_transform(car_frame, global_frame, rospy.Time(0)) + trans_msg = tf2_sensor_msgs.do_transform_cloud(msg,transform=trans) + cones_all = point_cloud2.read_points(trans_msg, field_names=("x", "y", "z","color", "score"), skip_nans=True) + cones = [c for c in cones_all if c[0]>-5 and c[0]<15 and np.abs(c[1])<7] + else: + cones = point_cloud2.read_points(msg, field_names=("x", "y", "z","color","score"),skip_nans=True) + + self.planning_system.update_tracklimits(cones) + self.publish_msg() + + + def publish_msg(self): + self.planning_system.calculate_path() + self.delaunay_publisher.publish(self.planning_system.triang) + + msg = Trajectory() + msg.trajectory = list() + for midpoint in self.planning_system.route: + point = Point() + point.x = midpoint[0] + point.y = midpoint[1] + point.z = 0 + msg.trajectory.append(point) + + self.pub_route.publish(msg) + + if(SMOOTH and len(self.planning_system.speed_profile)>0): + speed_profile_msg = Float32MultiArray() + speed_profile_msg.data=self.planning_system.speed_profile + self.pub_speed_profile.publish(speed_profile_msg) + + s = self.planning_system.s + k = self.planning_system.k + + sk_msg = Trajectory() + msg.trajectory = list() + for i in range(len(s)): + p = Point() + p.x = s[i] + p.y = k[i] + p.z = 0 + sk_msg.trajectory.append(p) + self.pub_sk.publish(sk_msg) + + + def get_global_track(self,msg :PointCloud2): + if self.first_lap: + self.first_lap = False + + cones = point_cloud2.read_points(msg, field_names=("x", "y", "z","color", "score"), skip_nans=True) + self.planning_system.update_tracklimits(cones) + self.planning_system.calculate_path() + + + # rospy.logwarn(route) + msg2 = Trajectory() + msg2.trajectory = [Point(p[0],p[1],0) for p in self.planning_system.route[1:]] + # rospy.logwarn(msg2) + rospy.logerr(len(msg2.trajectory)) + + self.pub_global_route.publish(msg2) + + def update_state(self, msg: CarState): + self.planning_system.speed = np.hypot(msg.vx,msg.vy) + + + diff --git a/src/planning/delaunay_detector/src/utils.py b/src/planning/delaunay_detector/src/utils.py new file mode 100644 index 00000000..66742b52 --- /dev/null +++ b/src/planning/delaunay_detector/src/utils.py @@ -0,0 +1,54 @@ +"""Script to implement utils funcions. + +@author: Mariano del Río +@date: 20220320 +""" + +import rospy +import numpy as np +import scipy.interpolate as si + +NUM_POINTS = rospy.get_param('/delaunay_detector/NUM_POINTS') +DEGREE = rospy.get_param('/delaunay_detector/DEGREE') + + +def spline(trajectory: np.ndarray): + + x = trajectory[:, 0] + y = trajectory[:, 1] + + n = len(x) + if n > 3: + knotspace = range(n) + + knots = si.InterpolatedUnivariateSpline(knotspace, knotspace, k=DEGREE).get_knots() + knots_full = np.concatenate(([knots[0]]*DEGREE, knots, [knots[-1]]*DEGREE)) + tckX = knots_full, x, DEGREE + tckY = knots_full, y, DEGREE + splineX = si.UnivariateSpline._from_tck(tckX) + splineY = si.UnivariateSpline._from_tck(tckY) + + tp = np.linspace(knotspace[0], knotspace[-1], NUM_POINTS) + xp = splineX(tp) + yp = splineY(tp) + else: + xp, yp = x, y + + return zip(xp, yp) + + +def distance2D(p1: tuple, p2: tuple): + return np.linalg.norm(np.array(p1) - np.array(p2)) + + +def get_cos(p1: tuple, p2: tuple, p3: tuple): + v1 = np.array(p2) - np.array(p1) + v2 = np.array(p3) - np.array(p2) + v1_mod = np.linalg.norm(v1) + v2_mod = np.linalg.norm(v2) + cos = v1.dot(v2.T)/(v1_mod*v2_mod) + return (-1)*cos + + +def midpoint(p1: tuple, p2: tuple): + return ((p1[0]+p2[0])/2, (p1[1]+p2[1])/2) diff --git a/src/planning/planning_meta/CMakeLists.txt b/src/planning/planning_meta/CMakeLists.txt new file mode 100644 index 00000000..d7c223d4 --- /dev/null +++ b/src/planning/planning_meta/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 3.0.2) +project(planning_meta) +find_package(catkin REQUIRED COMPONENTS) + + +catkin_package() + +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + diff --git a/src/planning/planning_meta/missions/acceleration.launch b/src/planning/planning_meta/missions/acceleration.launch new file mode 100644 index 00000000..ea23f078 --- /dev/null +++ b/src/planning/planning_meta/missions/acceleration.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/planning/planning_meta/missions/autox.launch b/src/planning/planning_meta/missions/autox.launch new file mode 100644 index 00000000..ea23f078 --- /dev/null +++ b/src/planning/planning_meta/missions/autox.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/planning/planning_meta/missions/ebs_test.launch b/src/planning/planning_meta/missions/ebs_test.launch new file mode 100644 index 00000000..ea23f078 --- /dev/null +++ b/src/planning/planning_meta/missions/ebs_test.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/planning/planning_meta/missions/scruti.launch b/src/planning/planning_meta/missions/scruti.launch new file mode 100644 index 00000000..ea23f078 --- /dev/null +++ b/src/planning/planning_meta/missions/scruti.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/planning/planning_meta/missions/skidpad.launch b/src/planning/planning_meta/missions/skidpad.launch new file mode 100644 index 00000000..ea23f078 --- /dev/null +++ b/src/planning/planning_meta/missions/skidpad.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/planning/planning_meta/missions/test.launch b/src/planning/planning_meta/missions/test.launch new file mode 100644 index 00000000..ea23f078 --- /dev/null +++ b/src/planning/planning_meta/missions/test.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/planning/planning_meta/missions/trackdrive.launch b/src/planning/planning_meta/missions/trackdrive.launch new file mode 100644 index 00000000..ea23f078 --- /dev/null +++ b/src/planning/planning_meta/missions/trackdrive.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/src/planning/planning_meta/package.xml b/src/planning/planning_meta/package.xml new file mode 100644 index 00000000..f7fa1a25 --- /dev/null +++ b/src/planning/planning_meta/package.xml @@ -0,0 +1,19 @@ + + + planning_meta + 0.0.0 + Package with all missions defined + + + Mariano + TODO + Mariano + + + catkin + rospy + rospy + rospy + + +