538 lines
16 KiB
JSON
538 lines
16 KiB
JSON
|
{
|
||
|
|
"acados_include_path": "/data/openpilot/third_party/acados/include",
|
||
|
|
"acados_lib_path": "/data/openpilot/third_party/acados/lib",
|
||
|
|
"code_export_directory": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code",
|
||
|
|
"constraints": {
|
||
|
|
"C": [],
|
||
|
|
"C_e": [],
|
||
|
|
"D": [],
|
||
|
|
"constr_type": "BGH",
|
||
|
|
"constr_type_e": "BGH",
|
||
|
|
"idxbu": [],
|
||
|
|
"idxbx": [
|
||
|
|
2,
|
||
|
|
3
|
||
|
|
],
|
||
|
|
"idxbx_0": [
|
||
|
|
0,
|
||
|
|
1,
|
||
|
|
2,
|
||
|
|
3
|
||
|
|
],
|
||
|
|
"idxbx_e": [],
|
||
|
|
"idxbxe_0": [
|
||
|
|
0,
|
||
|
|
1,
|
||
|
|
2,
|
||
|
|
3
|
||
|
|
],
|
||
|
|
"idxsbu": [],
|
||
|
|
"idxsbx": [],
|
||
|
|
"idxsbx_e": [],
|
||
|
|
"idxsg": [],
|
||
|
|
"idxsg_e": [],
|
||
|
|
"idxsh": [],
|
||
|
|
"idxsh_e": [],
|
||
|
|
"idxsphi": [],
|
||
|
|
"idxsphi_e": [],
|
||
|
|
"lbu": [],
|
||
|
|
"lbx": [
|
||
|
|
-1.5707963267948966,
|
||
|
|
-0.8726646259971648
|
||
|
|
],
|
||
|
|
"lbx_0": [
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"lbx_e": [],
|
||
|
|
"lg": [],
|
||
|
|
"lg_e": [],
|
||
|
|
"lh": [],
|
||
|
|
"lh_e": [],
|
||
|
|
"lphi": [],
|
||
|
|
"lphi_e": [],
|
||
|
|
"lsbu": [],
|
||
|
|
"lsbx": [],
|
||
|
|
"lsbx_e": [],
|
||
|
|
"lsg": [],
|
||
|
|
"lsg_e": [],
|
||
|
|
"lsh": [],
|
||
|
|
"lsh_e": [],
|
||
|
|
"lsphi": [],
|
||
|
|
"lsphi_e": [],
|
||
|
|
"ubu": [],
|
||
|
|
"ubx": [
|
||
|
|
1.5707963267948966,
|
||
|
|
0.8726646259971648
|
||
|
|
],
|
||
|
|
"ubx_0": [
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"ubx_e": [],
|
||
|
|
"ug": [],
|
||
|
|
"ug_e": [],
|
||
|
|
"uh": [],
|
||
|
|
"uh_e": [],
|
||
|
|
"uphi": [],
|
||
|
|
"uphi_e": [],
|
||
|
|
"usbu": [],
|
||
|
|
"usbx": [],
|
||
|
|
"usbx_e": [],
|
||
|
|
"usg": [],
|
||
|
|
"usg_e": [],
|
||
|
|
"ush": [],
|
||
|
|
"ush_e": [],
|
||
|
|
"usphi": [],
|
||
|
|
"usphi_e": []
|
||
|
|
},
|
||
|
|
"cost": {
|
||
|
|
"Vu": [],
|
||
|
|
"Vu_0": [],
|
||
|
|
"Vx": [],
|
||
|
|
"Vx_0": [],
|
||
|
|
"Vx_e": [],
|
||
|
|
"Vz": [],
|
||
|
|
"Vz_0": [],
|
||
|
|
"W": [
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
]
|
||
|
|
],
|
||
|
|
"W_0": [
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
]
|
||
|
|
],
|
||
|
|
"W_e": [
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
[
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
]
|
||
|
|
],
|
||
|
|
"Zl": [],
|
||
|
|
"Zl_e": [],
|
||
|
|
"Zu": [],
|
||
|
|
"Zu_e": [],
|
||
|
|
"cost_ext_fun_type": "casadi",
|
||
|
|
"cost_ext_fun_type_0": "casadi",
|
||
|
|
"cost_ext_fun_type_e": "casadi",
|
||
|
|
"cost_type": "NONLINEAR_LS",
|
||
|
|
"cost_type_0": "NONLINEAR_LS",
|
||
|
|
"cost_type_e": "NONLINEAR_LS",
|
||
|
|
"yref": [
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"yref_0": [
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"yref_e": [
|
||
|
|
0.0,
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"zl": [],
|
||
|
|
"zl_e": [],
|
||
|
|
"zu": [],
|
||
|
|
"zu_e": []
|
||
|
|
},
|
||
|
|
"cython_include_dirs": [
|
||
|
|
"/usr/local/venv/lib/python3.12/site-packages/numpy/_core/include",
|
||
|
|
"/usr/include/python3.12"
|
||
|
|
],
|
||
|
|
"dims": {
|
||
|
|
"N": 32,
|
||
|
|
"nbu": 0,
|
||
|
|
"nbx": 2,
|
||
|
|
"nbx_0": 4,
|
||
|
|
"nbx_e": 0,
|
||
|
|
"nbxe_0": 4,
|
||
|
|
"ng": 0,
|
||
|
|
"ng_e": 0,
|
||
|
|
"nh": 0,
|
||
|
|
"nh_e": 0,
|
||
|
|
"np": 2,
|
||
|
|
"nphi": 0,
|
||
|
|
"nphi_e": 0,
|
||
|
|
"nr": 0,
|
||
|
|
"nr_e": 0,
|
||
|
|
"ns": 0,
|
||
|
|
"ns_e": 0,
|
||
|
|
"nsbu": 0,
|
||
|
|
"nsbx": 0,
|
||
|
|
"nsbx_e": 0,
|
||
|
|
"nsg": 0,
|
||
|
|
"nsg_e": 0,
|
||
|
|
"nsh": 0,
|
||
|
|
"nsh_e": 0,
|
||
|
|
"nsphi": 0,
|
||
|
|
"nsphi_e": 0,
|
||
|
|
"nu": 1,
|
||
|
|
"nx": 4,
|
||
|
|
"ny": 5,
|
||
|
|
"ny_0": 5,
|
||
|
|
"ny_e": 3,
|
||
|
|
"nz": 0
|
||
|
|
},
|
||
|
|
"json_file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json",
|
||
|
|
"model": {
|
||
|
|
"con_h_expr": null,
|
||
|
|
"con_h_expr_e": null,
|
||
|
|
"con_phi_expr": null,
|
||
|
|
"con_phi_expr_e": null,
|
||
|
|
"con_r_expr": null,
|
||
|
|
"con_r_expr_e": null,
|
||
|
|
"con_r_in_phi": null,
|
||
|
|
"con_r_in_phi_e": null,
|
||
|
|
"cost_conl_custom_outer_hess": null,
|
||
|
|
"cost_conl_custom_outer_hess_0": null,
|
||
|
|
"cost_conl_custom_outer_hess_e": null,
|
||
|
|
"cost_expr_ext_cost": null,
|
||
|
|
"cost_expr_ext_cost_0": null,
|
||
|
|
"cost_expr_ext_cost_custom_hess": null,
|
||
|
|
"cost_expr_ext_cost_custom_hess_0": null,
|
||
|
|
"cost_expr_ext_cost_custom_hess_e": null,
|
||
|
|
"cost_expr_ext_cost_e": null,
|
||
|
|
"cost_psi_expr": null,
|
||
|
|
"cost_psi_expr_0": null,
|
||
|
|
"cost_psi_expr_e": null,
|
||
|
|
"cost_r_in_psi_expr": null,
|
||
|
|
"cost_r_in_psi_expr_0": null,
|
||
|
|
"cost_r_in_psi_expr_e": null,
|
||
|
|
"cost_y_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegjaaaaaaaaaaaaaaafaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaajhpffghgpgegdaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgkaaaaaaaegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpgegdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaaahdhjgpfbgdgdgfgmgpffghgpgegeaaaaaaaaaaaaaaachjaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaachkjjjjjjjjjjjjlpd",
|
||
|
|
"cost_y_expr_0": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegjaaaaaaaaaaaaaaafaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaajhpffghgpgegdaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgkaaaaaaaegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpgegdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaaahdhjgpfbgdgdgfgmgpffghgpgegeaaaaaaaaaaaaaaachjaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaachkjjjjjjjjjjjjlpd",
|
||
|
|
"cost_y_expr_e": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaeghaaaaaaaaaaaaaaadaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaajhpffghgpgegdaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgkaaaaaaaegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpg",
|
||
|
|
"disc_dyn_expr": null,
|
||
|
|
"dyn_disc_fun": null,
|
||
|
|
"dyn_disc_fun_jac": null,
|
||
|
|
"dyn_disc_fun_jac_hess": null,
|
||
|
|
"dyn_ext_fun_type": "casadi",
|
||
|
|
"dyn_generic_source": null,
|
||
|
|
"f_expl_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegoaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegdaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaapaaaaaaachpgehbgehjgpgogpfchbgegjgfhdhegnaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpgegbaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaachbaaaaaaaaaaaaaaaegnaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaachfaaaaaaaaaaaaaaaegoaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaachiaaaaaaaaaaaaaaachiaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaaahdhjgpfbgdgdgfgmgpffghgpg",
|
||
|
|
"f_impl_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaajaaaaaaaihpffghgpgpfegpgehegcaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegoaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegdaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaapaaaaaaachpgehbgehjgpgogpfchbgegjgfhdhegnaaaaaaaaaaaaaaachdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpgegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaajaaaaaaajhpffghgpgpfegpgehegbaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegnaaaaaaaaaaaaaaachdaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaachgaaaaaaaaaaaaaaaegoaaaaaaaaaaaaaaachdaaaaaaaaaaaaaaachjaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaalaaaaaaaahdhjgpffghgpgpfegpgehchjaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaaabaaaaaaahdhjgpfchbgehfgpffghgpgpfegpgehegpcaaaaaaaaaaaaaanaaaaaaaahdhjgpfbgdgdgfgmgpffghgpg",
|
||
|
|
"gnsf": {
|
||
|
|
"nontrivial_f_LO": 1,
|
||
|
|
"purely_linear": 0
|
||
|
|
},
|
||
|
|
"name": "lat",
|
||
|
|
"p": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaeggaaaaaaaaaaaaaaacaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaacaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegpcaaaaaaaaaaaaaapaaaaaaachpgehbgehjgpgogpfchbgegjgfhdh",
|
||
|
|
"u": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegfaaaaaaaaaaaaaaabaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaaahdhjgpfbgdgdgfgmgpffghgpg",
|
||
|
|
"x": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegpcaaaaaaaaaaaaaafaaaaaaajhpffghgpgegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpg",
|
||
|
|
"xdot": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaajaaaaaaaihpffghgpgpfegpgehegpcaaaaaaaaaaaaaajaaaaaaajhpffghgpgpfegpgehegpcaaaaaaaaaaaaaalaaaaaaaahdhjgpffghgpgpfegpgehegpcaaaaaaaaaaaaaaabaaaaaaahdhjgpfchbgehfgpffghgpgpfegpgeh",
|
||
|
|
"z": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa"
|
||
|
|
},
|
||
|
|
"parameter_values": [
|
||
|
|
0.0,
|
||
|
|
0.0
|
||
|
|
],
|
||
|
|
"problem_class": "OCP",
|
||
|
|
"shared_lib_ext": ".so",
|
||
|
|
"solver_options": {
|
||
|
|
"Tsim": 0.009765625,
|
||
|
|
"alpha_min": 0.05,
|
||
|
|
"alpha_reduction": 0.7,
|
||
|
|
"collocation_type": "GAUSS_LEGENDRE",
|
||
|
|
"custom_templates": [],
|
||
|
|
"custom_update_copy": true,
|
||
|
|
"custom_update_filename": "",
|
||
|
|
"custom_update_header_filename": "",
|
||
|
|
"eps_sufficient_descent": 0.0001,
|
||
|
|
"exact_hess_constr": 1,
|
||
|
|
"exact_hess_cost": 1,
|
||
|
|
"exact_hess_dyn": 1,
|
||
|
|
"ext_cost_num_hess": 0,
|
||
|
|
"ext_fun_compile_flags": "-O2",
|
||
|
|
"full_step_dual": 0,
|
||
|
|
"globalization": "FIXED_STEP",
|
||
|
|
"globalization_use_SOC": 0,
|
||
|
|
"hessian_approx": "GAUSS_NEWTON",
|
||
|
|
"hpipm_mode": "BALANCE",
|
||
|
|
"initialize_t_slacks": 0,
|
||
|
|
"integrator_type": "ERK",
|
||
|
|
"levenberg_marquardt": 0.0,
|
||
|
|
"line_search_use_sufficient_descent": 0,
|
||
|
|
"model_external_shared_lib_dir": null,
|
||
|
|
"model_external_shared_lib_name": null,
|
||
|
|
"nlp_solver_ext_qp_res": 0,
|
||
|
|
"nlp_solver_max_iter": 100,
|
||
|
|
"nlp_solver_step_length": 1.0,
|
||
|
|
"nlp_solver_tol_comp": 1e-06,
|
||
|
|
"nlp_solver_tol_eq": 1e-06,
|
||
|
|
"nlp_solver_tol_ineq": 1e-06,
|
||
|
|
"nlp_solver_tol_stat": 1e-06,
|
||
|
|
"nlp_solver_type": "SQP_RTI",
|
||
|
|
"print_level": 0,
|
||
|
|
"qp_solver": "PARTIAL_CONDENSING_HPIPM",
|
||
|
|
"qp_solver_cond_N": 1,
|
||
|
|
"qp_solver_cond_ric_alg": 1,
|
||
|
|
"qp_solver_iter_max": 1,
|
||
|
|
"qp_solver_ric_alg": 1,
|
||
|
|
"qp_solver_tol_comp": null,
|
||
|
|
"qp_solver_tol_eq": null,
|
||
|
|
"qp_solver_tol_ineq": null,
|
||
|
|
"qp_solver_tol_stat": null,
|
||
|
|
"qp_solver_warm_start": 0,
|
||
|
|
"regularize_method": null,
|
||
|
|
"shooting_nodes": [
|
||
|
|
0.0,
|
||
|
|
0.009765625,
|
||
|
|
0.0390625,
|
||
|
|
0.087890625,
|
||
|
|
0.15625,
|
||
|
|
0.244140625,
|
||
|
|
0.3515625,
|
||
|
|
0.478515625,
|
||
|
|
0.625,
|
||
|
|
0.791015625,
|
||
|
|
0.9765625,
|
||
|
|
1.181640625,
|
||
|
|
1.40625,
|
||
|
|
1.650390625,
|
||
|
|
1.9140625,
|
||
|
|
2.197265625,
|
||
|
|
2.5,
|
||
|
|
2.822265625,
|
||
|
|
3.1640625,
|
||
|
|
3.525390625,
|
||
|
|
3.90625,
|
||
|
|
4.306640625,
|
||
|
|
4.7265625,
|
||
|
|
5.166015625,
|
||
|
|
5.625,
|
||
|
|
6.103515625,
|
||
|
|
6.6015625,
|
||
|
|
7.119140625,
|
||
|
|
7.65625,
|
||
|
|
8.212890625,
|
||
|
|
8.7890625,
|
||
|
|
9.384765625,
|
||
|
|
10.0
|
||
|
|
],
|
||
|
|
"sim_method_jac_reuse": [
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0,
|
||
|
|
0
|
||
|
|
],
|
||
|
|
"sim_method_newton_iter": 3,
|
||
|
|
"sim_method_newton_tol": 0.0,
|
||
|
|
"sim_method_num_stages": [
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4,
|
||
|
|
4
|
||
|
|
],
|
||
|
|
"sim_method_num_steps": [
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1,
|
||
|
|
1
|
||
|
|
],
|
||
|
|
"tf": 10.0,
|
||
|
|
"time_steps": [
|
||
|
|
0.009765625,
|
||
|
|
0.029296875,
|
||
|
|
0.048828125,
|
||
|
|
0.068359375,
|
||
|
|
0.087890625,
|
||
|
|
0.107421875,
|
||
|
|
0.126953125,
|
||
|
|
0.146484375,
|
||
|
|
0.166015625,
|
||
|
|
0.185546875,
|
||
|
|
0.205078125,
|
||
|
|
0.224609375,
|
||
|
|
0.244140625,
|
||
|
|
0.263671875,
|
||
|
|
0.283203125,
|
||
|
|
0.302734375,
|
||
|
|
0.322265625,
|
||
|
|
0.341796875,
|
||
|
|
0.361328125,
|
||
|
|
0.380859375,
|
||
|
|
0.400390625,
|
||
|
|
0.419921875,
|
||
|
|
0.439453125,
|
||
|
|
0.458984375,
|
||
|
|
0.478515625,
|
||
|
|
0.498046875,
|
||
|
|
0.517578125,
|
||
|
|
0.537109375,
|
||
|
|
0.556640625,
|
||
|
|
0.576171875,
|
||
|
|
0.595703125,
|
||
|
|
0.615234375
|
||
|
|
]
|
||
|
|
}
|
||
|
|
}
|