Release 260111

selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/Makefile

@@ -0,0 +1,211 @@
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+
+
+
+
+# define sources and use make's implicit rules to generate object files (*.o)
+
+# model
+MODEL_SRC=
+MODEL_SRC+= lat_model/lat_expl_ode_fun.c
+MODEL_SRC+= lat_model/lat_expl_vde_forw.c
+MODEL_SRC+= lat_model/lat_expl_vde_adj.c
+MODEL_OBJ := $(MODEL_SRC:.c=.o)
+
+# optimal control problem - mostly CasADi exports
+OCP_SRC=
+OCP_SRC+= lat_cost/lat_cost_y_0_fun.c
+OCP_SRC+= lat_cost/lat_cost_y_0_fun_jac_ut_xt.c
+OCP_SRC+= lat_cost/lat_cost_y_0_hess.c
+OCP_SRC+= lat_cost/lat_cost_y_fun.c
+OCP_SRC+= lat_cost/lat_cost_y_fun_jac_ut_xt.c
+OCP_SRC+= lat_cost/lat_cost_y_hess.c
+OCP_SRC+= lat_cost/lat_cost_y_e_fun.c
+OCP_SRC+= lat_cost/lat_cost_y_e_fun_jac_ut_xt.c
+OCP_SRC+= lat_cost/lat_cost_y_e_hess.c
+
+OCP_SRC+= acados_solver_lat.c
+OCP_OBJ := $(OCP_SRC:.c=.o)
+
+# for sim solver
+SIM_SRC= acados_sim_solver_lat.c
+SIM_OBJ := $(SIM_SRC:.c=.o)
+
+# for target example
+EX_SRC= main_lat.c
+EX_OBJ := $(EX_SRC:.c=.o)
+EX_EXE := $(EX_SRC:.c=)
+
+# for target example_sim
+EX_SIM_SRC= main_sim_lat.c
+EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
+EX_SIM_EXE := $(EX_SIM_SRC:.c=)
+
+# combine model, sim and ocp object files
+OBJ=
+OBJ+= $(MODEL_OBJ)
+OBJ+= $(SIM_OBJ)
+OBJ+= $(OCP_OBJ)
+
+EXTERNAL_DIR=
+EXTERNAL_LIB=
+
+INCLUDE_PATH = /data/openpilot/third_party/acados/include
+LIB_PATH = /data/openpilot/third_party/acados/lib
+
+# preprocessor flags for make's implicit rules
+CPPFLAGS+= -I$(INCLUDE_PATH)
+CPPFLAGS+= -I$(INCLUDE_PATH)/acados
+CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
+CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
+
+
+# define the c-compiler flags for make's implicit rules
+CFLAGS = -fPIC -std=c99   -O2#-fno-diagnostics-show-line-numbers -g
+# # Debugging
+# CFLAGS += -g3
+
+# linker flags
+LDFLAGS+= -L$(LIB_PATH)
+
+# link to libraries
+LDLIBS+= -lacados
+LDLIBS+= -lhpipm
+LDLIBS+= -lblasfeo
+LDLIBS+= -lm
+LDLIBS+= 
+
+# libraries
+LIBACADOS_SOLVER=libacados_solver_lat.so
+LIBACADOS_OCP_SOLVER=libacados_ocp_solver_lat.so
+LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so)
+
+# virtual targets
+.PHONY : all clean
+
+#all: clean example_sim example shared_lib
+
+all: clean example_sim example
+shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
+
+# some linker targets
+example: $(EX_OBJ) $(OBJ)
+	$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
+
+example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
+	$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
+
+bundled_shared_lib: $(OBJ)
+	$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
+
+ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
+	$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
+	-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
+
+sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
+	$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
+
+
+# Cython targets
+ocp_cython_c: ocp_shared_lib
+	cython \
+	-o acados_ocp_solver_pyx.c \
+	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
+	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
+	-I /data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code \
+
+ocp_cython_o: ocp_cython_c
+	$(CC) $(ACADOS_FLAGS) -c -O2 \
+	-fPIC \
+	-o acados_ocp_solver_pyx.o \
+	-I $(INCLUDE_PATH)/blasfeo/include/ \
+	-I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) \
+	-I /usr/local/venv/lib/python3.12/site-packages/numpy/_core/include \
+	-I /usr/include/python3.12 \
+	acados_ocp_solver_pyx.c \
+
+ocp_cython: ocp_cython_o
+	$(CC) $(ACADOS_FLAGS) -shared \
+	-o acados_ocp_solver_pyx.so \
+	-Wl,-rpath=$(LIB_PATH) \
+	acados_ocp_solver_pyx.o \
+	$(abspath .)/libacados_ocp_solver_lat.so \
+	$(LDFLAGS) $(LDLIBS)
+
+# Sim Cython targets
+sim_cython_c: sim_shared_lib
+	cython \
+	-o acados_sim_solver_pyx.c \
+	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
+	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \
+	-I /data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code \
+
+sim_cython_o: sim_cython_c
+	$(CC) $(ACADOS_FLAGS) -c -O2 \
+	-fPIC \
+	-o acados_sim_solver_pyx.o \
+	-I $(INCLUDE_PATH)/blasfeo/include/ \
+	-I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) \
+	-I /usr/local/venv/lib/python3.12/site-packages/numpy/_core/include \
+	-I /usr/include/python3.12 \
+	acados_sim_solver_pyx.c \
+
+sim_cython: sim_cython_o
+	$(CC) $(ACADOS_FLAGS) -shared \
+	-o acados_sim_solver_pyx.so \
+	-Wl,-rpath=$(LIB_PATH) \
+	acados_sim_solver_pyx.o \
+	$(abspath .)/libacados_sim_solver_lat.so \
+	$(LDFLAGS) $(LDLIBS)
+
+clean:
+	$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
+	$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
+	$(RM) $(EX_EXE) $(EX_SIM_EXE)
+
+clean_ocp_shared_lib:
+	$(RM) $(LIBACADOS_OCP_SOLVER)
+	$(RM) $(OCP_OBJ)
+
+clean_ocp_cython:
+	$(RM) libacados_ocp_solver_lat.so
+	$(RM) acados_solver_lat.o
+	$(RM) acados_ocp_solver_pyx.so
+	$(RM) acados_ocp_solver_pyx.o
+
+clean_sim_cython:
+	$(RM) libacados_sim_solver_lat.so
+	$(RM) acados_sim_solver_lat.o
+	$(RM) acados_sim_solver_pyx.so
+	$(RM) acados_sim_solver_pyx.o

selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h

@@ -0,0 +1,101 @@
+/*
+ * Copyright (c) The acados authors.
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#ifndef ACADOS_SIM_lat_H_
+#define ACADOS_SIM_lat_H_
+
+#include "acados_c/sim_interface.h"
+#include "acados_c/external_function_interface.h"
+
+#define LAT_NX     4
+#define LAT_NZ     0
+#define LAT_NU     1
+#define LAT_NP     2
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// ** capsule for solver data **
+typedef struct sim_solver_capsule
+{
+    // acados objects
+    sim_in *acados_sim_in;
+    sim_out *acados_sim_out;
+    sim_solver *acados_sim_solver;
+    sim_opts *acados_sim_opts;
+    sim_config *acados_sim_config;
+    void *acados_sim_dims;
+
+    /* external functions */
+    // ERK
+    external_function_param_casadi * sim_forw_vde_casadi;
+    external_function_param_casadi * sim_vde_adj_casadi;
+    external_function_param_casadi * sim_expl_ode_fun_casadi;
+    external_function_param_casadi * sim_expl_ode_hess;
+
+    // IRK
+    external_function_param_casadi * sim_impl_dae_fun;
+    external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z;
+    external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z;
+    external_function_param_casadi * sim_impl_dae_hess;
+
+    // GNSF
+    external_function_param_casadi * sim_gnsf_phi_fun;
+    external_function_param_casadi * sim_gnsf_phi_fun_jac_y;
+    external_function_param_casadi * sim_gnsf_phi_jac_y_uhat;
+    external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
+    external_function_param_casadi * sim_gnsf_get_matrices_fun;
+
+} sim_solver_capsule;
+
+
+ACADOS_SYMBOL_EXPORT int lat_acados_sim_create(sim_solver_capsule *capsule);
+ACADOS_SYMBOL_EXPORT int lat_acados_sim_solve(sim_solver_capsule *capsule);
+ACADOS_SYMBOL_EXPORT int lat_acados_sim_free(sim_solver_capsule *capsule);
+ACADOS_SYMBOL_EXPORT int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
+
+ACADOS_SYMBOL_EXPORT sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule);
+ACADOS_SYMBOL_EXPORT sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule);
+ACADOS_SYMBOL_EXPORT sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule);
+ACADOS_SYMBOL_EXPORT void * lat_acados_get_sim_dims(sim_solver_capsule *capsule);
+ACADOS_SYMBOL_EXPORT sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule);
+ACADOS_SYMBOL_EXPORT sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule);
+
+
+ACADOS_SYMBOL_EXPORT sim_solver_capsule * lat_acados_sim_solver_create_capsule(void);
+ACADOS_SYMBOL_EXPORT int lat_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ACADOS_SIM_lat_H_

selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd

@@ -0,0 +1,62 @@
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+cimport acados_solver_common
+
+cdef extern from "acados_solver_lat.h":
+    ctypedef struct nlp_solver_capsule "lat_solver_capsule":
+        pass
+
+    nlp_solver_capsule * acados_create_capsule "lat_acados_create_capsule"()
+    int acados_free_capsule "lat_acados_free_capsule"(nlp_solver_capsule *capsule)
+
+    int acados_create "lat_acados_create"(nlp_solver_capsule * capsule)
+
+    int acados_create_with_discretization "lat_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps)
+    int acados_update_time_steps "lat_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps)
+    int acados_update_qp_solver_cond_N "lat_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N)
+
+    int acados_update_params "lat_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_)
+    int acados_update_params_sparse "lat_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
+    int acados_solve "lat_acados_solve"(nlp_solver_capsule * capsule)
+    int acados_reset "lat_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem)
+    int acados_free "lat_acados_free"(nlp_solver_capsule * capsule)
+    void acados_print_stats "lat_acados_print_stats"(nlp_solver_capsule * capsule)
+
+    int acados_custom_update "lat_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len)
+
+    acados_solver_common.ocp_nlp_in *acados_get_nlp_in "lat_acados_get_nlp_in"(nlp_solver_capsule * capsule)
+    acados_solver_common.ocp_nlp_out *acados_get_nlp_out "lat_acados_get_nlp_out"(nlp_solver_capsule * capsule)
+    acados_solver_common.ocp_nlp_out *acados_get_sens_out "lat_acados_get_sens_out"(nlp_solver_capsule * capsule)
+    acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "lat_acados_get_nlp_solver"(nlp_solver_capsule * capsule)
+    acados_solver_common.ocp_nlp_config *acados_get_nlp_config "lat_acados_get_nlp_config"(nlp_solver_capsule * capsule)
+    void *acados_get_nlp_opts "lat_acados_get_nlp_opts"(nlp_solver_capsule * capsule)
+    acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "lat_acados_get_nlp_dims"(nlp_solver_capsule * capsule)
+    acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "lat_acados_get_nlp_plan"(nlp_solver_capsule * capsule)

selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_lat.h

@@ -0,0 +1,170 @@
+/*
+ * Copyright (c) The acados authors.
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#ifndef ACADOS_SOLVER_lat_H_
+#define ACADOS_SOLVER_lat_H_
+
+#include "acados/utils/types.h"
+
+#include "acados_c/ocp_nlp_interface.h"
+#include "acados_c/external_function_interface.h"
+
+#define LAT_NX     4
+#define LAT_NZ     0
+#define LAT_NU     1
+#define LAT_NP     2
+#define LAT_NBX    2
+#define LAT_NBX0   4
+#define LAT_NBU    0
+#define LAT_NSBX   0
+#define LAT_NSBU   0
+#define LAT_NSH    0
+#define LAT_NSG    0
+#define LAT_NSPHI  0
+#define LAT_NSHN   0
+#define LAT_NSGN   0
+#define LAT_NSPHIN 0
+#define LAT_NSBXN  0
+#define LAT_NS     0
+#define LAT_NSN    0
+#define LAT_NG     0
+#define LAT_NBXN   0
+#define LAT_NGN    0
+#define LAT_NY0    5
+#define LAT_NY     5
+#define LAT_NYN    3
+#define LAT_N      32
+#define LAT_NH     0
+#define LAT_NPHI   0
+#define LAT_NHN    0
+#define LAT_NPHIN  0
+#define LAT_NR     0
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// ** capsule for solver data **
+typedef struct lat_solver_capsule
+{
+    // acados objects
+    ocp_nlp_in *nlp_in;
+    ocp_nlp_out *nlp_out;
+    ocp_nlp_out *sens_out;
+    ocp_nlp_solver *nlp_solver;
+    void *nlp_opts;
+    ocp_nlp_plan_t *nlp_solver_plan;
+    ocp_nlp_config *nlp_config;
+    ocp_nlp_dims *nlp_dims;
+
+    // number of expected runtime parameters
+    unsigned int nlp_np;
+
+    /* external functions */
+    // dynamics
+
+    external_function_param_casadi *forw_vde_casadi;
+    external_function_param_casadi *expl_ode_fun;
+
+
+
+
+    // cost
+
+    external_function_param_casadi *cost_y_fun;
+    external_function_param_casadi *cost_y_fun_jac_ut_xt;
+    external_function_param_casadi *cost_y_hess;
+
+
+
+    external_function_param_casadi cost_y_0_fun;
+    external_function_param_casadi cost_y_0_fun_jac_ut_xt;
+    external_function_param_casadi cost_y_0_hess;
+
+
+
+    external_function_param_casadi cost_y_e_fun;
+    external_function_param_casadi cost_y_e_fun_jac_ut_xt;
+    external_function_param_casadi cost_y_e_hess;
+
+
+    // constraints
+
+
+
+
+} lat_solver_capsule;
+
+ACADOS_SYMBOL_EXPORT lat_solver_capsule * lat_acados_create_capsule(void);
+ACADOS_SYMBOL_EXPORT int lat_acados_free_capsule(lat_solver_capsule *capsule);
+
+ACADOS_SYMBOL_EXPORT int lat_acados_create(lat_solver_capsule * capsule);
+
+ACADOS_SYMBOL_EXPORT int lat_acados_reset(lat_solver_capsule* capsule, int reset_qp_solver_mem);
+
+/**
+ * Generic version of lat_acados_create which allows to use a different number of shooting intervals than
+ * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code
+ * generation, the time-steps from code generation is used.
+ */
+ACADOS_SYMBOL_EXPORT int lat_acados_create_with_discretization(lat_solver_capsule * capsule, int n_time_steps, double* new_time_steps);
+/**
+ * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the
+ * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0.
+ */
+ACADOS_SYMBOL_EXPORT int lat_acados_update_time_steps(lat_solver_capsule * capsule, int N, double* new_time_steps);
+/**
+ * This function is used for updating an already initialized solver with a different number of qp_cond_N.
+ */
+ACADOS_SYMBOL_EXPORT int lat_acados_update_qp_solver_cond_N(lat_solver_capsule * capsule, int qp_solver_cond_N);
+ACADOS_SYMBOL_EXPORT int lat_acados_update_params(lat_solver_capsule * capsule, int stage, double *value, int np);
+ACADOS_SYMBOL_EXPORT int lat_acados_update_params_sparse(lat_solver_capsule * capsule, int stage, int *idx, double *p, int n_update);
+
+ACADOS_SYMBOL_EXPORT int lat_acados_solve(lat_solver_capsule * capsule);
+ACADOS_SYMBOL_EXPORT int lat_acados_free(lat_solver_capsule * capsule);
+ACADOS_SYMBOL_EXPORT void lat_acados_print_stats(lat_solver_capsule * capsule);
+ACADOS_SYMBOL_EXPORT int lat_acados_custom_update(lat_solver_capsule* capsule, double* data, int data_len);
+
+
+ACADOS_SYMBOL_EXPORT ocp_nlp_in *lat_acados_get_nlp_in(lat_solver_capsule * capsule);
+ACADOS_SYMBOL_EXPORT ocp_nlp_out *lat_acados_get_nlp_out(lat_solver_capsule * capsule);
+ACADOS_SYMBOL_EXPORT ocp_nlp_out *lat_acados_get_sens_out(lat_solver_capsule * capsule);
+ACADOS_SYMBOL_EXPORT ocp_nlp_solver *lat_acados_get_nlp_solver(lat_solver_capsule * capsule);
+ACADOS_SYMBOL_EXPORT ocp_nlp_config *lat_acados_get_nlp_config(lat_solver_capsule * capsule);
+ACADOS_SYMBOL_EXPORT void *lat_acados_get_nlp_opts(lat_solver_capsule * capsule);
+ACADOS_SYMBOL_EXPORT ocp_nlp_dims *lat_acados_get_nlp_dims(lat_solver_capsule * capsule);
+ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *lat_acados_get_nlp_plan(lat_solver_capsule * capsule);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_SOLVER_lat_H_

selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_constraints/lat_constraints.h

@@ -0,0 +1,50 @@
+/*
+ * Copyright (c) The acados authors.
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#ifndef lat_CONSTRAINTS
+#define lat_CONSTRAINTS
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+
+
+
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // lat_CONSTRAINTS

selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_cost/lat_cost.h

@@ -0,0 +1,119 @@
+/*
+ * Copyright (c) The acados authors.
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef lat_COST
+#define lat_COST
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// Cost at initial shooting node
+
+int lat_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int lat_cost_y_0_fun_work(int *, int *, int *, int *);
+const int *lat_cost_y_0_fun_sparsity_in(int);
+const int *lat_cost_y_0_fun_sparsity_out(int);
+int lat_cost_y_0_fun_n_in(void);
+int lat_cost_y_0_fun_n_out(void);
+
+int lat_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int lat_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
+const int *lat_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
+const int *lat_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
+int lat_cost_y_0_fun_jac_ut_xt_n_in(void);
+int lat_cost_y_0_fun_jac_ut_xt_n_out(void);
+
+int lat_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int lat_cost_y_0_hess_work(int *, int *, int *, int *);
+const int *lat_cost_y_0_hess_sparsity_in(int);
+const int *lat_cost_y_0_hess_sparsity_out(int);
+int lat_cost_y_0_hess_n_in(void);
+int lat_cost_y_0_hess_n_out(void);
+
+
+
+// Cost at path shooting node
+
+int lat_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int lat_cost_y_fun_work(int *, int *, int *, int *);
+const int *lat_cost_y_fun_sparsity_in(int);
+const int *lat_cost_y_fun_sparsity_out(int);
+int lat_cost_y_fun_n_in(void);
+int lat_cost_y_fun_n_out(void);
+
+int lat_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int lat_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
+const int *lat_cost_y_fun_jac_ut_xt_sparsity_in(int);
+const int *lat_cost_y_fun_jac_ut_xt_sparsity_out(int);
+int lat_cost_y_fun_jac_ut_xt_n_in(void);
+int lat_cost_y_fun_jac_ut_xt_n_out(void);
+
+int lat_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int lat_cost_y_hess_work(int *, int *, int *, int *);
+const int *lat_cost_y_hess_sparsity_in(int);
+const int *lat_cost_y_hess_sparsity_out(int);
+int lat_cost_y_hess_n_in(void);
+int lat_cost_y_hess_n_out(void);
+
+
+
+// Cost at terminal shooting node
+
+int lat_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int lat_cost_y_e_fun_work(int *, int *, int *, int *);
+const int *lat_cost_y_e_fun_sparsity_in(int);
+const int *lat_cost_y_e_fun_sparsity_out(int);
+int lat_cost_y_e_fun_n_in(void);
+int lat_cost_y_e_fun_n_out(void);
+
+int lat_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int lat_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
+const int *lat_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
+const int *lat_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
+int lat_cost_y_e_fun_jac_ut_xt_n_in(void);
+int lat_cost_y_e_fun_jac_ut_xt_n_out(void);
+
+int lat_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int lat_cost_y_e_hess_work(int *, int *, int *, int *);
+const int *lat_cost_y_e_hess_sparsity_in(int);
+const int *lat_cost_y_e_hess_sparsity_out(int);
+int lat_cost_y_e_hess_n_in(void);
+int lat_cost_y_e_hess_n_out(void);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // lat_COST

selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/lat_model/lat_model.h

@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) The acados authors.
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+#ifndef lat_MODEL
+#define lat_MODEL
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* explicit ODE */
+
+// explicit ODE
+int lat_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int lat_expl_ode_fun_work(int *, int *, int *, int *);
+const int *lat_expl_ode_fun_sparsity_in(int);
+const int *lat_expl_ode_fun_sparsity_out(int);
+int lat_expl_ode_fun_n_in(void);
+int lat_expl_ode_fun_n_out(void);
+
+// explicit forward VDE
+int lat_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int lat_expl_vde_forw_work(int *, int *, int *, int *);
+const int *lat_expl_vde_forw_sparsity_in(int);
+const int *lat_expl_vde_forw_sparsity_out(int);
+int lat_expl_vde_forw_n_in(void);
+int lat_expl_vde_forw_n_out(void);
+
+// explicit adjoint VDE
+int lat_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int lat_expl_vde_adj_work(int *, int *, int *, int *);
+const int *lat_expl_vde_adj_sparsity_in(int);
+const int *lat_expl_vde_adj_sparsity_out(int);
+int lat_expl_vde_adj_n_in(void);
+int lat_expl_vde_adj_n_out(void);
+
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // lat_MODEL