33 lines
791 B
Python
33 lines
791 B
Python
import os
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from cffi import FFI
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from common.ffi_wrapper import suffix
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mpc_dir = os.path.dirname(os.path.abspath(__file__))
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libmpc_fn = os.path.join(mpc_dir, "libmpc"+suffix())
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ffi = FFI()
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ffi.cdef("""
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typedef struct {
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double x, y, psi, delta, t;
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} state_t;
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int N = 16;
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typedef struct {
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double x[N+1];
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double y[N+1];
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double psi[N+1];
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double delta[N+1];
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double rate[N];
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double cost;
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} log_t;
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void init(double pathCost, double headingCost, double steerRateCost);
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void init_weights(double pathCost, double headingCost, double steerRateCost);
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int run_mpc(state_t * x0, log_t * solution,
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double v_poly[4], double curvature_factor, double rotation_radius,
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double target_y[N+1], double target_psi[N+1]);
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""")
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libmpc = ffi.dlopen(libmpc_fn)
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