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Merged
claude-a merged 4 commits into from
Aug 3, 2025
Merged

ビルド設定を変更 #20

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b157e08
Fix include paths in tasks.json and update CMake configuration in SIL…
claude-a Aug 3, 2025
ce96988
Update subproject commit for python_control_to_cpp
claude-a Aug 3, 2025
e9eeffe
テスト
claude-a Aug 3, 2025
0d37cda
テスト完了
claude-a Aug 3, 2025
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8 changes: 4 additions & 4 deletions .vscode/tasks.json
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,8 @@
"-I${workspaceFolder}/external_libraries/python_control_to_cpp/python_control",
"-I${workspaceFolder}/external_libraries/python_numpy_to_cpp/python_numpy",
"-I${workspaceFolder}/external_libraries/python_numpy_to_cpp/base_matrix",
"-I${workspaceFolder}//external_libraries/python_math_to_cpp/base_math",
"-I${workspaceFolder}//external_libraries/python_math_to_cpp/python_math",
"-I${workspaceFolder}/external_libraries/python_math_to_cpp/base_math",
"-I${workspaceFolder}/external_libraries/python_math_to_cpp/python_math",
"-I${workspaceFolder}/external_libraries/base_utility_cpp/base_utility",
"${file}",
"-o",
Expand All @@ -46,8 +46,8 @@
"-I${workspaceFolder}/external_libraries/python_control_to_cpp/python_control",
"-I${workspaceFolder}/external_libraries/python_numpy_to_cpp/python_numpy",
"-I${workspaceFolder}/external_libraries/python_numpy_to_cpp/base_matrix",
"-I${workspaceFolder}//external_libraries/python_math_to_cpp/base_math",
"-I${workspaceFolder}//external_libraries/python_math_to_cpp/python_math",
"-I${workspaceFolder}/external_libraries/python_math_to_cpp/base_math",
"-I${workspaceFolder}/external_libraries/python_math_to_cpp/python_math",
"-I${workspaceFolder}/external_libraries/base_utility_cpp/base_utility",
"${file}",
"-o",
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2 changes: 1 addition & 1 deletion external_libraries/python_control_to_cpp
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Submodule python_control_to_cpp updated 3 files
+14 −0 .vscode/launch.json
+28 −2 .vscode/tasks.json
+7 −3 test_sil/SIL_operator.py
12 changes: 8 additions & 4 deletions test_sil/SIL_operator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,9 @@ def generate_cmake_lists_txt(self):
code_text += f"project({SIL_lib_file_name})\n\n"

code_text += "set(CMAKE_CXX_STANDARD 11)\n"
code_text += "set(CMAKE_CXX_STANDARD_REQUIRED ON)\n\n"
code_text += "set(CMAKE_CXX_FLAGS_DEBUG \"-O0\")\n"
code_text += "set(CMAKE_CXX_STANDARD_REQUIRED ON)\n"
code_text += "set(CMAKE_CXX_FLAGS_RELEASE \"-O2\")\n"
code_text += "set(CMAKE_CXX_FLAGS_RELEASE \"${CMAKE_CXX_FLAGS_RELEASE} -flto=auto\")\n\n"

code_text += "find_package(pybind11 REQUIRED)\n\n"

Expand Down Expand Up @@ -93,8 +94,11 @@ def build_pybind11_code(self):
subprocess.run(f"rm -rf {build_folder}", shell=True)
subprocess.run(f"mkdir -p {build_folder}", shell=True)
subprocess.run(
f"cmake -S {self.SIL_folder} -B {build_folder}", shell=True)
subprocess.run(f"make -C {build_folder}", shell=True)
f"cmake -S {self.SIL_folder} -B {build_folder} -DCMAKE_BUILD_TYPE=Release",
shell=True
)
subprocess.run(
f"cmake --build {build_folder} --config Release", shell=True)

subprocess.run(
f"mv {build_folder}/{generated_file_name}.*so {self.SIL_folder}", shell=True)
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2 changes: 1 addition & 1 deletion test_sil/adaptive_mpc_two_wheel_vehicle/two_wheel_vehicle_model_SIL.py
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Original file line number Diff line number Diff line change
Expand Up @@ -169,7 +169,7 @@ def main():

X_initial = np.array([[0.0], [0.0], [0.0], [0.0], [0.0], [10.0]])

Np = 4
Np = 16
Nc = 1

Number_of_Delay = 0
Expand Down