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config.h
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config.h
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// Copyright 2019 Alexander Liniger
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
// http://www.apache.org/licenses/LICENSE-2.0
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
///////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
#ifndef MPCC_CONFIG_H
#define MPCC_CONFIG_H
#include <math.h>
#include <iostream>
#include <fstream>
#include <string>
#include <Eigen/Dense>
#include <unsupported/Eigen/MatrixFunctions>
namespace mpcc{
// #define MAX(a,b) (a < b) ? b : a
#define NX 10
#define NU 3
#define NB 13 //max number of bounds
#define NPC 3 //number of polytopic constraints
#define NS 3
static constexpr int N = 60;
static constexpr double INF = 1E5;
static constexpr int N_SPLINE = 5000;
struct StateInputIndex{
int X = 0;
int Y = 1;
int phi = 2;
int vx = 3;
int vy = 4;
int r = 5;
int s = 6;
int D = 7;
int delta = 8;
int vs = 9;
int dD = 0;
int dDelta = 1;
int dVs = 2;
int con_track = 0;
int con_tire = 1;
int con_alpha = 2;
};
static const StateInputIndex si_index;
}
#endif //MPCC_CONFIG_H