osprey mpc node

subscribes to path and from_autobox messages. from_autobox msg has callback function which computes MPC control input. source files: calcEnvEnv.cpp calcInitialState.cpp calcLongitudinalDynamics.cpp calcModel.cpp calcMPC.cpp calcScaledOptData.cpp calcTimeHorizon.cpp calcVehEnv.cpp load_constant_structs.cpp mpc_class.cpp mpc_constants.cpp mpc_types.cpp osprey_mpc.cpp parseOptResults.cpp solveCVXGEN.cpp stateOperators.cpp tire_models.cpp world.cpp

calc files

mpc_constants.cpp

load mpc constants to ROS constMsg

• horizon
• state dimension/ input dimension
• number of steps using ZOH/FOH
• duration of short/long time step
• stability envelope options
• conversion factors

mpc_types.cpp

copy data to ROS messages

mpc_class file

osprey simulation

osprey is intended to run at 100Hz, simulation update is calculated using real time difference. In one loop, simulator sends from_autobox msg, which is subscribed by MPC and trigger callback function to compute MPC problem and sends out to_autobox. To_autobox msg, again, triggers simulator to propogate vehicle state. source files:

• testing/simulator/Sim_Class.cpp
• testing/simulator/osprey_sim.cpp
• bicycle_model.cpp:
• load_constant_structs.cpp
• mpc_types.cpp:
• stateOperators.cpp:
• tire_models.cpp
• world.cpp

main files are osprey_sim.cpp and Sim_Class.cpp

mpc_types.cpp

copy data to ROS messages

Sim_Class.cpp

bicycle_model.cpp

• continuousBicycleModel: returns bicycle model derivatives
• simBicycleModel: returns x(t+dT)

load_constant_structs.cpp

load sim/control/X1 parameters

stateOperators.cpp

define + on vehicle states (x + dx) define operator on time and vehicle state (t dx)

tire_model.cpp

calculates lateral force according to tire model