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@@ -1,23 +1,66 @@
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-CONFIG -= qt
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+
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+QT += core
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TEMPLATE = lib
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DEFINES += MPCCONTROLLER_LIBRARY
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CONFIG += c++17
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+CONFIG += plugin
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# You can make your code fail to compile if it uses deprecated APIs.
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# In order to do so, uncomment the following line.
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#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
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SOURCES += \
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- mpccontroller.cpp
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+ csc_matrix_conv.cpp \
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+ lowpass_filter.cpp \
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+ mpc.cpp \
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+ mpc_trajectory.cpp \
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+ mpc_utils.cpp \
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+ osqp_interface.cpp \
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+ qp_solver/qp_solver_osqp.cpp \
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+ qp_solver/qp_solver_unconstraint_fast.cpp \
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+ steering_offset/steering_offset.cpp \
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+ steering_predictor.cpp \
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+ vehicle_info.cpp \
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+ vehicle_info_util.cpp \
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+ vehicle_model/vehicle_model_bicycle_dynamics.cpp \
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+ vehicle_model/vehicle_model_bicycle_kinematics.cpp \
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+ vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp \
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+ vehicle_model/vehicle_model_interface.cpp
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HEADERS += \
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- mpccontroller_global.h \
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- mpccontroller.h
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+ mpc_lateral_controller/lowpass_filter.hpp \
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+ mpc_lateral_controller/mpc.hpp \
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+ mpc_lateral_controller/mpc_trajectory.hpp \
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+ mpc_lateral_controller/mpc_utils.hpp \
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+ mpc_lateral_controller/qp_solver/qp_solver_interface.hpp \
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+ mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp \
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+ mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp \
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+ mpc_lateral_controller/steering_offset/steering_offset.hpp \
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+ mpc_lateral_controller/steering_predictor.hpp \
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+ mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp \
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+ mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp \
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+ mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp \
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+ mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp \
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+ vehicle_info_util/vehicle_info.hpp \
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+ vehicle_info_util/vehicle_info_util.hpp
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# Default rules for deployment.
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unix {
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target.path = /usr/lib
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}
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!isEmpty(target.path): INSTALLS += target
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+
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+
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+unix:INCLUDEPATH += /usr/include/eigen3
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+win32:INCLUDEPATH += D:\File\soft\eigen
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+
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+LIBS += -linterpolation -losqp
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+
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+
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+INCLUDEPATH += $$PWD/../../common/include
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+
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+!include(../../../include/common.pri ) {
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+ error( "Couldn't find the common.pri file!" )
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+}
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