selfdrive.controls.lib.lateral_mpc_lib package

Submodules

selfdrive.controls.lib.lateral_mpc_lib.lat_mpc module

class selfdrive.controls.lib.lateral_mpc_lib.lat_mpc.LateralMpc(x0=None)[source]

Bases: object

reset(x0=None)[source]

run(x0, p, y_pts, heading_pts, yaw_rate_pts)[source]

set_weights(path_weight, heading_weight, lat_accel_weight, lat_jerk_weight, steering_rate_weight)[source]

selfdrive.controls.lib.lateral_mpc_lib.lat_mpc.gen_lat_model()[source]

selfdrive.controls.lib.lateral_mpc_lib.lat_mpc.gen_lat_ocp()[source]

Module contents