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feat(trajectory_follower): seperate lat lon controller packages (auto…
…warefoundation#2580) * feat(trajectory_follower): seperate controller implementation packages Signed-off-by: Takayuki Murooka <[email protected]> * update doc Signed-off-by: Takayuki Murooka <[email protected]> * fix doc Signed-off-by: Takayuki Murooka <[email protected]> * fix test Signed-off-by: Takayuki Murooka <[email protected]> * rename: mpc_follower -> mpc Signed-off-by: Takayuki Murooka <[email protected]> * rename to trajectory_follower_base, trajectory_follower_node Signed-off-by: Takayuki Murooka <[email protected]> * fix doc Signed-off-by: Takayuki Murooka <[email protected]> * remove unnecessary change Signed-off-by: Takayuki Murooka <[email protected]> Signed-off-by: Takayuki Murooka <[email protected]>
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Original file line number | Diff line number | Diff line change |
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cmake_minimum_required(VERSION 3.14) | ||
project(mpc_lateral_controller) | ||
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||
find_package(autoware_cmake REQUIRED) | ||
autoware_package() | ||
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set(MPC_LAT_CON_LIB ${PROJECT_NAME}_lib) | ||
ament_auto_add_library(${MPC_LAT_CON_LIB} SHARED | ||
src/mpc_lateral_controller.cpp | ||
src/interpolate.cpp | ||
src/lowpass_filter.cpp | ||
src/mpc.cpp | ||
src/mpc_trajectory.cpp | ||
src/mpc_utils.cpp | ||
src/qp_solver/qp_solver_osqp.cpp | ||
src/qp_solver/qp_solver_unconstr_fast.cpp | ||
src/vehicle_model/vehicle_model_bicycle_dynamics.cpp | ||
src/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp | ||
src/vehicle_model/vehicle_model_bicycle_kinematics.cpp | ||
src/vehicle_model/vehicle_model_interface.cpp | ||
) | ||
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||
if(BUILD_TESTING) | ||
set(TEST_LAT_SOURCES | ||
test/test_mpc.cpp | ||
test/test_mpc_utils.cpp | ||
test/test_interpolate.cpp | ||
test/test_lowpass_filter.cpp | ||
) | ||
set(TEST_LATERAL_CONTROLLER_EXE test_lateral_controller) | ||
ament_add_ros_isolated_gtest(${TEST_LATERAL_CONTROLLER_EXE} ${TEST_LAT_SOURCES}) | ||
target_link_libraries(${TEST_LATERAL_CONTROLLER_EXE} ${MPC_LAT_CON_LIB}) | ||
endif() | ||
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||
ament_auto_package(INSTALL_TO_SHARE | ||
param | ||
) |
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