dt, map, 5 * Laps, TimeLMPC,
LMPC_Solver)
# add previously completed trajectories to Safe Set:
LMPController.addTrajectory(ClosedLoopDataPID)
LMPController.addTrajectory(ClosedLoopDataLTV_MPC)
x0 = np.zeros((1, n))
x0_glob = np.zeros((1, n))
x0[0, :] = ClosedLoopLMPC.x[0, :]
x0_glob[0, :] = ClosedLoopLMPC.x_glob[0, :]
if RunLMPC == 1:
for it in range(2, Laps):
ClosedLoopLMPC.updateInitialConditions(x0, x0_glob)
LMPCSimulator.Sim(
ClosedLoopLMPC, LMPController, LMPCOpenLoopData
) #this runs one lap at a time due to initialization!
LMPController.addTrajectory(ClosedLoopLMPC)
onlyLMPController.addTrajectory(ClosedLoopLMPC)
if LMPController.feasible == 0:
break
else:
# Reset Initial Conditions
x0[0, :] = ClosedLoopLMPC.x[ClosedLoopLMPC.SimTime, :] - np.array(
[0, 0, 0, 0, map.TrackLength, 0])
x0_glob[0, :] = ClosedLoopLMPC.x_glob[ClosedLoopLMPC.SimTime, :]
#file_data = open(sys.path[0]+'/data/LMPController.obj', 'wb')
else:
LMPController = ControllerLMPC(numSS_Points, numSS_it, N, Qslack, Q_LMPC,
R_LMPC, dR_LMPC, n, d, shift, dt, map, Laps,
TimeLMPC, LMPC_Solver)
LMPController.addTrajectory(ClosedLoopDataPID)
LMPController.addTrajectory(ClosedLoopDataLTV_MPC)
x0 = np.zeros((1, n))
x0_glob = np.zeros((1, n))
x0[0, :] = ClosedLoopLMPC.x[0, :]
x0_glob[0, :] = ClosedLoopLMPC.x_glob[0, :]
if RunLMPC == 1:
for it in range(2, Laps):
ClosedLoopLMPC.updateInitialConditions(x0, x0_glob)
LMPCSimulator.Sim(ClosedLoopLMPC, LMPController, LMPCOpenLoopData)
LMPController.addTrajectory(ClosedLoopLMPC)
if LMPController.feasible == 0:
break
else:
# Reset Initial Conditions
x0[0, :] = ClosedLoopLMPC.x[ClosedLoopLMPC.SimTime, :] - np.array(
[0, 0, 0, 0, map.TrackLength, 0])
x0_glob[0, :] = ClosedLoopLMPC.x_glob[ClosedLoopLMPC.SimTime, :]
file_data = open(sys.path[0] + '/data/LMPController.obj', 'wb')
pickle.dump(ClosedLoopLMPC, file_data)
pickle.dump(LMPController, file_data)
pickle.dump(LMPCOpenLoopData, file_data)