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