Finish up the ARM MPC as far as I could get before abandoning
Turns out this is a bit of a dead end due to the solver employed. I'll
have to revisit it in the future.
Change-Id: Ib75a053395afa6f31dee3ba6c20a236c7c0b433f
diff --git a/y2018/control_loops/python/BUILD b/y2018/control_loops/python/BUILD
index eebbfe2..369dc96 100644
--- a/y2018/control_loops/python/BUILD
+++ b/y2018/control_loops/python/BUILD
@@ -95,14 +95,66 @@
],
)
+cc_library(
+ name = 'dlqr',
+ hdrs = [
+ 'dlqr.h',
+ ],
+ deps = [
+ '@slycot_repo//:slicot',
+ ],
+)
+
cc_binary(
name = "arm_mpc",
srcs = [
"arm_mpc.cc",
],
+ deps = [
+ ":arm_bounds",
+ ':dlqr',
+ "//third_party/ct",
+ "//third_party/gflags",
+ "//third_party/matplotlib-cpp",
+ "@cgal_repo//:cgal",
+ ],
+ restricted_to = ["//tools:k8"],
+)
+
+cc_binary(
+ name = "3d_plot",
+ srcs = [
+ "3d_plot.cc",
+ ],
restricted_to = ["//tools:k8"],
deps = [
- "//third_party/ct",
+ ":arm_bounds",
+ "//third_party/gflags",
+ "//third_party/matplotlib-cpp",
+ ],
+)
+
+cc_library(
+ name = "arm_bounds",
+ srcs = [
+ "arm_bounds.cc",
+ ],
+ hdrs = [
+ "arm_bounds.h",
+ ],
+ deps = [
+ "//third_party/eigen",
+ "@cgal_repo//:cgal",
+ ],
+)
+
+cc_binary(
+ name = "2d_plot",
+ srcs = [
+ "2d_plot.cc",
+ ],
+ restricted_to = ["//tools:k8"],
+ deps = [
"//third_party/gflags",
"//third_party/matplotlib-cpp",
],