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- <?xml version='1.0' encoding='UTF-8'?>
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- <tabbed_widget parent="main_window" name="Main Window">
- <Tab tab_name="Lateral" containers="1">
- <Container>
- <DockSplitter orientation="-" count="5" sizes="0.200458;0.199313;0.200458;0.199313;0.200458">
- <DockArea name="Velocity [m/s]">
- <plot style="Lines" mode="TimeSeries">
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- <limitY/>
- <curve color="#0072b2" name="/carState/vEgo"/>
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- <DockArea name="Curvature [1/m] True [blue] Vehicle Model [purple] Plan [green]">
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- <curve color="#009e73" name="engaged curvature plan"/>
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- <curve color="#0072b2" name="engaged curvature yaw"/>
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- <limitY/>
- <curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/0"/>
- </plot>
- </DockArea>
- <DockArea name="Engaged [green] Steering Pressed [blue]">
- <plot style="Lines" mode="TimeSeries">
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- <limitY/>
- <curve color="#009e73" name="/controlsState/enabled"/>
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- <curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
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- <Container>
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- <DockArea name="Velocity [m/s] True [blue] Plan [green] Cruise [magenta]">
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- <curve color="#dc267f" name="/carState/cruiseState/speed"/>
- <curve color="#009e73" name="/longitudinalPlan/speeds/0"/>
- <curve color="#0072b2" name="/carState/vEgo"/>
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- </DockArea>
- <DockArea name="Acceleration [m/s^2] True [blue] Actuator [purple] Plan [green]">
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- <limitY/>
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- <curve color="#785ef0" name="engaged_accel_actuator"/>
- <curve color="#0072b2" name="engaged_accel_actual"/>
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- <limitY/>
- <curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/1"/>
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- <curve color="#009e73" name="/longitudinalPlan/longitudinalPlanSource"/>
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- <Container>
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- <DockArea name="Controller F [magenta] P [purple] I [blue]">
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- <curve name="/controlsState/lateralControlState/pidState/i" color="#17becf"/>
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- <DockArea name="Driver Torque [blue] EPS Torque [green]">
- <plot style="Lines" mode="TimeSeries">
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- <limitY/>
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- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
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- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
- <snippet name="engaged curvature yaw">
- <global>engage_delay = 5
- last_bad_time = -engage_delay</global>
- <function>curvature = value / v3
- pressed = v1
- enabled = v2
- if (pressed == 1 or enabled == 0) then
- last_bad_time = time
- end
- if (time > last_bad_time + engage_delay) then
- return curvature
- else
- return 0
- end</function>
- <linked_source>/liveLocationKalman/angularVelocityCalibrated/value/2</linked_source>
- <additional_sources>
- <v1>/carState/steeringPressed</v1>
- <v2>/carControl/enabled</v2>
- <v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
- </additional_sources>
- </snippet>
- <snippet name="engaged curvature vehicle model">
- <global>engage_delay = 5
- last_bad_time = -engage_delay</global>
- <function>curvature = value
- pressed = v1
- enabled = v2
- if (pressed == 1 or enabled == 0) then
- last_bad_time = time
- end
- if (time > last_bad_time + engage_delay) then
- return value
- else
- return 0
- end</function>
- <linked_source>/controlsState/curvature</linked_source>
- <additional_sources>
- <v1>/carState/steeringPressed</v1>
- <v2>/carControl/enabled</v2>
- </additional_sources>
- </snippet>
- <snippet name="engaged curvature plan">
- <global>engage_delay = 5
- last_bad_time = -engage_delay</global>
- <function>curvature = value
- pressed = v1
- enabled = v2
- if (pressed == 1 or enabled == 0) then
- last_bad_time = time
- end
- if (time > last_bad_time + engage_delay) then
- return value
- else
- return 0
- end</function>
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- <additional_sources>
- <v1>/carState/steeringPressed</v1>
- <v2>/carControl/enabled</v2>
- </additional_sources>
- </snippet>
- <snippet name="engaged_accel_actual">
- <global>engage_delay = 5
- last_bad_time = -engage_delay</global>
- <function>accel = value
- brake = v1
- gas = v2
- enabled = v3
- if (brake ~= 0 or gas ~= 0 or enabled == 0) then
- last_bad_time = time
- end
- if (time > last_bad_time + engage_delay) then
- return value
- else
- return 0
- end</function>
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- <additional_sources>
- <v1>/carState/brakePressed</v1>
- <v2>/carState/gasPressed</v2>
- <v3>/carControl/enabled</v3>
- </additional_sources>
- </snippet>
- <snippet name="engaged_accel_plan">
- <global>engage_delay = 5
- last_bad_time = -engage_delay</global>
- <function>accel = value
- brake = v1
- gas = v2
- enabled = v3
- if (brake ~= 0 or gas ~= 0 or enabled == 0) then
- last_bad_time = time
- end
- if (time > last_bad_time + engage_delay) then
- return value
- else
- return 0
- end</function>
- <linked_source>/longitudinalPlan/accels/0</linked_source>
- <additional_sources>
- <v1>/carState/brakePressed</v1>
- <v2>/carState/gasPressed</v2>
- <v3>/carControl/enabled</v3>
- </additional_sources>
- </snippet>
- <snippet name="engaged_accel_actuator">
- <global>engage_delay = 5
- last_bad_time = -engage_delay</global>
- <function>accel = value
- brake = v1
- gas = v2
- enabled = v3
- if (brake ~= 0 or gas ~= 0 or enabled == 0) then
- last_bad_time = time
- end
- if (time > last_bad_time + engage_delay) then
- return value
- else
- return 0
- end</function>
- <linked_source>/carControl/actuators/accel</linked_source>
- <additional_sources>
- <v1>/carState/brakePressed</v1>
- <v2>/carState/gasPressed</v2>
- <v3>/carControl/enabled</v3>
- </additional_sources>
- </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
- </root>
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