import numpy as np
from cereal import log
from common.filter_simple import FirstOrderFilter
from common.numpy_fast import interp
from common.realtime import DT_MDL
from selfdrive.hardware import EON, TICI
from selfdrive.swaglog import cloudlog



            

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              import math
from cereal import log


class LatControlAngle():
  def __init__(self, CP):
    pass

  def reset(self):

            

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              import math
import numpy as np

from cereal import log
from common.filter_simple import FirstOrderFilter
from common.numpy_fast import clip, interp
from common.realtime import DT_CTRL
from selfdrive.car import apply_toyota_steer_torque_limits
from selfdrive.car.toyota.values import CarControllerParams

            

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from common.numpy_fast import clip
from common.realtime import DT_CTRL
from cereal import log
from selfdrive.controls.lib.drive_helpers import get_steer_max


class LatControlLQR():
  def __init__(self, CP):

            

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from selfdrive.controls.lib.pid import PIController
from selfdrive.controls.lib.drive_helpers import get_steer_max
from cereal import log


class LatControlPID():
  def __init__(self, CP):
    self.pid = PIController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),

            

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              from cereal import log
from common.numpy_fast import clip, interp
from selfdrive.controls.lib.pid import PIController
from selfdrive.controls.lib.drive_helpers import CONTROL_N
from selfdrive.modeld.constants import T_IDXS

LongCtrlState = log.ControlsState.LongControlState

STOPPING_EGO_SPEED = 0.5

            

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              import numpy as np
from numpy.linalg import solve

from cereal import car

class VehicleModel:
  def __init__(self, CP: car.CarParams):
    """
    Args:

            

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              import sys
from collections import Counter
from pprint import pprint
from tqdm import tqdm

from tools.lib.route import Route
from tools.lib.logreader import LogReader

if __name__ == "__main__":

            

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                  boardd: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
    ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39%
'''
import psutil
import time
import os
import sys
import numpy as np
import argparse

            

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              import argparse
import os
import traceback
from tqdm import tqdm
from tools.lib.logreader import LogReader
from tools.lib.route import Route
from selfdrive.car.car_helpers import interface_names
from selfdrive.car.fw_versions import match_fw_to_car_exact, match_fw_to_car_fuzzy, build_fw_dict
from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS

            

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