Replace Control Library StateSpace with Custom Implementation Using NumPy #33127
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Fixes #33092
This pull request replaces the usage of the StateSpace class from the control library with a custom implementation using pure Python and NumPy. This change is focused on simplifying dependencies and maintaining functionality in the test file openpilot/selfdrive/controls/lib/tests/test_vehicle_model.py.
Changes:
Added a custom StateSpace class
Implements initialization, state update, output calculation, and discretization using NumPy.
Updated test_vehicle_model.py to use the custom StateSpace class instead of the control library's version.
Ensured the tests for yaw rate calculation and state-space simulation remain functionally equivalent with the new implementation.
Benefits:
Reduces dependency on the control library, simplifying the dependency tree.
Maintains all existing functionality