Gp lmpc #48
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Gp lmpc #48
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…gether with according control)
…MPC-follow-trajectory
…nd did little corrections in the simulation node
…d real values into file), added noise to simulated model, added function to evaluate recorded data (in root dir)
… restructured LMPC_node so that all variables can be used (some have to be global), changed a few types
…ne. Fixed a couple of LMPC things, it's still pretty slow when it comes to calculating the mpcCoefficients the first time in the second lap.
…wwise) and added some more type definitions (to make code faster). Still slow when it reaches new lap. Trying to make it faster by reducing the number of vectors created during coeffConstraintCost.
…ter. next step: split up in multiple separate functions to facilitate compilation.
…ed some more type definitions to make code faster. Stil working on it, next step: Get rid of global variables.
… using global variables.
…e global variables. Instead, the model is defined by a function and passed to the MPC-solving function. Still not solving perfectly, but getting there.
…generalized code for polynomial of coefficients.
…rvature, but kinks allowed
…eginning of an iteration, whereas the state of the iteration beginning is predicted in the previous iteration for the MPC control
…anged racetrack to more complicated path.
…ommit), transposed MPC matrices
…path following, debugging process ongoing.
…sen correctly and not too agressive)
…ew curvature). LMPC is working with little noise.
…the experiment data
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I'm the undergrad continuing Lukas Brunke's project at the MPC lab. Would like to pull the code to start working on it (eg. running the simulations etc), so I'd like my pull request to be granted.