深蓝第三章作业
./install_tools.sh
catkin_make -j1
source devel/setup.zsh
roslaunch mpc_car simulation.launch
./src/mpc_car/config/mpc_car.yaml -> mpc parameters
./src/car_simulator/config/car_simulator.yaml -> initial states (in simulation)
Implement MPC of tracking the reference trajectory in C++;
min J = \sum_{i=0}^N (x-x_r)^2+ (y-y_r)^2 + rho * (phi-phi_r)^2
s.t. -0.1 <= v_k <= v_max
|a_k| <= a_max
|delta_k| <= delta_max
|delta_{k+1} - delta_k| <= ddelta_max * dt
./src/car_simulator/src/car_simulator_nodelet.cpp
ret = mpcPtr_->solveNMPC(state_);
ret = mpcPtr_->solveQP(state_);
QP is solved by OSQP and NMPC is solved by lbfgs.