WIP: fixed equations for cte

master
mcarfagno 2020-04-22 15:32:10 +01:00
parent 0c3207b2a0
commit 2683265841
7 changed files with 1818 additions and 1486 deletions

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notebook/MPC_cte_cvxpy.ipynb Normal file

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notebook/MPC_scipy_v2.ipynb Normal file

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View File

@ -9,7 +9,7 @@
},
{
"cell_type": "code",
"execution_count": 120,
"execution_count": 1,
"metadata": {},
"outputs": [
{
@ -26,7 +26,7 @@
"[0, 0, 0, v*cos(psi), 0]])"
]
},
"execution_count": 120,
"execution_count": 1,
"metadata": {},
"output_type": "execute_result"
}
@ -37,10 +37,10 @@
"x,y,theta,psi,cte,v,w = sp.symbols(\"x y theta psi cte v w\")\n",
"\n",
"gs = sp.Matrix([[ sp.cos(theta)*v],\n",
" [ sp.sin(theta)*v],\n",
" [w],\n",
" [-w],\n",
" [ v*sp.sin(psi)]])\n",
" [ sp.sin(theta)*v],\n",
" [w],\n",
" [-w],\n",
" [ v*sp.sin(psi)]])\n",
"\n",
"state = sp.Matrix([x,y,theta,psi,cte])\n",
"\n",
@ -79,6 +79,13 @@
"gs.jacobian(state)"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
},
{
"cell_type": "markdown",
"metadata": {},