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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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225
notebook/.ipynb_checkpoints/MPC_cvxpy-checkpoint.ipynb
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notebook/MPC_cte_cvxpy.ipynb Normal file
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notebook/MPC_scipy.ipynb → notebook/MPC_cte_scipy.ipynb
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notebook/MPC_cvxpy_v2.ipynb
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notebook/MPC_scipy_v2.ipynb Normal file
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notebook/MPC_cvxpy.ipynb → notebook/MPC_tracking_cvxpy.ipynb
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notebook/equations.ipynb
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@ -9,7 +9,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 120, "execution_count": 1,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
@ -26,7 +26,7 @@
"[0, 0, 0, v*cos(psi), 0]])" "[0, 0, 0, v*cos(psi), 0]])"
] ]
}, },
"execution_count": 120, "execution_count": 1,
"metadata": {}, "metadata": {},
"output_type": "execute_result" "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", "x,y,theta,psi,cte,v,w = sp.symbols(\"x y theta psi cte v w\")\n",
"\n", "\n",
"gs = sp.Matrix([[ sp.cos(theta)*v],\n", "gs = sp.Matrix([[ sp.cos(theta)*v],\n",
" [ sp.sin(theta)*v],\n", " [ sp.sin(theta)*v],\n",
" [w],\n", " [w],\n",
" [-w],\n", " [-w],\n",
" [ v*sp.sin(psi)]])\n", " [ v*sp.sin(psi)]])\n",
"\n", "\n",
"state = sp.Matrix([x,y,theta,psi,cte])\n", "state = sp.Matrix([x,y,theta,psi,cte])\n",
"\n", "\n",
@ -79,6 +79,13 @@
"gs.jacobian(state)" "gs.jacobian(state)"
] ]
}, },
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
},
{ {
"cell_type": "markdown", "cell_type": "markdown",
"metadata": {}, "metadata": {},