From 819de117e023a1d5d04be46af741012bc4387d0c Mon Sep 17 00:00:00 2001
From: mcarfagno <m.carfagno@outlook.com>
Date: Thu, 10 Dec 2020 21:11:37 +0000
Subject: [PATCH] update .gitignore

---
 .DS_Store                               | Bin 6148 -> 0 bytes
 .gitignore                              |   3 +-
 .ipynb_checkpoints/README-checkpoint.md |  62 ------------------------
 notebooks/MPC_racecar_crosstrack.ipynb  |   6 +--
 4 files changed, 4 insertions(+), 67 deletions(-)
 delete mode 100644 .DS_Store
 delete mode 100644 .ipynb_checkpoints/README-checkpoint.md

diff --git a/.DS_Store b/.DS_Store
deleted file mode 100644
index b6c42c7f5517c57e94b5d10f1bcc5418dd62c1cf..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 6148
zcmeHK&2G~`5T0!eI0l44NbS)VBo0xPQk1GfNG7C*9*_`5Z~)}SwUt;n-jFzi5`uE!
z9e_9BQFsC#ga?3ce~Mx!NN_=@+KG0*+1Z(~_w)W_iHNl)@eYwoL^g^*%R#k9M87C2
zvY{=PfK22#%=mGX@d#~^(1>BcFz|mfAl9x$+tj0!ipu)EgT9YHq{u-yr+)D5QBIsj
zlvHBARAR0nCZ!>rz(1mpj;T)x>X)!_^yE~~xSWG+R&vzfH=thGi^SXATzb2!@EIa=
zD4!P5gfjdR<PRwZ4v1GWh<E+V4AFEv)H~eQXqctrqS^e$Hfq+n^A~K}v7O7#i=fY^
zLD4NH<92uSOtc<$i+-f_$DC)s^ltPdO{SrH{XWl&Zki_}8JxxmT%JEo^O#TDe3Hjw
znI}*kwq3XDp}RGk-P&(8yxrFRyy4CE_L>dv_HJuFuiKk9cJ3Y?4Nl(9-p${C!Z0BW
zTeOrb8c*Rfls_Qvbuh{^p7-D_GS%e-C_rq456SUC*L}uide=mpRXW!Ub%nl1bU^p0
zLl1!4n4NKXcCrs3d6_;}tTuXud7VmafR<c6h%V?&b@j6Em3TBOq9=rXv0^t(!+>GH
zFd+5^4@ID_aiLId9jN3L0BFH11-ks}5A=iq=xbakgayJ>C{TqmeZ^q<=D<`q`hD%c
zP^iL*$tNR^elpWH6s9j8%#-fKe1)bq3>XH=4AfN973crK@9+QRAk#7o7zWN11I+3K
zoi>J~&(@W}iL=&2IYJR4{1ysj2r7LXOGO;TTPRY{=LrSqYg{OV1!DdPNE%FK82G0Q
F`~+{E6NCT&

diff --git a/.gitignore b/.gitignore
index 471ccf6..c82352f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,3 @@
 *.pyc
 *.DS_Store
-/notebook/.ipynb_checkpoints
-.ipynb_checkpoints
+*.ipynb_checkpoints
diff --git a/.ipynb_checkpoints/README-checkpoint.md b/.ipynb_checkpoints/README-checkpoint.md
deleted file mode 100644
index bc6c2b7..0000000
--- a/.ipynb_checkpoints/README-checkpoint.md
+++ /dev/null
@@ -1,62 +0,0 @@
-# mpc_python
-
-Python implementation of a mpc controller for path tracking using **[CVXPY](https://www.cvxpy.org/)**.
-
-## About
-
-The MPC is a model predictive path following controller which does follow a predefined reference by solving an optimization problem. The resulting optimization problem is shown in the following equation:
-
-![](img/quicklatex_equation.png)
-
-The terns of the cost function are the sum of the **reference tracking error**, **heading effort** and **actuaction rate of change**.
-
-Where R,P,Q are the cost matrices used to tune the response.
-
-The vehicle model is described by the bicycle kinematics model using the state space matrices A and B:
-
-![](img/quicklatex2.png)
-
-The state variables **(x)** of the model are:
-
-* **x** coordinate of the robot
-* **y** coordinate of the robot
-* **v** velocuty of the robot
-* **theta** heading of the robot
-
-The inputs **(u)** of the model are:
-
-* **a** linear acceleration of the robot
-* **delta** steering angle of the robot
-
-## Demo
-
-The MPC implementation is tested using **[bullet](https://pybullet.org/wordpress/)** physics simulator. Racing car model is from: *https://github.com/erwincoumans/pybullet_robots*.
-
-![](img/f10.png)
-
-Results:
-
-![](img/demo.gif)
-
-To run the pybullet demo:
-
-```bash
-python3 mpc_demo/mpc_demo_pybullet.py
-```
-
-To run the simulation-less demo:
-
-```bash
-python3 mpc_demo/mpc_demo_pybullet.py
-```
-
-## Requirements
-
-```bash
-pip3 install --user --requirement requirements.txt
-```
-
-## References
-* [mpc paper](https://borrelli.me.berkeley.edu/pdfpub/IV_KinematicMPC_jason.pdf)
-* [pythonrobotics](https://github.com/AtsushiSakai/PythonRobotics/)
-* [pybullet](https://pybullet.org/wordpress/)
\ No newline at end of file
diff --git a/notebooks/MPC_racecar_crosstrack.ipynb b/notebooks/MPC_racecar_crosstrack.ipynb
index d6559d7..310adac 100644
--- a/notebooks/MPC_racecar_crosstrack.ipynb
+++ b/notebooks/MPC_racecar_crosstrack.ipynb
@@ -1203,9 +1203,9 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python [conda env:.conda-jupyter] *",
+   "display_name": "Python 3",
    "language": "python",
-   "name": "conda-env-.conda-jupyter-py"
+   "name": "python3"
   },
   "language_info": {
    "codemirror_mode": {
@@ -1217,7 +1217,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.5"
+   "version": "3.7.6"
   }
  },
  "nbformat": 4,