12345qiupeng
/
mpc_python_learn
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Improving road-curve MPC

master
mcarfagno 2020-05-01 16:40:00 +01:00
parent 2683265841
commit a9acb27238
4 changed files with 123 additions and 701 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

83
notebook/MPC_cte_cvxpy.ipynb
View File

File diff suppressed because one or more lines are too long

616
notebook/MPC_scipy_v2.ipynb
View File

File diff suppressed because one or more lines are too long

48
notebook/MPC_tracking_cvxpy.ipynb
View File

@ -9,7 +9,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 2, "execution_count": 1,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -218,7 +218,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 3, "execution_count": 2,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -235,7 +235,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 4, "execution_count": 3,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -281,7 +281,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 5, "execution_count": 4,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -336,15 +336,15 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 6, "execution_count": 5,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
"name": "stdout", "name": "stdout",
"output_type": "stream", "output_type": "stream",
"text": [ "text": [
"CPU times: user 7.87 ms, sys: 0 ns, total: 7.87 ms\n", "CPU times: user 3.96 ms, sys: 0 ns, total: 3.96 ms\n",
"Wall time: 7.41 ms\n" "Wall time: 3.32 ms\n"
] ]
} }
], ],
@ -374,7 +374,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 7, "execution_count": 6,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
@ -433,15 +433,15 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 8, "execution_count": 7,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
"name": "stdout", "name": "stdout",
"output_type": "stream", "output_type": "stream",
"text": [ "text": [
"CPU times: user 1.8 ms, sys: 650 µs, total: 2.45 ms\n", "CPU times: user 0 ns, sys: 2.57 ms, total: 2.57 ms\n",
"Wall time: 1.79 ms\n" "Wall time: 1.64 ms\n"
] ]
} }
], ],
@ -475,7 +475,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 9, "execution_count": 8,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
@ -536,7 +536,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 10, "execution_count": 9,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -626,7 +626,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 11, "execution_count": 10,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -664,7 +664,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 12, "execution_count": 11,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
@ -707,7 +707,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 13, "execution_count": 12,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -745,7 +745,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 14, "execution_count": 13,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
@ -873,15 +873,15 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 28, "execution_count": 14,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
"name": "stdout", "name": "stdout",
"output_type": "stream", "output_type": "stream",
"text": [ "text": [
"CPU times: user 219 ms, sys: 3.99 ms, total: 223 ms\n", "CPU times: user 128 ms, sys: 5.53 ms, total: 133 ms\n",
"Wall time: 217 ms\n" "Wall time: 138 ms\n"
] ]
} }
], ],
@ -972,7 +972,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 29, "execution_count": 15,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
@ -1043,7 +1043,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 23, "execution_count": 18,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
@ -1057,7 +1057,7 @@
"name": "stdout", "name": "stdout",
"output_type": "stream", "output_type": "stream",
"text": [ "text": [
"CVXPY Optimization Time: Avrg: 0.1416s Max: 0.2571s Min: 0.1279s\n" "CVXPY Optimization Time: Avrg: 0.1425s Max: 0.1900s Min: 0.1292s\n"
] ]
} }
], ],
@ -1177,7 +1177,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 24, "execution_count": 19,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {

75
notebook/equations.ipynb
View File

File diff suppressed because one or more lines are too long