Improving road-curve MPC

notebook/MPC_tracking_cvxpy.ipynb

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