Commit Graph

75 Commits (4ffbb35207e81ff9b0c2ef6cc22af657a6cd3b86)

Author SHA1 Message Date
mcarfagno 4ffbb35207 tidy up a bit python files location 2021-07-08 12:54:48 +01:00
Marcello Carfagno 50f1fea9a8
Update README.md 2021-07-07 13:07:45 +01:00
mcarfagno 1bf971c096 moved pybullet demo to latest MPC version, now runs ~10Hz 2021-05-13 14:40:48 +01:00
mcarfagno 1d6c686eaf added notebook on track rework 2021-04-20 16:26:38 +01:00
mcarfagno caf78afa34 tidy up MPC class 2021-04-19 16:18:08 +01:00
mcarfagno 4716cbd108 checking out different implementation 2021-04-15 14:46:12 +01:00
mcarfagno 5d1bb69cc3 less cringy readme 2021-04-14 15:17:16 +01:00
mcarfagno c7f89eaf05 forther r&d in track constrains and plots tidy up 2021-04-14 11:38:30 +01:00
mcarfagno 1ed9537fdc reorganizing my jupyter notebooks 2021-04-13 11:30:08 +01:00
mcarfagno 804bb08fd3 furter study on constrains 2021-04-01 18:16:26 +01:00
mcarfagno e94d81e1d4 demo using halfplane constrains for the track 2021-04-01 15:26:39 +01:00
mcarfagno 5d9183b2ba study on halfplane constrains for the track 2021-03-31 17:20:10 +01:00
mcarfagno 97ac52f806 improved accuracy on heading 2021-03-04 10:49:28 +00:00
mcarfagno bb54b772c5 added trial with ref traj in robot frame 2021-03-02 14:25:29 +00:00
mcarfagno 4b25c7c9b7 removing old jupyter files 2020-12-15 14:11:10 +00:00
mcarfagno 1ed479e965 slight rework of numerical jacobian functions 2020-12-14 14:09:49 +00:00
mcarfagno 741f2c158d correted function for numerical jacobian 2020-12-12 18:15:08 +00:00
mcarfagno c208eaeaee added notebook on numerical jacobian 2020-12-12 14:45:43 +00:00
mcarfagno 819de117e0 update .gitignore 2020-12-10 21:11:37 +00:00
mcarfagno 697e194d12 checking out iterative linearization from PythonRobotics 2020-11-16 18:10:18 +00:00
mcarfagno 3546934f75 updated README with nicer gifs from latest implementation 2020-11-02 14:44:31 +00:00
mcarfagno 271b220277 updated README to latest version 2020-10-29 17:40:16 +00:00
mcarfagno ef175816d8 updated pybullet mpc demo to latest version 2020-10-28 15:08:58 +00:00
mcarfagno cac053410c rewrite constrains for clarity 2020-10-26 15:49:51 +00:00
mcarfagno a231188163 added constrains max rate of change 2020-10-26 11:41:39 +00:00
mcarfagno bc50ea37f0 fixed paper link 2020-10-23 16:31:57 +01:00
mcarfagno cf95884dcb heading error issues hotfixes 2020-10-23 15:18:36 +01:00
mcarfagno 0d83dd7317 new cost function 2020-10-23 11:23:12 +01:00
mcarfagno 3601c09206 added trajectory generation method 2020-10-23 10:43:10 +01:00
mcarfagno 385daab272 updated location of old notebooks 2020-10-22 21:43:47 +01:00
Marcello Carfagno 5bb35ef95d updated .gitignore 2020-10-22 21:33:54 +01:00
Marcello Carfagno 31cf0ad47d starting new notebook to implement cost function from to paper 2020-10-22 21:31:40 +01:00
mcarfagno cfc9d2d868 Added docstrings in utils functions 2020-10-06 10:13:11 +01:00
mcarfagno 49e2a00a10 added input delay in sim 2020-08-06 10:21:47 +01:00
mcarfagno f3a985940e f10 pybullet demo 2020-07-06 16:54:22 +01:00
mcarfagno 49549a5f7b plotting sim racecar 2020-07-01 15:59:13 +01:00
mcarfagno 7aad961721 longer track 2020-07-01 15:06:10 +01:00
mcarfagno f7a46f2ead updated racecar files 2020-07-01 14:33:16 +01:00
mcarfagno 6d3f0005ad master of plots 2020-07-01 10:45:08 +01:00
mcarfagno 896b987b61 fixed racecar mpc matrices 2020-07-01 10:04:01 +01:00
mcarfagno fc7941ad26 WIP: racecar mpc 2020-06-30 17:21:27 +01:00
mcarfagno 19532431dc plot demo for version 2 2020-06-30 11:05:30 +01:00
mcarfagno 0f572d0caa removed unnecessary files 2020-06-29 15:34:02 +01:00
mcarfagno 2c6d95cc23 Added obstacle avoidance 2020-06-29 15:31:43 +01:00
mcarfagno 5c9af78022 added mpc output visualization in plot 2020-05-04 17:36:23 +01:00
mcarfagno e15702c294 interpolation distance of track wp 2020-05-04 15:16:29 +01:00
mcarfagno f1f888ec7c Fixing notebook theory 2020-05-04 13:36:18 +01:00
mcarfagno 4f9ae0afec Fixing notebook theory 2020-05-04 12:16:04 +01:00
mcarfagno e404fbf84a Fixing notebook theory 2020-05-04 12:07:01 +01:00
mcarfagno 3866ca7ca9 Simplified kinematics equations, param tuning 2020-05-01 17:05:24 +01:00