Jonathan Frey 6f4c93238f work on acados lateral MPC (#23558) ...

* lat_mpc: make v_ego, rotation_radius parameters instead of states

* lat_mpc: remove rotation_radius argument, since it is part of the parameters

* lat_mpc: use qp_solver_cond_N = 1

slightly faster and in line with case study in Fig. 2/ 3 in Frison2016 - https://cdn.syscop.de/publications/Frison2016.pdf
An Efficient Implementation of Partial Condensing for Nonlinear Model Predictive Control

* adapt test_lateral_mpc to formulation with parameters

* lat_mpc: set parameters in reset() and copy values

* acados_ocp_solver_pyx: make options_set useable

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 06814748409bd8538edca1b2bcef66f15e1c3ab6

2022-01-18 09:49:48 -08:00

..

acados_template

work on acados lateral MPC (#23558)

2022-01-18 09:49:48 -08:00

.gitignore

merge in pyextra

2020-01-17 10:08:05 -08:00