File Renaming / Reorganization & Minor Changes

- Add 1/2 coefficient to cost function
- Move `MPC_Class.m` to "Deliverables" folder
- Modify `part2_test_controller.m` plotting style a bit
- Rename `part2_MPC_controller.m` to `sravan_MPC_controller.m`

Deliverables/MPC_Class.m

@@ -200,7 +200,7 @@ classdef MPC_Class
             H = diag(H);
 
             % Evaluate cost function (quadratic function)
-            J = Z_err.' * H * Z_err;
+            J = 0.5 * Z_err.' * H * Z_err;
         end
     end
 

Experimentation/part2_test_controller.m

@@ -9,13 +9,17 @@ info = getTrajectoryInfo(Y,U)
 
 %% Figures
 % Plot segmented trajectory for debugging purposes
+close all;
 figure(1)
 hold on;
 grid on;
 
-plot(Y(:,1), Y(:,3), '-');
-
 load('TestTrack.mat')
-plot(TestTrack.bl(1,:), TestTrack.bl(2,:), '--r');
+load('ROB535_ControlProject_part1_Team3.mat')
-plot(TestTrack.br(1,:), TestTrack.br(2,:), '--r');
+
-plot(TestTrack.cline(1,:), TestTrack.cline(2,:), '-.g');
+plot(Y(:,1), Y(:,3), 'b-');
+plot(ROB535_ControlProject_part1_state(:,1), ROB535_ControlProject_part1_state(:,3), 'k-');
+
+plot(TestTrack.bl(1,:), TestTrack.bl(2,:), 'r.-');
+plot(TestTrack.br(1,:), TestTrack.br(2,:), 'r.-');
+plot(TestTrack.cline(1,:), TestTrack.cline(2,:), 'g.-');