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More outputs / debugging info

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- Decrease `sim_stop_idx` to 1500
- Add some debugging messages for when simulation hits
  limit or when `fmincon` can't satisfy constraints
- Add more `fmincon` outputs for future debugging
- Add obstacle information to `getTrajectoryInfo` call
  in `part2_test_controller.m` to see when car crashes
This commit is contained in:
Sravan Balaji
2021-12-12 17:31:52 -05:00
parent 6f6db84c23
commit 69c704e66b
2 changed files with 17 additions and 6 deletions
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2
Experimentation/part2_test_controller.m
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@@ -5,7 +5,7 @@ clc;
%% Call simulation functions
[Y,U,t_total,t_update,Xobs] = forwardIntegrate();
info = getTrajectoryInfo(Y,U)
info = getTrajectoryInfo(Y,U,Xobs)
%% Figures
% Plot segmented trajectory for debugging purposes