- 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
- Add parameter to stop simulation when specified
index in reference trajectory is reached
- Modify `forwardIntegrate` to return `Xobs` for plotting
- Plot obstacles in part2 testing figure
- Change some line plotting styles for clarity
- 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`
- Fix missing references to `obj`
- Fix `npredinputs` so it matches `npredstates` as specified by
`forwardIntegrate.m`
- Fix typo: `get_start_idx` -> `obj.get_state_start_idx`
- Fix nonlinear constraint indexing issue
- Fix nonlinear constraint obstacle indexing typo
- Remove unused `nonlinear_bike_model` function
- Compute continuous system matrices offline and convert
to function with `matlabFunction`: `A_c_func` & `B_c_func`
- Add `miscellaneous_stuff.m` which has some random testing
and continuous system matrix generation code
- Add `part2_test_controller.m` for testing part2 deliverable
