- Set gradient options to true for `fmincon` optimizer
- Play with optimizer limits a bit
- Add gradient computation for cost function
- Add gradient computation for track & obstacle constraints
- Compute gradients offline in `miscellaneous_stuff.m`
- Update `point_to_line` to output signed distance
- Adjust input error cost for steering angle
- Increase `fmincon` maximum function evaluations
- Add buffer factors for track boundary distance
and obstacle radius
- Add intermediate variables for calculating the
number of constraints
- Change discrete `inpolygon` constraints to continuous
function based constraints where obstacles are modeled
as circles and distance/direction from track boundary
is computed
- Add `point_to_line` function for computing track boundary
quantities
- Drastically increase nonlinear constraint violation cost (I think)
- Make state & input costs much smaller than constraint costs
- Add condition to stop simulation if nonlinear constraint
is not satisfied (doesn't seem to work for going off track)
- Create separate nonlinear constraints for each state to check
if it is on track and if it doesn't intersect each obstacle
- Change indexing of nonlinear constraints
- 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`
- Add properties for prediction horizon of states & inputs
- Add properties for obstacles, current state, reference index,
and termination flag
- Update constructor to take in and set new properties
- Move properties with calculated values to constructor
- Remove function inputs for new properties
- Rename `curr_state` to `Y_curr` in `MPC_Class.m`
- Use object properties instead of function arguments (e.g., obj.ref_idx)
- Update part2 deliverable function to use `MPC_Class`
- Clean-up some comments in `MPC_Class`
- Add MPC tunable parameters to `MPC_Class`
- Add TODO comments
- Add generated states from part 1 as variable
`ROB535_ControlProject_part1_state` to
`ROB535_ControlProject_part1_Team3.mat`
- Make step size and prediction horizon global variables
- Remove references to unused global variables
- Fix reference trajectory indexing with "i" based
on `ROB535_ControlProject_part1_state` variable
- Replace `dt` with `T_s` in `linearized_bike_model`
- Deliverables folder holds final files for submission
- Experimentation holds scripts and things related to our development of
a final solution
- Simulation holds the provided files
- Added template for part 2 submission with comments
