- Add max/min position limits
- Delete `eq_cons` function for now
- Update `bound_cons` to enforce limit and
max/min position limits
- Rename `nonlincon` to `road_obstacle_cons`
- Parameterize index search around closest
road boundary point in `road_obstacle_cons`
- Use `inpolygon` to check if position is within road
and not in or on an obstacle
- Add helper function `get_start_idx` to get
starting index of Z(i) [states(i), inputs(i)]
in Z vector (combined states & inputs for prediction
horizon)
- 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`
- Delete nonlinear optimization functions
- Move intermediate kinematic model computations to
`bike_model_helper` function
- Compute discrete-time linearized model in `linearized_bike_model`
function
- Copy `xenia_nonlinearopt.m` to `xenia_sravan_nonlinearopt.m`
- Clean up nonlinear bike model: add comments, whitespace,
intermediate variables, etc.
- Add helper function `clamp` to clamp a value between min
and max limits
- 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
