- 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`
