mirror of
https://github.com/ROB-535-F21-Team-3/Control-Project.git
synced 2025-08-19 17:22:45 +00:00
943aac2e8d
- Add `nonlcon` function that checks if position is on track and not on or inside an obstacle - Add `options` for `fmincon` to not specify constraint gradient, but specify objective gradient - Add parameter for number of track boundary points to use around the closest point to current position when checking if point is inside track polygon