Laghund / autobike_trajectory_mpc

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AutoBike Trajectory MPC

Overview

C implementation of the 2022 AutoBike MPC group's matlab code using qpSWIFT. Will be added to the AutoBike fork once completed.

Installation

Make sure you use git clone --recursive to get the qpSWIFT submodule, then follow the instructions in the qpSWIFT README to build the library.

Usage

Configure mpc_params and x0 in mpc_trajectory:main.c, then run make to rebuild and run.

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