libCEMMPC
A tiny library for CEM(cross-entropy method) based MPC(Model Predictive Control) implemented with c++ and CUDA. Could be used for long range trajectory optimization or BVP(Boundary value problem).
Build
cd cu_cem_mpc
mkdir build
cd build
cmake ..Visualize
There are scripts inside scripts folder.
In the following examples, only starts and goals are given, the model has to find out the control signal and intermediate state at each time step.
