kcbighuge / SDCND-MPC-Quizzes

Quizzes for Vehicle Models and Model Predictive Control

CarND Controls Quizzes

Quizzes for Vehicle Models and Model Predictive Control sections.

1. Global Kinematic Model - Implement the Global Kinematic Model.
2. Polynomial Fitting - Fit and evaluate polynomials.
3. MPC - Implement MPC and minimize cross track and orientation errors to a straight line trajectory.

To do a quiz:

1. Go to quiz directory.
2. Make a build directory with mkdir build.
3. Change into the build directory, cd build.
4. Compile the project, cmake .. && make.

A solution for each quiz is presented in the solution directory.

Dependencies

The Global Kinematic Quiz and Polynomial Fitting quizzes have all the dependencies in repo. For the MPC quiz you'll have to install Ipopt and CppAD.

• Ipopt
  • Mac:

      brew tap homebrew/science
      brew install ipopt --with-openblas
    

  • Linux
    • This Dockerfile might be helpful.
    • You will need a version of Ipopt 3.12.1 or higher. The version available through apt-get is 3.11.x, sudo apt-get install coinor-libipopt-dev. If you can get that version to work great but if not there's a script install_ipopt.sh that will install Ipopt. You just need to download the source from here.
    • Then call install_ipopt.sh with the source directory as the first argument, ex: sudo bash install_ipopt.sh Ipopt-3.12.1.
  • Windows: TODO. If you can use the Linux subsystem and follow the Linux instructions.
• CppAD
  • Mac: brew install cppad
  • Linux sudo apt-get install cppad or equivalent.
  • Windows: TODO. If you can use the Linux subsystem and follow the Linux instructions.