 EmaMaker
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4e375a70f1
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optimization: collapse function calls into sistema_discr
at the expense of "modularity" but don't really need it at this point
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2024-08-01 12:23:49 +02:00 |
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EmaMaker
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c02aa51088
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extend unicycle to differential drive
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2024-08-01 12:23:49 +02:00 |
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EmaMaker
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ce50ac13d4
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general file cleanup
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2024-08-01 12:23:49 +02:00 |
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EmaMaker
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e247a422b6
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single thread main file
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2024-08-01 12:23:43 +02:00 |
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EmaMaker
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318b2f6c02
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another initial condition
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2024-08-01 12:23:43 +02:00 |
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EmaMaker
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0c9f715fd6
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trajectory: add square
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2024-08-01 12:23:43 +02:00 |
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EmaMaker
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67167598d9
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control_act: fix multi-step mpc
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2024-08-01 12:23:43 +02:00 |
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EmaMaker
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58d14dcf9e
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trajectory: cardioid
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2024-08-01 12:23:43 +02:00 |
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EmaMaker
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690013fd1b
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update .gitignore
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2024-08-01 12:23:38 +02:00 |
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EmaMaker
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98d24dd3e4
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new trajectories and initial conditions
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2024-07-27 14:51:23 +02:00 |
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EmaMaker
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78f9515f45
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general: allow to run multiple tests back to back and save results
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2024-07-27 14:50:46 +02:00 |
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EmaMaker
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1900526b81
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bug: fix u_corr_history not being saved between different calls to u_corr()
+ plot u_track and u_corr
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2024-07-26 20:13:43 +02:00 |
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EmaMaker
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89cb27ff49
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restructure code to allow execution in parallel
these commits are so messy
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2024-07-24 14:57:19 +02:00 |
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EmaMaker
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ec8b2dcecb
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multi-step MPC
seems to be working?
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2024-07-24 11:49:34 +02:00 |
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EmaMaker
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02fdac42e3
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rename state x to q
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2024-07-23 18:07:50 +02:00 |
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EmaMaker
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44f65aed77
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1-step mpc
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2024-07-16 10:58:00 +02:00 |
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EmaMaker
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c79a8744b2
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simulate system in discrete time
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2024-07-14 15:16:05 +02:00 |
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EmaMaker
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35167bfed8
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plot trajectory in the xy plane
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2024-07-13 12:15:26 +02:00 |
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EmaMaker
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1b4b0de3c6
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add .gitignore
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2024-07-13 12:15:09 +02:00 |
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EmaMaker
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83b5e276fb
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recalculate and plot inputs+ better plots
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2024-07-13 11:33:13 +02:00 |
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EmaMaker
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500672a350
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more initial conditions
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2024-07-13 11:32:29 +02:00 |
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EmaMaker
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08abc69415
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more trajectories
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2024-07-13 11:31:46 +02:00 |
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EmaMaker
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6d84703c62
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isolate control in its own function
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2024-07-13 11:09:40 +02:00 |
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EmaMaker
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10fa0382a6
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initial simulations
model a unicycle with exact i/o linearization. Plot the desired trajectory on each axis and the one took by the robot
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2024-07-12 19:13:29 +02:00 |