Commit Graph

20 Commits (5e77c3beedfa2e825a9cd0ea88384faf90c04704)

Author SHA1 Message Date
EmaMaker 5e77c3beed abbandon correction, linearize around trajectory
try three different approaches, with questionable results
2024-09-21 15:36:18 +02:00
EmaMaker eee95b0059 [UNSUCCESS] try to minimize vcorr^2 2024-09-16 18:27:41 +02:00
EmaMaker 41f0d66851 correction is on untrasformed inputs, but cost and constraints are on robot inputs 2024-09-16 18:04:18 +02:00
EmaMaker ceb7659bcc misc tests 2024-09-13 20:26:01 +02:00
EmaMaker 854247dee1 [IMPROVE] build A_deq outside for loop 2024-09-11 22:20:31 +02:00
EmaMaker a9bf86cda8 big refactor of branches into a single codebase
using flags to switch between tests and robot types
2024-09-11 19:34:41 +02:00
EmaMaker f90e3bdb68 control_act: make correction refer to w_r, w_l
This fixes a substantial bug with 1-step and multistep behaving
differently than track-only

for more information: see notes 10/09/24, but basically what was
  happening was that just v^{corr} was being minimized, for how the
  constraints were built
2024-09-10 21:09:32 +02:00
EmaMaker 3ddb3ec4ca control_act: 1-step into its own if-statement 2024-09-10 21:07:32 +02:00
EmaMaker 3b0257adf2 control_act: use blkdiag to build A_deq 2024-08-28 16:12:22 +02:00
EmaMaker 6248525cbe a nice battery of tests 2024-08-28 16:11:49 +02:00
EmaMaker ef8a12166a save history of predicted trajectory for video 2024-08-01 12:23:49 +02:00
EmaMaker c02aa51088 extend unicycle to differential drive 2024-08-01 12:23:49 +02:00
EmaMaker 67167598d9 control_act: fix multi-step mpc 2024-08-01 12:23:43 +02:00
EmaMaker 1900526b81 bug: fix u_corr_history not being saved between different calls to u_corr()
+ plot u_track and u_corr
2024-07-26 20:13:43 +02:00
EmaMaker 89cb27ff49 restructure code to allow execution in parallel
these commits are so messy
2024-07-24 14:57:19 +02:00
EmaMaker ec8b2dcecb multi-step MPC
seems to be working?
2024-07-24 11:49:34 +02:00
EmaMaker 02fdac42e3 rename state x to q 2024-07-23 18:07:50 +02:00
EmaMaker 44f65aed77 1-step mpc 2024-07-16 10:58:00 +02:00
EmaMaker c79a8744b2 simulate system in discrete time 2024-07-14 15:16:05 +02:00
EmaMaker 6d84703c62 isolate control in its own function 2024-07-13 11:09:40 +02:00