EmaMaker
9d49b16d23
change ddr parameters to have the same v as unicycle
2024-09-10 21:29:39 +02:00
EmaMaker
ad1419a694
mark the passing of time
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this would sound more ominous if commit messages supported italics
2024-09-10 21:29:15 +02:00
EmaMaker
73e149771e
tesi: also save cartesian output
2024-09-10 21:17:56 +02:00
EmaMaker
397bda10f5
tesi: save workspace before saving figures
2024-09-10 21:17:22 +02:00
EmaMaker
f90e3bdb68
control_act: make correction refer to w_r, w_l
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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
f5972fd508
plot_trajectory: bigger axis, legend
2024-09-09 16:10:51 +02:00
EmaMaker
08a5df3cc7
plots: increase font size for better reading in ppt
2024-09-07 19:31:47 +02:00
EmaMaker
f4067fe7d2
plots: plot more differences
2024-09-06 15:49:49 +02:00
EmaMaker
cbd177342d
plot_error: change ylabel
2024-09-06 15:49:32 +02:00
EmaMaker
30540c1bc8
sistema_discr: better comments
2024-09-06 15:49:04 +02:00
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6b726d8c56
use correct straightlight/abrupt_stop_chill
2024-09-01 18:50:43 +02:00
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f63d8c153c
remove tests_old
2024-08-31 16:25:11 +02:00
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9cf24a1983
plots: horizontal and vertical inputs
2024-08-31 16:25:05 +02:00
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0ecae887f7
plot_error: plot average
2024-08-31 13:57:52 +02:00
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8e87f9b006
file cleanup + recompile all videos
2024-08-30 16:51:21 +02:00
EmaMaker
a9622f1f00
export everything to dedicated diffdrive folder
2024-08-29 19:36:11 +02:00
EmaMaker
3b0257adf2
control_act: use blkdiag to build A_deq
2024-08-28 16:12:22 +02:00
EmaMaker
6661dd8f52
split plot into different files
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just to generate nice pictures for the report
+ plus make gifs from animations
2024-08-28 16:12:17 +02:00
EmaMaker
6248525cbe
a nice battery of tests
2024-08-28 16:11:49 +02:00
EmaMaker
7959cdcbd9
play around with values
2024-08-01 12:23:49 +02:00
EmaMaker
713a010eb4
tesi: save composites
2024-08-01 12:23:49 +02:00
EmaMaker
ef8a12166a
save history of predicted trajectory for video
2024-08-01 12:23:49 +02:00
EmaMaker
4e375a70f1
optimization: collapse function calls into sistema_discr
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at the expense of "modularity" but don't really need it at this point
2024-08-01 12:23:49 +02:00
EmaMaker
c02aa51088
extend unicycle to differential drive
2024-08-01 12:23:49 +02:00
EmaMaker
ce50ac13d4
general file cleanup
2024-08-01 12:23:49 +02:00
EmaMaker
e247a422b6
single thread main file
2024-08-01 12:23:43 +02:00
EmaMaker
318b2f6c02
another initial condition
2024-08-01 12:23:43 +02:00
EmaMaker
0c9f715fd6
trajectory: add square
2024-08-01 12:23:43 +02:00
EmaMaker
67167598d9
control_act: fix multi-step mpc
2024-08-01 12:23:43 +02:00
EmaMaker
58d14dcf9e
trajectory: cardioid
2024-08-01 12:23:43 +02:00
EmaMaker
690013fd1b
update .gitignore
2024-08-01 12:23:38 +02:00
EmaMaker
98d24dd3e4
new trajectories and initial conditions
2024-07-27 14:51:23 +02:00
EmaMaker
78f9515f45
general: allow to run multiple tests back to back and save results
2024-07-27 14:50:46 +02:00
EmaMaker
1900526b81
bug: fix u_corr_history not being saved between different calls to u_corr()
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+ plot u_track and u_corr
2024-07-26 20:13:43 +02:00
EmaMaker
89cb27ff49
restructure code to allow execution in parallel
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these commits are so messy
2024-07-24 14:57:19 +02:00
EmaMaker
ec8b2dcecb
multi-step MPC
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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
35167bfed8
plot trajectory in the xy plane
2024-07-13 12:15:26 +02:00
EmaMaker
1b4b0de3c6
add .gitignore
2024-07-13 12:15:09 +02:00
EmaMaker
83b5e276fb
recalculate and plot inputs+ better plots
2024-07-13 11:33:13 +02:00
EmaMaker
500672a350
more initial conditions
2024-07-13 11:32:29 +02:00
EmaMaker
08abc69415
more trajectories
2024-07-13 11:31:46 +02:00
EmaMaker
6d84703c62
isolate control in its own function
2024-07-13 11:09:40 +02:00
EmaMaker
10fa0382a6
initial simulations
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model a unicycle with exact i/o linearization. Plot the desired trajectory on each axis and the one took by the robot
2024-07-12 19:13:29 +02:00
EmaMaker