Author : Timothy A.V. Teatro timothy.teatro@uoit.ca Date : April 2013

The Non-linear model predictive control path optimizer and tracker for Crosswing's VirtualME platform.

Documentation to be added later. For now, I'm working on having the code self-documented. I will also be adding a paper that I have written which explains most of the low-level mathematics.

Configuration is done with cmake. Reccomended build commands for out-of-source building:

$ cd build
$ cmake ../
$ make

Unit tests are provided for key modules and will be bult by default. run

$ make test

to automatically run all tests. Users adding obstacle, model or minimizer types are encouraged to write a test module in ./test .

Files and objects prefixed with VMe or vMe are specific to the VirtualMe Robot and the prefix is generally used to distinguish those concrete entities from more general and abstract entities. For example, the NmpcModel class is an interface (that is, an abstract class wherein all methods are virtual) that is quite generic to the NMPC problem. However, VMeNmpcModel is a class that derives from the interface and contains data and methods specific to the virtualME robot. If you port this code to another type of device, files and classes prefixed with VMe are the files that must be rewritten.

Classes begin with Capital Letters, and appear in CammelCase. Source files defining those classes are named after the class they contain. Classes which exist only to support a more fundamental class may be defined in the same file(s) as the fundamental class.

Variables and functions are named in cammelCase, and begin with a lower case letter.

Source files containing unit tests have the prefix utest-. Source files containing integration tests have the prefix itest-. Tests are supported by Phil Nash's CATCH unit testing framework.

Types defined either with typedef or using may have a prefix separated with an underscore. For example, up_TypeName is a unique_ptr<TypeName>. The type fptype is just float by default, but can be changed to double or alike. Types derived from fptype, such as fp_point2d have the fp_ prefix.

List of dependencies other than standard libraries:

• Boost

##Code Format Code formatting was done with clang-format -style=LLVM, and an attempt is made to conform to the LLVM Coding Standards.