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
List of dependencies other than standard libraries:
- None.
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Rephrase the mathematics for the VirtualME platform. This means that I will modify the state and control vectors, the path predictor and the Lagrangian/Hamiltonian stuff.
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Work on wighting the acceleratin as a function of speed. The robot will be able to change direction more quickly at lower speeds.
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Create a command-line flag parser and --help/--usage documentation. Create flag -c for crippling the simulation for human display
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Build in a timer to see how quickly the execution is to determine suitability for real time execution.
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Create XML input initializer so that rapid testing can be done without recompiling the source.