Smart-Wheelchair-RRC / casadi-mpc Public

Casadi-based MPC implemented for acceleration based control, complete with a ROS Interface and polygonal SDFs for generalization.

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Name		Name	Last commit message	Last commit date
Latest commit History 40 Commits
mpc		mpc
.gitignore		.gitignore
README.md		README.md
main.py		main.py
mpc.ipynb		mpc.ipynb
mpc.svg		mpc.svg
obstacles.txt		obstacles.txt
polygon_publisher.py		polygon_publisher.py
rosinterface.py		rosinterface.py
static_costmap_converter.py		static_costmap_converter.py
test.ipynb		test.ipynb
waypoint_pub.py		waypoint_pub.py