Gp lmpc#48

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GoldeneyeRohan wants to merge 258 commits intoMPC-Berkeley:masterfrom

ShuqiXu:GP_LMPC

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Commits on Sep 14, 2016

Commits on Sep 15, 2016

Added addition logging to simulator (logs measurements, estimation and real values into file), added noise to simulated model, added function to evaluate recorded data (in root dir)
maxb91
committed
Merge branch 'MPC-follow-trajectory' of https://github.com/BARCproject/barc into LMPC
maxb91
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Changed message format to float64, added s_start to message pos_info, restructured LMPC_node so that all variables can be used (some have to be global), changed a few types
maxb91
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Modified racetrack creation: Start/Finish is at middle of straight line. Fixed a couple of LMPC things, it's still pretty slow when it comes to calculating the mpcCoefficients the first time in the…
maxb91
committed

Commits on Sep 16, 2016

Commits on Sep 17, 2016

Changed entire problem formulation structure so that there are no more global variables. Instead, the model is defined by a function and passed to the MPC-solving function. Still not solving perfec…
maxb91
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Commits on Sep 19, 2016

LMPC simulation works with multiple laps. Still oscillating a bit around the track.
maxb91
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Commits on Sep 21, 2016

Commits on Sep 23, 2016

Commits on Sep 24, 2016

Commits on Sep 29, 2016

Commits on Oct 7, 2016

Commits on Oct 10, 2016

Commits on Oct 13, 2016

Commits on Oct 14, 2016

Commits on Oct 15, 2016

Optimized julia codes for speed, cleaned code.
maxb91
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Commits on Oct 16, 2016

Improved simulation model (added artificial sensor disturbances)
maxb91
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Commits on Oct 19, 2016

Commits on Oct 21, 2016

Commits on Oct 25, 2016

Added variables to pos_info, adapted Arduino code to 3-wheel decoders.
maxb91
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Commits on Oct 27, 2016

Added Kalman filter simulation scripts. Changed estimation to adaptive outlier-resistant EKF.
maxb91
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Commits on Oct 28, 2016

Added Kalman variations for testing.
maxb91
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Commits on Nov 2, 2016

Added more evaluation scripts and Kalman filter variations. Adapted velocity message and arduino code so that all wheel speed estimates are published.
maxb91
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Commits on Nov 3, 2016

Added 4-wheel encoder logging, added simpler kinematic estimator (not using IMU accelerations)
maxb91
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Commits on Nov 4, 2016

Commits on Nov 10, 2016

Changed oldTraj structure
maxb91
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Commits on Nov 11, 2016

Added pure sensor-based Kalman filter (good performance in tests), ran first successful sysID laps.
maxb91
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Commits on Nov 12, 2016

Updated low level control parameters, normalized acceleration measurement
maxb91
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Commits on Nov 18, 2016

Updated parameters
maxb91
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Commits on Nov 28, 2016

Commits on Nov 30, 2016

Added evaluation functions (incl. animation)
maxb91
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Commits on Dec 1, 2016

Updated parameters and wifi settings.
maxb91
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Commits on Dec 2, 2016

Updated paramters
maxb91
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Commits on Dec 4, 2016

Commits on Dec 5, 2016

Last optimizations.
maxb91
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Commits on Dec 7, 2016

Commits on Dec 8, 2016

Commits on Dec 9, 2016

Cleaned source code, added Readme file.
maxb91
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Commits on Dec 15, 2016

Commits on Jan 17, 2017

Fix bug in equation for simulatior
urosolia
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Commits on Feb 20, 2017

Commits on Apr 26, 2017

new tuning
urosolia
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Commits on Sep 26, 2017

changes 26 sept 17
francescoricciuti
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Commits on Nov 8, 2017

changed frequency of pos_info, refined tuning, refined system ID
francescoricciuti
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Commits on Nov 9, 2017

first steps towards obstacle avoidance
francescoricciuti
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Commits on Nov 14, 2017

new tuning
francescoricciuti
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Commits on Nov 15, 2017

new plot functionalities
francescoricciuti
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Commits on Nov 16, 2017

added slack variables to the problem, new tuning, now working
jonmgonzales
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Commits on Nov 17, 2017

new tuning
jonmgonzales
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Commits on Nov 21, 2017

added working obstacle avoidance
jonmgonzales
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Commits on Nov 22, 2017

minor changes to plotting
jonmgonzales
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Commits on Dec 4, 2017

Commits on Dec 8, 2017

added env loader script and testing code for LMPC
jonmgonzales
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Commits on Jan 16, 2018

setup for experiments
jonmgonzales
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Commits on Jan 17, 2018

minor changes
jonmgonzales
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Commits on Jan 18, 2018

Commits on Jan 22, 2018

Commits on Jan 23, 2018

Commits on Jan 24, 2018

added script for deceleration mapping
jonmgonzales
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Commits on Jan 25, 2018

Commits on Jan 26, 2018

new plots added
jonmgonzales
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Commits on Jan 27, 2018

minor corrections on plots
jonmgonzales
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Commits on Jan 29, 2018

new tuning
jonmgonzales
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Commits on Jan 30, 2018

Commits on Feb 1, 2018

New changes for new GPS pkg
urosolia
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Commits on Feb 2, 2018

Commits on Feb 5, 2018

Commits on Feb 6, 2018

Commits on Feb 7, 2018

added solver status to plots
jonmgonzales
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Commits on Feb 8, 2018

new tuning for experiments
jonmgonzales
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Commits on Feb 10, 2018

Commits on Feb 12, 2018

added boolean variable for obtacle tuning
jonmgonzales
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Commits on Feb 13, 2018

Commits on Feb 16, 2018

Commits on Apr 18, 2018

Transition from simulation to BARC
ShuqiXu
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First working version from simulation to BARC
ShuqiXu
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Commits on Apr 19, 2018

second day working on BARC
ShuqiXu
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Modified view_trajectory, the next task is collecting sys_ID data
ShuqiXu
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Commits on Apr 20, 2018

Commits on Apr 23, 2018

Commits on Apr 24, 2018

LMPC is working, keep debugging for SS selection
ShuqiXu
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Finish debugging for SS cantacation, keep debugging for performance
ShuqiXu
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Commits on Apr 25, 2018

keep debugging for meaningless braking on cornering
ShuqiXu
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Commits on Apr 26, 2018

SYS ID still has problems. SS cantacation have some problems when switching the lap.
ShuqiXu
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Commits on Apr 27, 2018

Commits on Apr 28, 2018

Finish sparse GPR, but the performance remains to be checked
ShuqiXu
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Commits on Apr 30, 2018

Code used for experiment
ShuqiXu
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Commits on May 1, 2018

Code ready for experiment
ShuqiXu
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code reaady for feature data collecting experiment
ShuqiXu
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Commits on May 3, 2018

experiment setting
ShuqiXu
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setting for experiment from mpcubuntu
jonmgonzales
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update from virtualbox
ShuqiXu
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Commits on May 4, 2018

Commits on May 5, 2018

cleanning code
jonmgonzales
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Commits on May 7, 2018

keep debugging...
ShuqiXu
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Commits on May 10, 2018

keep debugging for SYS_ID and lap switching cost and LMPC node criterion
jonmgonzales
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Commits on May 11, 2018

Keep debugging for SYS_ID on vy
jonmgonzales
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Commits on May 12, 2018

keep debugging for SYS_ID_KIN_LIN
jonmgonzales
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Commits on May 15, 2018

GP_full is working
jonmgonzales
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Commits on May 17, 2018

Commits on May 18, 2018

Commits on May 19, 2018

commit before checkout to obstacle
jonmgonzales
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Commits on May 20, 2018

keep tuning on state estimator to give a better yaw
jonmgonzales
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Commits on May 23, 2018

Commit before estimator code cleanning
jonmgonzales
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Commits on May 25, 2018

EKF and UKF are working in experiment
jonmgonzales
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Commits on May 26, 2018

keep debugging for the clean estimator
jonmgonzales
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Commits on May 29, 2018

good tuning for clean estimator
jonmgonzales
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Commits on May 31, 2018

Good first testing
jonmgonzales
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LMPC KIN is working in simulation
ShuqiXu
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Adding author info
ShuqiXu
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prepare the track for 3110 testing
ShuqiXu
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Experiment tuning of May 31st
jonmgonzales
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Commits on Jun 2, 2018

Commits on Jun 4, 2018

continue working from mpcubuntu
ShuqiXu
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high frequyency kin controller is working
ShuqiXu
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Commits on Jun 5, 2018

high frequency controller experiment
jonmgonzales
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Commits on Jun 9, 2018

Removed two-step delay from LMPC and tuning of parameters
jonmgonzales
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Commits on Jun 10, 2018

estimator not working
jonmgonzales
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Commits on Jun 11, 2018

estimator debugging
jonmgonzales
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Commits on Jun 12, 2018

Getting yaw measurement using two beacons
jonmgonzales
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Commits on Jun 13, 2018

Commits on Jun 14, 2018

commit before switching
jonmgonzales
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Commits on Jun 17, 2018

Commits on Jun 18, 2018

Commit before switching to the other branch
jonmgonzales
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Commits on Jun 26, 2018

renamed files for creation of low level map
jonmgonzales
committed