mpc.cpp的函数MPC::Controller::update是不是有错误?

[qiangshi1]

for(int t = 1; t < parameters_.pred_horizon; t++) {}循环里边是不是应该加上:

    qp_.A_.addElement(state_var_idx(t, 0), control_var_idx(t - 1, 0), dt * -linearize_point.v * std::sin(linearize_point.yaw + linearize_beta));
    qp_.A_.addElement(state_var_idx(t, 1), control_var_idx(t - 1, 0), dt * linearize_point.v * std::cos(linearize_point.yaw + linearize_beta));

这两行?

[yinflight]

请问打开launch文件报如下错 怎么解决呢？

[yinflight]

ERROR: cannot launch node of type [car_model/track_publisher]: Cannot locate node
of type [track_publisher] in package [car_model]. Make sure file exists in package
path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [car_model/simulator]: Cannot locate node of typ
e [simulator] in package [car_model]. Make sure file exists in package path and pe
rmission is set to executable (chmod +x)
怎么解决这个问题阿？

[Hopesun-ice]

请问这个MPC模型预测的的代价函数是什么啊 在哪里有资料吗