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LMPC

This repo provides a framework to run simple ideal-model LMPC simulations in julia.

How to run simulations:

  1. open julia terminal in this folder
  2. julia> include("testNode.jl")
  3. julia> run_sim()

Further info:

  • As of Sep. 2016 there are only constant curvatures available.
  • The model is defined by global variables.
  • There's a second file ("testNode_profiling.jl") which can be used to run the julia profiler and check what functions take long time to evaluate.
  • There's a folder ("Matlab and C") which contains a file with LMPC implemented in a C-function. It was only used to derive cost functions for the LMPC and should stay there (to look up the functions)