Model Predictive Controller
This is my somewhat incorrect, but working implementation of a model predictive controller. It's done this way because it seems to match better the physics of the simulator, the non-linear relationship between acceleration and throttle, and the actual delays in the system.
The program needs:
- IPOPT and CppAD (https://projects.coin-or.org/Ipopt)
- uWebSockets (https://github.com/uNetworking/uWebSockets)
- The NLohmann's JSON library (https://github.com/nlohmann/json)
If they are installed in system directories, they should be picked up
automatically. Otherwise use
On MacOS, you may need to set
OPENSSL_ROOT_DIR as well.