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.

Building

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 UWEBSOCKETS_ROOTDIR and NLOHMANNJSON_ROOT_DIR. On MacOS, you may need to set OPENSSL_ROOT_DIR as well.