Comments (3)
No the track.json file for the miniature race cars is the middle line. MPCC is a path following controller, thus, it needs a reference path it should roughly follow, we often use the middle line, but an ideal line does also work. For the full-size car implementation, I did only have a rough ideal line, but still if you allow MPCC to deviate it will cut the corners more than the ideal line. Finally, there is a difference between an ideal path and the corresponding full state trajectory.
P.S. using the ideal line actually helps the performance as we showed in a IROS 2020 paper: https://arxiv.org/abs/2003.04882
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@alexliniger hi. i was trying to test the code with separate waypoints without the inner and outer boundaries . It worked for one set of waypoints bu not for the other. I am getting an error -
bounds initialized
MPCC: /home/akhilsharma/MPCC/C++/External/Eigen/Eigen/src/Core/DenseCoeffsBase.h:181: Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::operator()(Eigen::Index) const [with Derived = Eigen::Matrix<double, -1, 1>; Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType = const double&; Eigen::Index = long int]: Assertion `index >= 0 && index < size()' failed.
Aborted (core dumped)
The waypoint file is attached here.
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Your file has 1178 element in X but only 1169 in Y
The length of X, and Y has to be the same
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Related Issues (20)
- New waypoints as input HOT 8
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