bicycleModel_osqpMPC

Implementation of the MPC described in Combined lateral and longitudinal control for autonomous driving based on Model Predictive Control with the osqp solver, Eigen3 and the wrapper osqp-eigen.

Dependeces

• osqp
• Eigen3
• osqp-eigen

Usage

1. Clone the repository

   git clone https://github.com/phmandl/bicycleModel_osqpMPC
   

2. Build it

   cd bicycleModel_osqpMPC
   mkdir build
   cd build
   cmake ..
   cmake --build .
   

3. Run it

./bicycleModel_osqpMPC