tsaoyu

{
    "actionButtons": {
        "defaultColor": "#FFFFFF", // Can also use string color names.
        "loadNpmCommands":false, // Disables automatic generation of actions for npm commands.
        "reloadButton":"♻️", // Custom reload button text or icon (default ↻). null value enables automatic reload on configuration change
        "commands": [
            {
                "cwd": "/home/yu/ORCA_control/utilities",     // Terminal initial folder ${workspaceFolder} and os user home as defaults
                "name": "Send to 🤖",
                "singleInstance": true,

tsaoyu

#include <iostream>
#include <memory>

class TestClass
{
    private:
        std::shared_ptr<int> int_shared_ptr;

    public:
        TestClass()

tsaoyu

#include <ct/optcon/optcon.h>
#include "configDir.h"
#include "plotResult.h"

#include <ros/ros.h>
#include <geometry_msgs/Wrench.h>
#include <geometry_msgs/Point.h>

using namespace ct::core;
using namespace ct::optcon;

tsaoyu

/*!
 * Simple example how to linearize a system and design an LQR controller.
 *
 * \example LQR.cpp
 */


#include <ct/optcon/optcon.h>  // also includes ct_core

tsaoyu

 void odom_callback(const nav_msgs::Odometry::ConstPtr & msg){
            if (first_pass_) {
                first_pass_ = false;
                return ;
            }

            if (mpc_controller_created_) {
                MPCController::create_mpc_controller();
                return ;
            }

tsaoyu

 void odom_callback(const nav_msgs::Odometry::ConstPtr & msg){
            if (first_pass_) {
                first_pass_ = false;
                return ;
            }

            if (mpc_controller_created_) {
                MPCController::create_mpc_controller();
                return ;
            }

tsaoyu

def read_and_process(filename):
    with open(filename, 'r') as f:
        raw_content = f.readline()

    raw_content = re.sub(r'conj\(([a-z0-9]+)\)', r'\1', raw_content)
    
    raw_content = re.sub(r'cos\(', r'ct::core::tpl::TraitSelector<SCALAR>::Trait::cos(', raw_content)
    raw_content = re.sub(r'sin\(', r'ct::core::tpl::TraitSelector<SCALAR>::Trait::sin(', raw_content)
    raw_content = re.sub(r'([a-zA-Z0-9]+)\^2', r'\1*\1', raw_content)
    raw_content = re.sub(r'abs\(([a-zA-Z0-9]+)\)', r'ct::core::tpl::TraitSelector<SCALAR>::Trait::sqrt(\1 * \1)', raw_content)

tsaoyu

clc;
clear all;
close all;

Ts = 0.1;
EXPORT = true;
% return the time derivative of the state vector
% input the state of the vehicle and all external force

DifferentialState velocity(6) position(6);

tsaoyu

5QFBAMM-CKC6W64-GEIL3F2-OZPSMAY-SYSIOH5-JB3EFHD-567VY5C-P4XRRAK

tsaoyu

5QFBAMM-CKC6W64-GEIL3F2-OZPSMAY-SYSIOH5-JB3EFHD-567VY5C-P4XRRAK