Merge LQMPC (Gaussian) into master #40
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The commit that the vcpkg submodule was linked to depended on a version of zlib that was downloaded from the zlib website that is outdated. This commit updates the vcpkg to the newest version, which gets zlib directly from the github repository.
Roughly implemented the example code for MPC controller, based on the example from cloctools/lqmpc.
- The code for the MpcController is partially implemented (only necessary methods have been added, getters and setters need to be added) - Code still needs to be debugged (there are multiple memory leaks that need to be fixed)
Defined and renamed arma::SpMat<data_t> to the Sparse shorthand
…apper for OSQP that interfaces with Armadillo matrices
…es if problem is updated
Update OSQP Installation Process
…utReference method
Added MPC control for Poisson system, and added example to show it in action
Combining clones of kyle-mpc and aaron-implement-mpc
…erence, eg_plds_mpc WIP
Fixed the eg_glds_mpc example to remove unused code sections (imperfect model, disturbance) and modified output to include cost over time. Added output plotting matlab file.
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Summary
Implemented LQMPC in C++ using OSQP.
This PR adds an LQMPC implementation similar to the other LQR controllers. Functioning examples for Gaussian observations were also added for both controlling the state and the output. Partially functional implementations of LQMPC for Poisson observations are included, but the example (
eg_plds_mpc) does not work fully and still needs to be debugged.Changes
eg_glds_mpc: Same example aseg_glds_ctrlbut controlled with LQMPC with a perfect system and no disturbance, controlling the outputeg_lqmpc_ctrl: Same example as from the Python lqmpc repository, controlling the inputeg_plds_mpc: Same example aseg_plds_ctrlbut controlled with LQMPC; only partially functional. Also modified parts ofeg_plds_ctrlto produce the same trajectory and disturbance so the results of the two controllers can be compared