I cleaned up the MPC and exported reusable function to utilities/render_utilities and utilities/waypoint_utilities
The waypoints as well as Rendering will be needed also in other controllers than MPC
We can now import the waypoint_utils class that always provides us with the next_waypoints in different formats (full waypoints or waypoint_positions)
I cleaned up the MPC and exported reusable function to utilities/render_utilities and utilities/waypoint_utilities The waypoints as well as Rendering will be needed also in other controllers than MPC
We can now import the waypoint_utils class that always provides us with the next_waypoints in different formats (full waypoints or waypoint_positions)