Create a NLP directory which contains both nlp.so and an auto-generated C++ header file containing the MPC parameters, such as prediction horizon length (N), time sample interval (dt) etc. Then (auto-)copy this directory over to the walking controller and include it is as the MPC configuration.
After merging all repos include the generated header directly.
Create a
NLPdirectory which contains bothnlp.soand an auto-generated C++ header file containing the MPC parameters, such as prediction horizon length (N), time sample interval (dt) etc. Then (auto-)copy this directory over to the walking controller and include it is as the MPC configuration.After merging all repos include the generated header directly.