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alexliniger / MPCC

Model Predictive Contouring Controller (MPCC) for Autonomous Racing
Apache License 2.0
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Discretization of the affine term of Linearized System #17

Closed PranjalBiswas closed 5 years ago

PranjalBiswas commented 5 years ago

https://github.com/alexliniger/MPCC/blob/6a5529b8453432e62d9806e2fd5bc020cf872c8a/Matlab/DiscretizedLinearizedModel.m#L168

Hi @alexliniger

In the above link you discretize the affine term (gc), but I do not understand how the math follows here. Do you have any reference for the same?

Regards

Pranjal

alexliniger commented 5 years ago

This was already an issue, see the answer here: https://github.com/alexliniger/MPCC/issues/9

PranjalBiswas commented 5 years ago

Ahh did not see that, thanks.