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cipher982/mpc_jerk.cpp

Last active December 19, 2017 20:46
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mpc_jerk.cpp
// actuator shock absorber
if (t < N - 2) {
//steering
fg[0] += 30000.0*CppAD::pow(vars[delta_start + t + 1] - vars[delta_start + t], 2);
//acceleration
fg[0] += CppAD::pow(vars[a_start + t + 1] - vars[a_start + t], 2);
}
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