├── .gitingore ├── CMakeLists.txt ├── README.md ├── launch └── mpcc.launch ├── media ├── heatmap_rel.png ├── problem_formulation │ ├── problem_formulation.pdf │ └── src │ │ ├── defs.tex │ │ ├── fig │ │ ├── AcadosWorkflow.tex.preview.aux │ │ ├── AcadosWorkflow.tex.preview.log │ │ ├── AcadosWorkflow.tex.preview.pdf │ │ ├── AcadosWorkflow.tex.preview.tex │ │ ├── AcadosWorkflow.tex.preview_BB.txt │ │ ├── New Tikzfile.tex │ │ ├── acadosworkflow.tex │ │ ├── contouringerror.tex │ │ ├── cost_bump.png │ │ ├── model.tex │ │ └── race_car.png │ │ ├── root.aux │ │ ├── root.bbl │ │ ├── root.blg │ │ ├── root.log │ │ ├── root.out │ │ ├── root.pdf │ │ ├── root.synctex.gz │ │ ├── root.tex │ │ └── sample.bib └── slider.gif ├── mpcc_params.yaml ├── package.xml ├── scripts ├── Notebooks │ ├── .ipynb_checkpoints │ │ ├── BezierDemo-checkpoint.ipynb │ │ ├── BezierTest-checkpoint.ipynb │ │ └── Untitled-checkpoint.ipynb │ ├── BezierDemo.ipynb │ ├── BezierTest.ipynb │ ├── Untitled.ipynb │ ├── indi500xd.csv │ ├── simpleoval.csv │ └── slider.csv ├── acados │ ├── .ipynb_checkpoints │ │ └── Sandbox-checkpoint.ipynb │ ├── Bezier.py │ ├── Sandbox.ipynb │ ├── __pycache__ │ │ ├── Bezier.cpython-36.pyc │ │ ├── Bezier.cpython-37.pyc │ │ ├── acados_settings.cpython-36.pyc │ │ ├── dynamic_model.cpython-36.pyc │ │ ├── dynamic_model.cpython-37.pyc │ │ ├── models.cpython-36.pyc │ │ ├── python_sim_utils.cpython-36.pyc │ │ └── readDataFcn.cpython-37.pyc │ ├── acados_ocp2.json │ ├── acados_ocp_dynamic.json │ ├── acados_settings.py │ ├── c_generated_code │ │ ├── Makefile │ │ ├── acados_sim_solver_f110_dynamic_model.c │ │ ├── acados_sim_solver_f110_dynamic_model.h │ │ ├── acados_sim_solver_f110_kinematic_model.c │ │ ├── acados_sim_solver_f110_kinematic_model.h │ │ ├── acados_solver_f110_dynamic_model.c │ │ ├── acados_solver_f110_dynamic_model.h │ │ ├── acados_solver_f110_dynamic_model.o │ │ ├── acados_solver_f110_kinematic_model.c │ │ ├── acados_solver_f110_kinematic_model.h │ │ ├── acados_solver_f110_kinematic_model.o │ │ ├── acados_solver_sfunction_f110_dynamic_model.c │ │ ├── acados_solver_sfunction_f110_kinematic_model.c │ │ ├── f110_dynamic_model_constraints │ │ │ ├── f110_dynamic_model_constr_h_fun.c │ │ │ ├── f110_dynamic_model_constr_h_fun.o │ │ │ ├── f110_dynamic_model_constr_h_fun_jac_uxt_zt.c │ │ │ ├── f110_dynamic_model_constr_h_fun_jac_uxt_zt.o │ │ │ └── f110_dynamic_model_h_constraint.h │ │ ├── f110_dynamic_model_cost │ │ │ ├── f110_dynamic_model_ext_cost_e_fun.c │ │ │ ├── f110_dynamic_model_ext_cost_e_fun_jac.c │ │ │ ├── f110_dynamic_model_ext_cost_e_fun_jac_hess.c │ │ │ ├── f110_dynamic_model_ext_cost_fun.c │ │ │ ├── f110_dynamic_model_ext_cost_fun_jac.c │ │ │ ├── f110_dynamic_model_ext_cost_fun_jac_hess.c │ │ │ ├── f110_dynamic_model_external_cost.h │ │ │ └── f110_dynamic_model_external_cost_e.h │ │ ├── f110_dynamic_model_model │ │ │ ├── f110_dynamic_model_expl_ode_fun.c │ │ │ ├── f110_dynamic_model_expl_ode_fun.o │ │ │ ├── f110_dynamic_model_expl_ode_hess.c │ │ │ ├── f110_dynamic_model_expl_vde_adj.c │ │ │ ├── f110_dynamic_model_expl_vde_forw.c │ │ │ ├── f110_dynamic_model_expl_vde_forw.o │ │ │ └── f110_dynamic_model_model.h │ │ ├── f110_kinematic_model_constraints │ │ │ ├── f110_kinematic_model_constr_h_fun.c │ │ │ ├── f110_kinematic_model_constr_h_fun.o │ │ │ ├── f110_kinematic_model_constr_h_fun_jac_uxt_zt.c │ │ │ ├── f110_kinematic_model_constr_h_fun_jac_uxt_zt.o │ │ │ └── f110_kinematic_model_h_constraint.h │ │ ├── f110_kinematic_model_cost │ │ │ ├── f110_kinematic_model_ext_cost_fun.c │ │ │ ├── f110_kinematic_model_ext_cost_fun_jac.c │ │ │ ├── f110_kinematic_model_ext_cost_fun_jac_hess.c │ │ │ └── f110_kinematic_model_external_cost.h │ │ ├── f110_kinematic_model_model │ │ │ ├── f110_kinematic_model_expl_ode_fun.c │ │ │ ├── f110_kinematic_model_expl_ode_fun.o │ │ │ ├── f110_kinematic_model_expl_ode_hess.c │ │ │ ├── f110_kinematic_model_expl_vde_adj.c │ │ │ ├── f110_kinematic_model_expl_vde_forw.c │ │ │ ├── f110_kinematic_model_expl_vde_forw.o │ │ │ └── f110_kinematic_model_model.h │ │ ├── libacados_ocp_solver_f110_dynamic_model.so │ │ ├── libacados_ocp_solver_f110_kinematic_model.so │ │ ├── main_f110_dynamic_model.c │ │ ├── main_f110_kinematic_model.c │ │ └── make_sfun.m │ ├── modelparams.yaml │ ├── models.py │ ├── python_sim.py │ ├── python_sim_utils.py │ └── tracks │ │ ├── simpleoval.csv │ │ ├── simpleoval_lutab.csv │ │ └── simpleoval_params.yaml └── forcespro │ ├── .ipynb_checkpoints │ └── Untitled-checkpoint.ipynb │ ├── 71bc7637db9a701e2384329ca7b9929a.forces │ ├── 880a9b7c3641619e5657179ce2675a7d.forces │ ├── InterpolateTrack.py │ ├── __pycache__ │ ├── Bezier.cpython-36.pyc │ ├── InterpolateTrack.cpython-36.pyc │ ├── dynamics.cpython-36.pyc │ ├── generate_col_avoid_solver.cpython-36.pyc │ ├── generate_solver.cpython-36.pyc │ ├── generate_solver_dynamic.cpython-36.pyc │ ├── generate_solver_kinematic.cpython-36.pyc │ ├── generate_sw_col_avoid_solver.cpython-36.pyc │ ├── generate_tv_col_avoid_solver.cpython-36.pyc │ ├── python_sim_utils.cpython-36.pyc │ ├── racing_agent.cpython-36.pyc │ └── racing_agent_obs.cpython-36.pyc │ ├── agent_1_solver │ ├── agent_1_solver.m │ ├── agent_1_solver_interface.c │ ├── agent_1_solver_interface.o │ ├── agent_1_solver_model.c │ ├── agent_1_solver_model.h │ ├── agent_1_solver_model.o │ ├── agent_1_solver_model_helpers.c │ ├── agent_1_solver_model_helpers.h │ ├── agent_1_solver_model_helpers.o │ ├── include │ │ └── agent_1_solver.h │ ├── interface │ │ ├── COPYING.m │ │ ├── FORCES_PRO_Logo.jpg │ │ ├── __pycache__ │ │ │ └── definitions.cpython-36.pyc │ │ ├── agent_1_solver.m │ │ ├── agent_1_solver_build.py │ │ ├── agent_1_solver_lib.mdl │ │ ├── agent_1_solver_mex.c │ │ ├── agent_1_solver_simulinkBlock.c │ │ ├── agent_1_solver_simulinkBlockcompact.c │ │ ├── agent_1_solvercompact_lib.mdl │ │ ├── definitions.py │ │ └── definitions_eval.py │ ├── lib │ │ ├── libagent_1_solver.a │ │ └── libagent_1_solver.so │ ├── libsolver_with_model.so │ ├── python_static_interface.template.c │ └── python_static_interface.template.o │ ├── agent_2_solver │ ├── agent_2_solver.m │ ├── agent_2_solver_interface.c │ ├── agent_2_solver_interface.o │ ├── agent_2_solver_model.c │ ├── agent_2_solver_model.h │ ├── agent_2_solver_model.o │ ├── agent_2_solver_model_helpers.c │ ├── agent_2_solver_model_helpers.h │ ├── agent_2_solver_model_helpers.o │ ├── include │ │ └── agent_2_solver.h │ ├── interface │ │ ├── COPYING.m │ │ ├── FORCES_PRO_Logo.jpg │ │ ├── __pycache__ │ │ │ ├── definitions.cpython-36.pyc │ │ │ └── definitions_eval.cpython-36.pyc │ │ ├── agent_2_solver.m │ │ ├── agent_2_solver_build.py │ │ ├── agent_2_solver_lib.mdl │ │ ├── agent_2_solver_mex.c │ │ ├── agent_2_solver_simulinkBlock.c │ │ ├── agent_2_solver_simulinkBlockcompact.c │ │ ├── agent_2_solvercompact_lib.mdl │ │ ├── definitions.py │ │ └── definitions_eval.py │ ├── lib │ │ ├── libagent_2_solver.a │ │ └── libagent_2_solver.so │ ├── libsolver_with_model.so │ ├── python_static_interface.template.c │ └── python_static_interface.template.o │ ├── constraint.py │ ├── dynamics.py │ ├── generate_col_avoid_solver.py │ ├── generate_solver_dynamic.py │ ├── generate_sw_col_avoid_solver.py │ ├── generate_tv_col_avoid_solver.py │ ├── obstacle_avoidance.py │ ├── parameters │ ├── modelparams.yaml │ ├── modelparams_1.yaml │ ├── modelparams_2.yaml │ ├── solverparams.yaml │ ├── solverparams_1.yaml │ └── solverparams_2.yaml │ ├── python_sim_utils.py │ ├── race_obstacle_avoid.py │ ├── racing_agent.py │ ├── racing_agent_obs.py │ ├── replay.py │ ├── sandbox.py │ ├── trackmaster.py │ └── tracks │ ├── fast.csv │ ├── fast_lutab.csv │ ├── fast_params.yaml │ ├── indi500xd.csv │ ├── indi500xd_lutab.csv │ ├── indi500xd_params.yaml │ ├── levine.csv │ ├── levine_lutab.csv │ ├── levine_params.yaml │ ├── longstraight.csv │ ├── longstraight_lutab.csv │ ├── longstraight_params.yaml │ ├── oval.csv │ ├── oval_lutab.csv │ ├── oval_params.yaml │ ├── 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