├── .gitignore ├── README.MD └── nonlinear_mpc_casadi ├── CMakeLists.txt ├── docs └── Kinematic_Nonlinear_MPCC.pdf ├── gifs ├── mpcc_dynamic_f110.gif ├── mpcc_fssim_third_person_view.gif ├── mpcc_fssim_top_view.gif ├── mpcc_speeding.gif └── mpcc_tracking.gif ├── launch ├── mpcc_f110_car.launch ├── mpcc_f110_simulator.launch └── mpcc_fssim.launch ├── maps ├── dearborn211_demo_track.pgm ├── dearborn211_demo_track.yaml ├── dearborne211.pgm ├── dearborne211.yaml ├── kelley_third_floor.pgm ├── kelley_third_floor.yaml ├── kelley_third_floor2.pgm ├── map_trackporto.pgm └── map_trackporto.yaml ├── package.xml ├── params ├── mpc_params.yaml ├── mpc_params_fssim.yaml └── mpc_params_light_simul.yaml ├── rviz └── racetrack_rviz.rviz └── scripts ├── Nonlinear_MPC.py ├── Nonlinear_MPC_node.py ├── dead_mans_switch.py ├── fssim ├── center_spline_derivatives.csv ├── centerline_waypoints.csv ├── left_waypoints.csv ├── right_waypoints.csv └── track_widths.csv ├── fssim_cmd_interface.py ├── 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