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Created with Raphaël 2.2.016Apr15144331Mar2827262423212097615Feb141087125Jan201918171613121020Dec191698765230Nov2928252331Oct3030Nov19Oct23Sep8Dec29Oct228Sep6Aug27Jul242221171098718Jun1128May22212014865429Apr2827222014139743130Mar2728Feb8Dec6529Nov282625221928Oct2214417Sep14Aug25Jul1076123Jun16151413108764330May292221191413125423Apr2086422Mar21201814Feb131211109754330Jan1219Dec1817151211986529Oct127Sep261817161210987630Aug28276Jul29Jun2825248May75432130Apr27262524232019181716131092Mar22Feb10Jan8629Dec28272622181610541Deleted useless commentsIntegration works with GNU Scientific LibraryFixed code apperanceAdded GSLFixed error in numerical integrationFixed bug concerning cutting planes of Vornoi Region. Now numerical integration is workingAdded function to perform numerical integration, and started computation of the Lloid iterationImplemented multivariate density functionsStarted to add the Lloyd Map and the Integration of the DensityFixed mistake in MPC constraintsFixed error in known terms vector constructionAdded debugging and Utilities to the Vornoi Region functionUpdated debugAdded normals to separatorsReturns Vornoi neighbours and improved debuggingReliable computation of the Voronoi region inna distributed way (2D and 3D)Added example on how to use nplane() and fixed bugsAdded function for plane computation (for Voronoi)Fixed error in loop over particles in the Voronoi Container typeAdded debugging for vertices of Voronoi cellsAdded debugging function for VoronoiUpdated Voronoi region functions: now computing neighbours and normals in the 2D caseVoronoi Neighbouhbous function can nonw compute the vertices of a regionAdded debugging to UNderstand Voro++Added fonction for compuattion of Voronoi DiagramTested new leader trajectory and fixed bugsChanged default sepoints, added a possible trajectory for leaders, more utilitiesUpdated MPC Constraints and ParametersFixed Bug in the implementation of tracking errorAttempt to fix steady state tracking error for MPCAdded Backup PID for MPCAdded voronoi library to CMakeListsImproved MPC DebuggingTuning of the MPC Backup LQR ControllerImplemented MPC Controller with tuningChanges to the GUI and added MPC parameters to yaml and includeRenamed variables for LQRFixed error in yaml aquisitionStarted to merge with MPC Controller CodeUpdated control parameters for MPC