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Created with Raphaël 2.2.08May75432130Apr27262524232019181716131092Mar22Feb10Jan8629Dec2827262218161054130Nov292726242322211918171512111095432131Oct2825232218171310927Sep2621201987654129Aug28252422211716151420Jun19986130May29262423221918161512118542added enable/disable integrator approach to remove model mismatch in the beginningadded logging of info to plot in matlabadded time measurementADP controller running, need to make some time measurements now to properly compareadded template of the final part of the solve_QP_ADP function. Need to fill itadded function solve_QP_ADP. Pass vector of matrices by reference to save time. Next time, do it also for the other matricesdebugged the creation of ADP related matrices. Next step, put it inside GUROBIfixed some bug with the ADP_matrices file. Added one forgotten mutexadded hardcoded value function matrices. Need to test for runtime seg faultsfixed a small bug in prediction indexingstarted with MPC_ADPcleaned a bit, added optimization level -O3. Now we have more time to solve the MPC problemAdded LQR with clipping to demo controller for comparisoninstead of atomic, use mutexes. Everything is kind of dirty, need to clean in the futurefirst try of multithreading using atomic library. Kind of works but still have problems with protection. Next: mutexadded overloaded functions for different type of inputs for the solveradded quadratic constraints. Now we notice how the delay affects the system, we dont have time to solve the problemAdded linear constraints in thrustStarted adding input constraintsFixed some bugs: U_tray was not correctly updated. Added saturation. Change of setpoint correct sign now.fixed setpoint problem, everything prepared for first unbounded MPC trialadded measurement of time, rmoved debugging promptsFixed some small bugs, tested loop with only first MPC step, result is the same as with MATLABLoop is closed now. Need to test it and properly update x0 with the setpointadded MPC variables initializationAdded QShortcut header to GUIscommented a bit for future workAdded wrapper function, cleaned, C gurobi interface ready for next stepsAdded motors off and crtl C to close to both GUIs, needs testingFinally, first working version of GUROBI solving the opt problem as Matlab doesadded different trials to solve a simple QP. Having problems and do not know whyFirst draft of trying to shape the problem as gurobi input in Cadded C libraries gurobi. Tested with dummy exampleAdded first part of unconstrained MPC. Need to try it feeding it to gurobiadded funRbar and funQbar. Testedadded funSxSuSg_varying_affineMade Eigen optional in CmakeListadded euler method function, also testedAdapted CMakeList to onlz compile ViconDataPublisher when the DataStreamSDK library is availableMerge branch 'demo_controller' of https://gitlab.ethz.ch/D-FaLL/PandS-System/D-FaLL-System into demo_controller