Model Predictive Contouring Control

Disclaimer

This repository is a rewrite from the original MPCC by Alex Liniger (AL-MPCC). Why the rewrite and not forking ? Our team had several differing software ideas with the original repository, so we opted to rewrite by translating the research paper concept into code, relying on AL-MPCC for reference at times. Additionally, we only require the C++ version, and we also have a few different constraints from the ones in AL-MPCC.

Installation

1. Clone this repository: git clone https://github.com/MURDriverless/mpcc
2. Install external dependencies: sudo sh ./install.sh on Linux, not sure about other systems
3. Compile project: cmake CMakeLists.txt && make
4. Run executable: ./mpcc