C implementation of the 2022 AutoBike MPC group's matlab code using qpSWIFT. Will be added to the AutoBike fork once completed.
Make sure you use git clone --recursive to get the qpSWIFT submodule, then follow the instructions in the qpSWIFT README to build the library.
Configure mpc_params and x0 in mpc_trajectory:main.c, then run make to rebuild and run.