This repository is for the project of Udacity Nanodegree - Self-driving Car Engineer : MPC Proejct. It is forked from https://github.com/udacity/CarND-MPC-Project).
The goals / steps of this project are the following:
- Understand how MPC works in Vehicle Control
- Implement MPC in C++ and apply it to the simulator
main.cpp
- communicates with the Simulator receiving data measurements, calls a function to run MPCMPC.cpp
- Calculates cost and predict new actuator values
-
cmake >= 3.5
-
All OSes: click here for installation instructions
-
make >= 4.1(mac, linux), 3.81(Windows)
- Linux: make is installed by default on most Linux distros
- Mac: install Xcode command line tools to get make
- Windows: Click here for installation instructions
-
gcc/g++ >= 5.4
- Linux: gcc / g++ is installed by default on most Linux distros
- Mac: same deal as make - [install Xcode command line tools]((https://developer.apple.com/xcode/features/)
- Windows: recommend using MinGW
-
- Run either
install-mac.sh
orinstall-ubuntu.sh
. - If you install from source, checkout to commit
e94b6e1
, i.e.Some function signatures have changed in v0.14.x. See this PR for more details.git clone https://github.com/uWebSockets/uWebSockets cd uWebSockets git checkout e94b6e1
- Run either
-
Ipopt and CppAD: Please refer to this document for installation instructions.
-
Eigen. This is already part of the repo so you shouldn't have to worry about it.
-
Simulator. You can download these from the releases tab.
-
Not a dependency but read the DATA.md for a description of the data sent back from the simulator.
- Clone this repo.
- Make a build directory:
mkdir build && cd build
- Compile:
cmake .. && make
- Run it:
./mpc
.