Merge pull request #2 from udacity/poly

Better API + Polynomials + Eigen

CMakeLists.txt

@@ -11,6 +11,8 @@ set(CMAKE_CXX_FLAGS, "${CXX_FLAGS}")
 
 set(sources src/MPC.cpp src/main.cpp)
 
+include_directories(src/Eigen-3.3)
+
 if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
 
 include_directories(/usr/local/include)
@@ -24,3 +26,4 @@ endif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
 add_executable(mpc ${sources})
 
 target_link_libraries(mpc ipopt z ssl uv uWS)
+

DATA.md

@@ -7,8 +7,8 @@ Fields:
 * ptsx (Array<float>) - The global x positions of the waypoints.
 * ptsy (Array<float>) - The global y positions of the waypoints. This corresponds to the z coordinate in Unity
 since y is the up-down direction.
-* psi (float) - The orientation of the vehicle in **radians**.
-* psi_converted (float) - The orientation of the vehicle in **radians** converted from the Unity format to the standard format expected in most mathemetical functions (more details below).
+* psi (float) - The orientation of the vehicle in **radians** converted from the Unity format to the standard format expected in most mathemetical functions (more details below).
+* psi_unity (float) - The orientation of the vehicle in **radians**.
 * x (float) - The global x position of the vehicle.
 * y (float) - The global y position of the vehicle.
 * steering_angle (float) - The current steering angle in **radians**.
@@ -18,12 +18,12 @@ since y is the up-down direction.
 
 ### Unity Degree Conversion
 
-The degree representation does not correspond to the following representation below, standard in most mathematical functions. `psi_converted` is the mapping to the below orientation representation.
+The degree representation does not correspond to the following representation below, standard in most mathematical functions. `psi` is the mapping to the below orientation representation.
 
 ```
 //            90
 //
-//  180                   0
+//  180                   0/360
 //
 //            270
 ```

README.md

@@ -15,8 +15,8 @@ Self-Driving Car Engineer Nanodegree Program
   * 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](http://www.mingw.org/)
-* [uWebSockets](https://github.com/uWebSockets/uWebSockets) == 0.13, but the master branch will probably work just fine
-  * Follow the instructions in the [uWebSockets README](https://github.com/uWebSockets/uWebSockets/blob/master/README.md) to get setup for your platform. You can download the zip of the appropriate version from the [releases page](https://github.com/uWebSockets/uWebSockets/releases). Here's a link to the [v0.13 zip](https://github.com/uWebSockets/uWebSockets/archive/v0.13.0.zip).
+* [uWebSockets](https://github.com/uWebSockets/uWebSockets) == 0.14, but the master branch will probably work just fine
+  * Follow the instructions in the [uWebSockets README](https://github.com/uWebSockets/uWebSockets/blob/master/README.md) to get setup for your platform. You can download the zip of the appropriate version from the [releases page](https://github.com/uWebSockets/uWebSockets/releases). Here's a link to the [v0.14 zip](https://github.com/uWebSockets/uWebSockets/archive/v0.14.0.zip).
   * If you have MacOS and have [Homebrew](https://brew.sh/) installed you can just run the ./install-mac.sh script to install this.
 * [Ipopt](https://projects.coin-or.org/Ipopt)
   * Mac: `brew install ipopt --with-openblas`
@@ -28,6 +28,7 @@ Self-Driving Car Engineer Nanodegree Program
   * Mac: `brew install cppad`
   * Linux `sudo apt-get install cppad` or equivalent.
   * Windows: TODO. If you can use the Linux subsystem and follow the Linux instructions.
+* [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page). 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](https://github.com/udacity/CarND-MPC-Project/releases).
 
 
@@ -42,9 +43,11 @@ Self-Driving Car Engineer Nanodegree Program
 
 ## Tips
 
-It's recommended to test the MPC on basic examples to see if your implementation behaves as desired. One possible example
+1. It's recommended to test the MPC on basic examples to see if your implementation behaves as desired. One possible example
 is the vehicle starting offset of a straight line (reference). If the MPC implementation is correct, after some number of timesteps
 (not too many) it should find and track the reference line.
+2. The `lake_track_waypoints.csv` file has the waypoints of the lake track. You could use this to fit polynomials and points and see of how well your model tracks curve. NOTE: This file might be not completely in sync with the simulator so your solution should NOT depend on it.
+3. For visualization this C++ [matplotlib wrapper](https://github.com/lava/matplotlib-cpp) could be helpful.
 
 ## Editor Settings
 

install-mac.sh

@@ -1,7 +1,8 @@
-brew install openssl libuv cmake
+#! /bin/bash
+brew install openssl libuv cmake zlib
 git clone https://github.com/uWebSockets/uWebSockets 
 cd uWebSockets
-git checkout e94b6e1
+# git checkout e94b6e1
 patch CMakeLists.txt < ../cmakepatch.txt
 mkdir build
 export PKG_CONFIG_PATH=/usr/local/opt/openssl/lib/pkgconfig 

install-ubuntu.sh

@@ -1,7 +1,8 @@
+#! /bin/bash
 sudo apt-get install libuv1-dev
 git clone https://github.com/uWebSockets/uWebSockets 
 cd uWebSockets
-git checkout e94b6e1
+# git checkout e94b6e1
 mkdir build
 cd build
 cmake ..

src/Eigen-3.3/.hg_archival.txt

@@ -0,0 +1,4 @@
+repo: 8a21fd850624c931e448cbcfb38168cb2717c790
+node: 67e894c6cd8f5f1f604b27d37ed47fdf012674ff
+branch: 3.3
+tag: 3.3.3

src/Eigen-3.3/.hgeol

@@ -0,0 +1,11 @@
+[patterns]
+*.sh = LF
+*.MINPACK = CRLF
+scripts/*.in = LF
+debug/msvc/*.dat = CRLF
+debug/msvc/*.natvis = CRLF
+unsupported/test/mpreal/*.* = CRLF
+** = native
+
+[repository]
+native = LF

src/Eigen-3.3/.hgignore

@@ -0,0 +1,34 @@
+syntax: glob
+qrc_*cxx
+*.orig
+*.pyc
+*.diff
+diff
+*.save
+save
+*.old
+*.gmo
+*.qm
+core
+core.*
+*.bak
+*~
+build*
+*.moc.*
+*.moc
+ui_*
+CMakeCache.txt
+tags
+.*.swp
+activity.png
+*.out
+*.php*
+*.log
+*.orig
+*.rej
+log
+patch
+a
+a.*
+lapack/testing
+lapack/reference

src/Eigen-3.3/.hgtags

@@ -0,0 +1,32 @@
+2db9468678c6480c9633b6272ff0e3599d1e11a3 2.0-beta3
+375224817dce669b6fa31d920d4c895a63fabf32 2.0-beta1
+3b8120f077865e2a072e10f5be33e1d942b83a06 2.0-rc1
+19dfc0e7666bcee26f7a49eb42f39a0280a3485e 2.0-beta5
+7a7d8a9526f003ffa2430dfb0c2c535b5add3023 2.0-beta4
+7d14ad088ac23769c349518762704f0257f6a39b 2.0.1
+b9d48561579fd7d4c05b2aa42235dc9de6484bf2 2.0-beta6
+e17630a40408243cb1a51ad0fe3a99beb75b7450 before-hg-migration
+eda654d4cda2210ce80719addcf854773e6dec5a 2.0.0
+ee9a7c468a9e73fab12f38f02bac24b07f29ed71 2.0-beta2
+d49097c25d8049e730c254a2fed725a240ce4858 after-hg-migration
+655348878731bcb5d9bbe0854077b052e75e5237 actual-start-from-scratch
+12a658962d4e6dfdc9a1c350fe7b69e36e70675c 3.0-beta1
+5c4180ad827b3f869b13b1d82f5a6ce617d6fcee 3.0-beta2
+7ae24ca6f3891d5ac58ddc7db60ad413c8d6ec35 3.0-beta3
+c40708b9088d622567fecc9208ad4a426621d364 3.0-beta4
+b6456624eae74f49ae8683d8e7b2882a2ca0342a 3.0-rc1
+a810d5dbab47acfe65b3350236efdd98f67d4d8a 3.1.0-alpha1
+304c88ca3affc16dd0b008b1104873986edd77af 3.1.0-alpha2
+920fc730b5930daae0a6dbe296d60ce2e3808215 3.1.0-beta1
+8383e883ebcc6f14695ff0b5e20bb631abab43fb 3.1.0-rc1
+bf4cb8c934fa3a79f45f1e629610f0225e93e493 3.1.0-rc2
+da195914abcc1d739027cbee7c52077aab30b336 3.2-beta1
+a8e0d153fc5e239ef8b06e3665f1f9e8cb8d49c8 before-evaluators
+09a8e21866106b49c5dec1d6d543e5794e82efa0 3.3-alpha1
+ce5a455b34c0a0ac3545a1497cb4a16c38ed90e8 3.3-beta1
+69d418c0699907bcd0bf9e0b3ba0a112ed091d85 3.3-beta2
+bef509908b9da05d0d07ffc0da105e2c8c6d3996 3.3-rc1
+04ab5fa4b241754afcf631117572276444c67239 3.3-rc2
+26667be4f70baf4f0d39e96f330714c87b399090 3.3.0
+f562a193118d4f40514e2f4a0ace6e974926ef06 3.3.1
+da9b4e14c2550e0d11078a3c39e6d56eba9905df 3.3.2