Control Team Final PR #228
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Added logic for position error and heading error calculation and adding it to debug for plotting and further evaluation
added evaluation metric
krishauser
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May 15, 2025
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krishauser
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krishauser
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Lots of files are considered completely rewritten, even though it looks like there is no change. I also don't know why creep control is another planner, and it doesn't look like it is ever triggered.
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Merged with s2025 locally before this PR
Main changes:
[current.yaml] Controller settings
[stanley.py] Stanley controller
[mpc.py] MPC controller
[fixed_route.yaml] Add different controller settings and routes
Some log_plots are added for plotting log file for each controller
Forward, reverse, mixed routes other than p shape for testing performance