Model Predictive Control with Casadi

$$J = \phi(X_{N}) + \sum_{k=0}^{N-1}(X_{k}-X_{k, ref})^{T}Q(X_{k}-X_{k, ref})+(U_{k}-U_{k, ref})^{T}R(U_{k}-U_{k, ref})$$

Set up casadi

1. Git clone the CasAdi repository from https://github.com/casadi/casadi
2. Go inside the directory and mkdir -p build && cd build
3. Make sure that you have CMAKE on your system
4. Run command cmake .. -DWITH_IPOPT=TRUE and make -j4 && make install

Set up Eigen

1. Git clone the Eigen3 repository from https://gitlab.com/libeigen/eigen.git
2. Go inside the directory and mkdir -p build && cd build
3. Run command cmake .. and make && make install

Build and Compile CMAKE

1. Go to directory either MECANUM or OMNI
2. Go inside the directory and mkdir -p build && cd build
3. Run command cmake .. and make
4. Go to build direction and run ./mpc_mencaum or ./mpc_omni.