initial commit

.codecov.yml

@@ -0,0 +1 @@
+comment: false

.gitignore

@@ -0,0 +1,3 @@
+*.jl.cov
+*.jl.*.cov
+*.jl.mem

.travis.yml

@@ -0,0 +1,45 @@
+# Documentation: http://docs.travis-ci.com/user/languages/julia/
+language: julia
+julia:
+  - 0.6
+sudo: required
+os:
+  - linux
+#dist: trusty
+
+notifications:
+  email: false
+
+addons:
+      apt_packages:
+       - gfortran
+       - liblapack-dev
+       - libblas-dev
+       - python-yaml
+
+before_install:
+  - sudo apt-add-repository -y "deb http://packages.ros.org/ros/ubuntu trusty main"
+  - wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
+  - sudo apt-get update
+  - sudo apt-get -y install ros-indigo-ros-base ros-indigo-common-msgs
+  - sudo rosdep init
+  - rosdep update
+
+before_script:
+  - export PATH=/usr/bin:$PATH
+  - source /opt/ros/indigo/setup.sh
+  - roscore &
+  - sleep 5
+
+script:
+  - if [[ -a .git/shallow ]]; then git fetch --unshallow; fi
+  - julia -e 'Pkg.add("PyCall")'
+  - julia -e 'ENV["PYTHON"]="/usr/bin/python2.7"; Pkg.build("PyCall");'
+  - julia -e 'Pkg.clone(pwd())'
+  - julia -e 'Pkg.checkout("NLOptControl")'
+  - julia -e 'Pkg.test("MichiganAutonomousVehicles")'
+
+after_script:
+  - killall roscore
+  - killall python
+  - sleep 5

LICENSE.md

@@ -0,0 +1,22 @@
+The MAVs.jl package is licensed under the MIT "Expat" License:
+
+> Copyright (c) 2017: Huckleberry Febbo.
+>
+> Permission is hereby granted, free of charge, to any person obtaining a copy
+> of this software and associated documentation files (the "Software"), to deal
+> in the Software without restriction, including without limitation the rights
+> to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+> copies of the Software, and to permit persons to whom the Software is
+> furnished to do so, subject to the following conditions:
+>
+> The above copyright notice and this permission notice shall be included in all
+> copies or substantial portions of the Software.
+>
+> THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+> IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+> FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+> AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+> LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+> OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+> SOFTWARE.
+>

README.md

@@ -0,0 +1,16 @@
+# Michigan Autonomous Vehicles
+
+[![Build Status](https://travis-ci.org/JuliaMPC/MichiganAutonomousVehicles.jl.svg?branch=master)](https://travis-ci.org/JuliaMPC/MichiganAutonomousVehicles.jl)
+[![MichiganAutonomousVehicles](http://pkg.julialang.org/badges/MichiganAutonomousVehicles_0.6.svg)](http://pkg.julialang.org/detail/MichiganAutonomousVehicles)
+
+This package uses NLOptControl and VehicleModels to solve NMPC problems.
+
+julia packages:
+```
+Pkg.add("MichiganAutonomousVehicles.jl")
+```
+
+To test:
+```
+Pkg.test("MichiganAutonomousVehicles")
+```

REQUIRE

@@ -0,0 +1,12 @@
+julia 0.6-
+NLOptControl 0.1.6+
+Parameters 0.9.2
+DataFrames 0.11
+YAML 0.3.2
+RobotOS 0.6.3
+Parameters 0.9.2
+JuMP 0.18.4
+Interpolations 0.8.0
+OrdinaryDiffEq 3.21.0
+DiffEqBase 3.13.3
+Plots 0.17.4

appveyor.yml

@@ -0,0 +1,34 @@
+environment:
+  matrix:
+  - JULIAVERSION: "julialang/bin/winnt/x86/0.5/julia-0.5-latest-win32.exe"
+  - JULIAVERSION: "julialang/bin/winnt/x64/0.5/julia-0.5-latest-win64.exe"
+  - JULIAVERSION: "julianightlies/bin/winnt/x86/julia-latest-win32.exe"
+  - JULIAVERSION: "julianightlies/bin/winnt/x64/julia-latest-win64.exe"
+
+branches:
+  only:
+    - master
+    - /release-.*/
+
+notifications:
+  - provider: Email
+    on_build_success: false
+    on_build_failure: false
+    on_build_status_changed: false
+
+install:
+# Download most recent Julia Windows binary
+  - ps: (new-object net.webclient).DownloadFile(
+        $("http://s3.amazonaws.com/"+$env:JULIAVERSION),
+        "C:\projects\julia-binary.exe")
+# Run installer silently, output to C:\projects\julia
+  - C:\projects\julia-binary.exe /S /D=C:\projects\julia
+
+build_script:
+# Need to convert from shallow to complete for Pkg.clone to work
+  - IF EXIST .git\shallow (git fetch --unshallow)
+  - C:\projects\julia\bin\julia -e "versioninfo();
+      Pkg.clone(pwd(), \"MAVs\"); Pkg.build(\"MAVs\")"
+
+test_script:
+  - C:\projects\julia\bin\julia -e "Pkg.test(\"MAVs\")"

config/case/s1.yaml

@@ -0,0 +1,24 @@
+goal:
+ x: 200.
+ yVal: 125.
+ psi: 1.5701
+ tol: 15.
+
+X0:
+ x: 200.0
+ yVal: 0.0
+ v: 0.0
+ r: 0.0
+ psi: 1.57079632679
+ sa: 0.0
+ ux: 17.0
+ ax: 0.0
+
+obstacle:
+ num: 1
+ radius: [1.]
+ length: [5.]
+ x0: [200]
+ y0: [50]
+ vx: [0]
+ vy: [0]

config/case/s10.yaml

@@ -0,0 +1,24 @@
+goal:
+ x: 200.
+ yVal: 125.
+ psi: 1.5701
+ tol: 15.
+
+X0:
+ x: 200.0
+ yVal: 0.0
+ v: 0.0
+ r: 0.0
+ psi: 1.57079632679
+ sa: 0.0
+ ux: 17.0
+ ax: 0.0
+
+obstacle:
+ num: 1
+ radius: [1.]
+ length: [5.]
+ x0: [210]
+ y0: [50]
+ vx: [0]
+ vy: [0]

config/case/s11.yaml

@@ -0,0 +1,24 @@
+goal:
+ x: 200.
+ yVal: 150.
+ psi: 1.5701
+ tol: 15.
+
+X0:
+ x: 200.0
+ yVal: 0.0
+ v: 0.0
+ r: 0.0
+ psi: 1.57079632679
+ sa: 0.0
+ ux: 17.0
+ ax: 0.0
+
+obstacle:
+ num: 1
+ radius: [1.]
+ length: [5.]
+ x0: [200]
+ y0: [75]
+ vx: [0]
+ vy: [0]

config/case/s2.yaml

@@ -0,0 +1,24 @@
+goal:
+ x: 200.
+ yVal: 125.
+ psi: 1.5701
+ tol: 15.
+
+X0:
+ x: 200.0
+ yVal: 0.0
+ v: 0.0
+ r: 0.0
+ psi: 1.57079632679
+ sa: 0.0
+ ux: 17.0
+ ax: 0.0
+
+obstacle:
+ num: 1
+ radius: [1.]
+ length: [5.]
+ x0: [190.]
+ y0: [50]
+ vx: [2.]
+ vy: [0.]

config/case/s3.yaml

@@ -0,0 +1,24 @@
+goal:
+ x: 200.
+ yVal: 125.
+ psi: 1.5701
+ tol: 15.
+
+X0:
+ x: 200.0
+ yVal: 0.0
+ v: 0.0
+ r: 0.0
+ psi: 1.57079632679
+ sa: 0.0
+ ux: 17.0
+ ax: 0.0
+
+obstacle:
+ num: 3
+ radius: [5.,10.,2.]
+ length: [5.,5.,5.]
+ x0: [205.,180.,200.]
+ y0: [50.,75.,65.]
+ vx: [0.,0.,0.]
+ vy: [0.,0.,0.]

config/case/s4.yaml

@@ -0,0 +1,24 @@
+goal:
+ x: 200.
+ yVal: 125.
+ psi: 1.5701
+ tol: 15.
+
+X0:
+ x: 200.0
+ yVal: 0.0
+ v: 0.0
+ r: 0.0
+ psi: 1.57079632679
+ sa: 0.0
+ ux: 17.0
+ ax: 0.0
+
+obstacle:
+ num: 3
+ radius: [5.,4.,2.]
+ length: [5.,5.,5.]
+ x0: [205,180,200]
+ y0: [57,75,63]
+ vx: [-2,-1,-0.5]
+ vy: [0,1,6.]

config/case/s5.yaml

@@ -0,0 +1,28 @@
+goal:
+ x: 200.
+ yVal: 125.
+ psi: 1.5701
+ tol: 15.
+
+X0:
+ x: 200.0
+ yVal: 0.0
+ v: 0.0
+ r: 0.0
+ psi: 1.57079632679
+ sa: 0.0
+ ux: 17.0
+ ax: 0.0
+
+obstacle:
+ num: 7
+ radius: [1.9,1.9,1.9,1.825,1.5,1.825,1.825]
+ length: [5.,5.,5.,5.,5.,5.,5.]
+ x0: [225,225,220,170,220,165,200]
+ y0: [25,30,45,60,75,95,50]
+ vx: [-5,-5.5,-6,6,-5,4,-2]
+ vy: [0,0,0,0,0,0,5]
+
+##  NOTE convertable!!
+#A: [3.3,3.3,3.3,4.9,2.5,4.9,1.825]
+#B: [1.9,1.9,1.9,1.825,1.5,1.825,4.9]

config/case/s6.yaml

@@ -0,0 +1,24 @@
+goal:
+ x: 200.
+ yVal: 125.
+ psi: 1.5701
+ tol: 15.  # NOTE this is a bit redundant with the tolerance fx and fy
+
+X0:
+ x: 200.0
+ yVal: 0.0
+ v: 0.0
+ r: 0.0
+ psi: 1.57079632679
+ sa: 0.0
+ ux: 17.0
+ ax: 0.0
+
+obstacle:
+ num: 4
+ radius: [10.,2.,5.,3.]
+ length: [5.,5.,5.]
+ x0: [180,180,220,200]
+ y0: [75,40,60,100]
+ vx: [-3,4,-2,0]
+ vy: [-2,4,2.5,0]

config/case/s8.yaml

@@ -0,0 +1,24 @@
+goal:
+ x: 18.
+ yVal: 700.
+ psi: 1.5701
+ tol: 15.  # NOTE this is a bit redundant with the tolerance fx and fy
+
+X0:
+ x: 6.0
+ yVal: 0.0
+ v: 0.0
+ r: 0.0
+ psi: 1.57079632679
+ sa: 0.0
+ ux: 17.0
+ ax: 0.0
+
+obstacle:
+ num: 10
+ radius: [6.,6.,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735]
+ length: [5.,5.,5.,5.,5.,5.,5.,5.,5.,5.]
+ x0: [6.0,18.0,12.,12.,12.,12.,12.,12.,12.,12.]
+ y0: [281.,393.,0.,25.,50.,75.,100.,125.,150.,175.]
+ vx: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
+ vy: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]

config/case/s9.yaml

@@ -0,0 +1,24 @@
+goal:
+ x: 18.
+ yVal: 700.
+ psi: 1.5701
+ tol: 25.  # NOTE this is a bit redundant with the tolerance fx and fy
+
+X0:
+ x: 6.0
+ yVal: 0.0
+ v: 0.0
+ r: 0.0
+ psi: 1.57079632679
+ sa: 0.0
+ ux: 17.0
+ ax: 0.0
+
+obstacle:
+ num: 38
+ radius: [6.,6.,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735,0.38735]
+ length: [5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.,5.]
+ x0: [6.0,18.0,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.,12.]
+ y0: [281.,393.,0.,5.,10.,15.,20.,25.,30.,35.,40.,45.,50.,55.,60.,65.,70.,75.,80.,85.,90.,95.,100.,105.,110.,115.,120.,125.,130.,135.,140.,145.,150.,155.,160.,165.,170.,175.]
+ vx: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
+ vy: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]

config/empty.yaml

@@ -0,0 +1,5 @@
+goal: NaN
+misc: NaN
+obstacle: NaN
+solver: NaN
+vehicle: NaN