udacity / carnd-mpc-quizzes

CarND MPC Quizzes

Deprecated Repository

This repository is deprecated. Currently enrolled learners, if any, can:

• Utilize the https://knowledge.udacity.com/ forum to seek help on content-specific issues.
• Submit a support ticket if (learners are) blocked due to other reasons.

CarND Controls Quizzes

Quizzes for Vehicle Models and Model Predictive Control sections.

1. Global Kinematic Model Quiz - Implement the Global Kinematic Model.
2. Polynomial Fitting Quiz - Fit and evaluate polynomials.
3. Mind The Line Quiz - Implement MPC and minimize cross track and orientation errors to a straight line trajectory. See this document for setup tips for executing the plotting code in the MPC.cpp solution file.

To do a quiz:

1. Go to quiz directory.
2. Make a build directory with mkdir build.
3. Change into the build directory, cd build.
4. Compile the project, cmake .. && make.

A solution for each quiz is presented in the solution directory.

Dependencies

The Global Kinematic Quiz and Polynomial Fitting quizzes have all the dependencies in repo. For the MPC quiz you'll have to install Ipopt and CppAD. Please refer to this document for installation instructions.

carnd-mpc-quizzes's Issues

install_ipopt.sh does not work with source from 2nd link

the source of 2nd link in github does not contain the folder 'ThirdParty'.
Bash script ends with error.

Code Comments

First, thank you for putting these quizzes together for the MPC.

As you are probably aware, the students are not only trying to learn the lesson concept but a large number of the students are also so trying to learn the C++ coding concepts as well

There are some items and processes I don't understand. I also dont think they are obvious to the main stream student.

For instance line 56 of the MPC.cpp:
void operator()(ADvector& fg, const ADvector& vars)

It is unclear to me what this does, why it was used and how helps the process

Could you provide some detail please. I think it would be helpful.

In commenting your code, providing insight to the rational behind the code process would be very helpful to a number of us lesser "geniuses" in the program.

Again, thanks for all your hard work here.

Incorrect Download Link for Ipopt

For Linux users who want to install Ipopt locally, It seems that the download link provided in README.md doesn't work with install_ipopt.sh, as they don't have the "ThirdParty" folder provided.

Instead, the users should be suggested to download them from https://www.coin-or.org/download/source/Ipopt/

The same issue applies to MPC project

Error on make

using Bash on Windows10
after following instalation instructions I got this error on make

[ 50%] Building CXX object CMakeFiles/mpc.dir/src/MPC.cpp.o
In file included from /usr/include/cppad/ipopt/solve.hpp:405:0,
from /mnt/c/D/Anas/mozakra/ML/CarND013/term2/CarND-MPC-Quizzes/mpc_to_line/src/MPC.cpp:4:
/usr/include/cppad/ipopt/solve_callback.hpp:16:40: fatal error: coin/IpIpoptApplication.hpp: No such file or directory
compilation terminated.
CMakeFiles/mpc.dir/build.make:62: recipe for target 'CMakeFiles/mpc.dir/src/MPC.cpp.o' failed
make[2]: *** [CMakeFiles/mpc.dir/src/MPC.cpp.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/mpc.dir/all' failed
make[1]: *** [CMakeFiles/mpc.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

Add Conan package manager

Not an issue, but suggestion.
It would be nice to add Conan package manager for Eigen, the repo will look much cleaner.

example: https://github.com/Horki/CarND-MPC-Quizzes/blob/master/mpc_to_line/conanfile.txt

Get Iteration 0 Segmentation fault: 11 after running ./mpc

After "cmake .. && make " command, I run mpc with "./mpc". However, I always get the "Iteration 0
Segmentation fault: 11" error.
After testing which line has the error with "cout" command, I found the codes below cause this error.

CppAD::ipopt::solve<Dvector, FG_eval>(
options, vars, vars_lowerbound, vars_upperbound, constraints_lowerbound,
constraints_upperbound, fg_eval, solution);

Did anyone have the same error before?

Actually, even with the solution file, I still have the same error. So I'm thinking maybe I didn't install ipopt properly. Please give me some help. I'm really stuck.

Issues installing ipopt on macOS Catalina

I get invalid option: --with-openblas when I try to install ipopt using the commands:

$ brew tap udacity/CarND-MPC-Project https://github.com/udacity/CarND-MPC-Project
$ brew install ipopt --with-openblas

Does anyone know what is missing? Do I have to do a separate install of openblas? I appreciate any help. Thanks!

question

hello,i want to learn this method,can you provide relevant information about the entrie code?

How did you get those values?

CarND-MPC-Quizzes/mpc_to_line/solution/MPC.cpp

Line 190 in eb797f0

vars_upperbound[i] = 1.0e19;

cannot install ipopt on Mac

Error: Invalid formula: /usr/local/Homebrew/Library/Taps/udacity/homebrew-carnd-mpc-project/mumps.rb
Calling 'depends_on :mpi' is disabled!
Use 'depends_on "open-mpi"' instead.
/usr/local/Homebrew/Library/Taps/udacity/homebrew-carnd-mpc-project/mumps.rb:35:in `class:Mumps'
Please report this to the udacity/carnd-mpc-project tap!
Or, even better, submit a PR to fix it!
Error: Cannot tap udacity/carnd-mpc-project: invalid syntax in tap!

install python dev for matplotlib header file

To be able to access the Python header files, we need to have the python sources installed properly

On linux (debian and Ubuntu) and linux subsystems on windows it should look something like:

sudo apt-get install python-dev  # for python2.x installs

I recommend adding that to the README as part of a dependency needed to avoid it for students who might run into this issue.

For python 3.x dependencies you would do:

sudo apt-get install python3-dev  # for python3.x installs

Then to make sure matplotlib will work:

sudo apt-get install python-matplotlib

for python 3.x:

sudo apt-get install python3-matplotlib

Terminate with Error loading matplotlib.pyplot

It compiles without error and the simulation runs until it terminates with throwing an instance of 'std::runtime_error'
what(): Error loading module matplotlib.pyplot!

matplotlib for python and python3 is already installed as suggested.
Im working under Linux Mint 16.04 without the docker