fix: more precise mpc

main.py

@@ -225,9 +225,8 @@ def abu_dhabi():
  "algorithm": "mpc",
  "track": "ABU_F2.csv",
  }
- mpc_list_in = np.arange(0.8, 1.6, 0.002)
- mpc = run_parallel(mpc_parameters, mpc_list_in, "pacejka_D")
- plot_line_shadow(mpc_list_in, mpc, "--", "red", "MPC")
+ mpc = run_parallel(mpc_parameters, list_in, "pacejka_D")
+ plot_line_shadow(list_in, mpc, "--", "red", "MPC")
 
  N_list = [50, 100, 200, 400]
  for i in range(4):
@@ -414,7 +413,7 @@ def ph_vs_ds():
  print(f"Look at the picture: img/Ds_vs_ph.pdf")
 
 
-if __name__ == "__main__":
+if __name__ == "__main__": 
  # Execute the following functions when the script is run as the main program.
 
  ph_vs_ds()

source/mpc_tracking.py

@@ -87,7 +87,7 @@ def control_step(self) -> model.Racecar_Action:
  )
  yaw_0 = torch.tensor(self.model.state.heading).to(self.device)
 
- relative_cost_threshold = 0.001 # Stop if improvement is less than 1%
+ relative_cost_threshold = 0.000001 # Stop if improvement is less than 1%
  previous_loss = float("inf")
 
  for iter in range(0, 200):