About constrain matrix of transition

[ichenne]

Can you write the system transfer equation？ I have confusion when read code in function of setConstraintMatrix

[LiJiangnanBit]

Hi @ichenne According to "Trajectory planning under vehicle dimension constraints using sequential linear programming ", the lateral vehicle kinematic model is linearize this function around the reference point (0, 0, k_ref), we have: replace the deviritives with the difference quotient to get: z_(i+1) = Az_i + Bu_i + C

[tmacattank]

你去哪了啊