Module mpc 

Model Predictive Control (MPC) for path tracking

author: Atsushi Sakai (@Atsushi_twi) Ryohei Sasaki (@rsasaki0109) Rust port

This version follows the PythonRobotics structure more closely:

• speed profile generation
• yaw smoothing
• iterative linear MPC around an operational point

Structs

MpcResult

SimulationResult

State

Vehicle state

Functions

calc_speed_profile

check_goal

generate_reference_course

iterative_linear_mpc_control

normalize_angle

run_mpc_simulation