• Reactive motion planning using Model predictive control(MPC)

• Impliment compute_mass_matrix, compute_initeria_matrix.
• improve code structure but not priority.
• Add function for calculating Inverse Kinematics using KDL

• Change to read data from yaml to Dynamic config.

sudo apt-get install texlive-full

• cmake ..
• make
• lsq_term.cpp for teminal cost
• getting_started.cpp for self collision avoidance

• cob_robot: mt_experiment
• predictive_control: current
• Note: careful with yaml file becuse base and tip link match to cartesian_control.yaml Therefore, it gives error about Filed kinematic chain ....

Launch: roslaunch predictive_control mpc_experiment_cob.launch

MIN_DISTANCE: for obstracle avoidance is 0.50 define in obstacle_distance_data_types.hpp