# MPC Planner for NXPCup Race Car

This repository contains the implementation of a Model Predictive Control (MPC) planner developed for the NXPCup 
autonomous race car competition. Unlike traditional reactive controllers, this planner uses real-time trajectory 
optimization to improve cornering and speed control. The project includes tools for track creation

## Installation and Running

To run the planner and simulation tools, follow these steps:

1. **Download ACADOS** to `<planner_dir>/acados` and build it by following the instructions in the official documentation:  
   https://docs.acados.org/installation/

2. **Install the Python interface for ACADOS** as described here:  
   https://docs.acados.org/python_interface/index.html

3. **Install required Python dependencies** using pip:

   ```bash
   pip install pygame matplotlib numpy
   ```

4. **Set environment variables** (if needed):

   If you encounter issues, make sure the required environment variables are correctly exported:

   ```bash
   source export_acados.sh
   ```

   This script is located in the project root folder.

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### Run Apps

- `track_gen.py` – Interactive track generation tool. Allows adding/removing segments and exporting the layout.
- `run_simulation.py` – Runs the MPC planners under various initial conditions and visualizes results.