Add MPC#29

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kjohnsen wants to merge 26 commits intomasterfrom

aaron-implement-mpc

Commits on May 12, 2024

Commits on May 18, 2024

Updated vcpkg version
i3ta
committed

Commits on May 22, 2024

Added osqp as a submodule and updated CMakeLists to include osqp as a dependency
i3ta
committed

Commits on May 23, 2024

Corrected matrix multiplication syntax
i3ta
committed

Commits on Jun 11, 2024

Implemented part of the code for MpcController
i3ta
committed

Commits on Jun 14, 2024

Renamed sparse matrices
i3ta
committed

Commits on Jun 18, 2024

Commits on Jun 27, 2024

Optimized controller so it saves the OSQP object and only sets matrices if problem is updated
i3ta
committed

Commits on Jul 3, 2024

Commits on Jul 5, 2024

Refactored slow_update to calc_trajectory and removed less used fast_update method
i3ta
committed

Commits on Jul 18, 2024

Added MPC implementation for Poisson system
i3ta
committed

Commits on Feb 6, 2025