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MPC README: the LTV-MPC's models, parameters and topics - #176
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Closes #175. Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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Closes #175. The README now describes the controller merged in #169: motion models, reference, constraints and goal behaviour; every parameter, with its default and valid range (from
MPCController::on_initialize); deprecated and no-op parameters; thepredicted,referenceandobstaclestopics; and the NavState keys.