Do not use ego frame in MPC, use global frame throughout
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- guided_mrmp/controllers/multi_mpc.py 96 additions, 37 deletionsguided_mrmp/controllers/multi_mpc.py
- guided_mrmp/controllers/multi_path_tracking.py 142 additions, 48 deletionsguided_mrmp/controllers/multi_path_tracking.py
- guided_mrmp/controllers/multi_path_tracking_db.py 298 additions, 211 deletionsguided_mrmp/controllers/multi_path_tracking_db.py
- guided_mrmp/controllers/optimizer.py 4 additions, 5 deletionsguided_mrmp/controllers/optimizer.py
- guided_mrmp/controllers/path_tracker.py 219 additions, 46 deletionsguided_mrmp/controllers/path_tracker.py
- guided_mrmp/controllers/utils.py 57 additions, 43 deletionsguided_mrmp/controllers/utils.py
- guided_mrmp/controllers/vis_helpers.py 294 additions, 10 deletionsguided_mrmp/controllers/vis_helpers.py
- guided_mrmp/simulator.py 12 additions, 5 deletionsguided_mrmp/simulator.py
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