ekf_usv/src/ekf_filter.cpp -> 항법 코드

efk_usv/src/heron_map_gui.py -> GUI

heron_mpc/script/gen_ref.py -> reference trajectory 생성

heron_mpc/script/mpc_heron_weight_update.py -> MPC 코드

heron_mpc/script/weight_gui.py -> weight 변화시키는 GUI

Duck Pond Experiment

---

1. SI 데이터 취득
2. LOS guidance waypoint tracking
3. MPC waypoint tracking
4. MPC trajectory tracking - 8자 모양과 같이 좀더 tracking하기 어려운 course 세팅
5. MPC docking test
6. MPC + @ test - (1) Adaptive control (2) Tube-MPC