Hello, if I want to constrain not only the reference trajectory but also the front wheel deflection angle and heading angle when changing lanes, how can I write the code?

![image](https://github.com/WhiffleFish/MPC-Collision-Avoidance/assets/151653116/3bef3d23-37bc-4576-b8ba-59a21986966c)
![65a7c188de3917b8454b59f6c073928](https://github.com/WhiffleFish/MPC-Collision-Avoidance/assets/151653116/b8976523-b16b-4d42-b15c-a6573e7c6e86)
![1cf74270bddf0a8e83b73e2b9ae2d22](https://github.com/WhiffleFish/MPC-Collision-Avoidance/assets/151653116/f56d682a-90c9-48ed-b235-ac79159f5eb6)


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Hello, if I want to constrain not only the reference trajectory but also the front wheel deflection angle and heading angle when changing lanes, how can I write the code? #4

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Hello, if I want to constrain not only the reference trajectory but also the front wheel deflection angle and heading angle when changing lanes, how can I write the code? #4

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