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docs(mpc): add mpc document (#4011)

* docs(mpc): add mpc document Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix format Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Update control/mpc_lateral_controller/docs/mpc-algorithm-document.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update! Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * update Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> --------- Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>

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control/mpc_lateral_controller
- image
  - vehicle_error_kinematics.png
  - vehicle_kinematics.png
- model_predictive_control_algorithm.md

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`‎control/mpc_lateral_controller/image/vehicle_error_kinematics.png`

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`‎control/mpc_lateral_controller/image/vehicle_kinematics.png`

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