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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-13 08:10:56 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-13 08:10:56 +0200 |
| commit | 1f172be6d9e5713563f931171ddb7e65fcbdb63d (patch) | |
| tree | 211896d962ea79ef3b38f4ee06ecedfd4962b28e | |
| parent | ADD: 29 raw (diff) | |
| download | mpc_pe-1f172be6d9e5713563f931171ddb7e65fcbdb63d.tar.gz mpc_pe-1f172be6d9e5713563f931171ddb7e65fcbdb63d.zip | |
ADD:
| -rw-r--r-- | templates/compute_minRPI.m | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/templates/compute_minRPI.m b/templates/compute_minRPI.m index 2ae7946..37a6dbb 100644 --- a/templates/compute_minRPI.m +++ b/templates/compute_minRPI.m @@ -9,6 +9,8 @@ function [H_tube,h_tube,n_iter] = compute_minRPI(K_tube,params) % YOUR CODE HERE A = params.model.A+params.model.B*K_tube; + % A = params.model.A; +% display(A) nx = params.model.nx; omega = Polyhedron('A',[eye(nx);-eye(nx)],'b',zeros(1,2*nx)'); % display(omega.A) @@ -21,7 +23,9 @@ function [H_tube,h_tube,n_iter] = compute_minRPI(K_tube,params) % display(n_iter) % A_last = omega.A; % b_last = omega.b; - omega = omega.plus(Polyhedron('A',Hw*(A^n_iter),'b',hw)); + display(n_iter); + display(omega.b) + omega = omega.plus(Polyhedron('A',Hw*inv(A^(n_iter+1)),'b',hw)); if eq(omega.minHRep(),omega_last.minHRep()) % if eq(omega,omega_last) |