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authorYanzhenXiangRobotics <xyz000327@gmail.com>2023-04-27 13:23:44 +0200
committerYanzhenXiangRobotics <xyz000327@gmail.com>2023-04-27 13:23:44 +0200
commit4799bac070dad70d6cd3f47163bc481d1f8f6ffa (patch)
treedccb386d1af49ea1fd6d040b525c5854c9fc0b80
parentADD: pass task 7 (diff)
downloadmpc_pe-4799bac070dad70d6cd3f47163bc481d1f8f6ffa.tar.gz
mpc_pe-4799bac070dad70d6cd3f47163bc481d1f8f6ffa.zip
ADD: plot traj
Diffstat (limited to '')
-rw-r--r--templates/simulate.m1
-rw-r--r--templates/traj_constraints.m1
2 files changed, 2 insertions, 0 deletions
diff --git a/templates/simulate.m b/templates/simulate.m
index 20c77b2..6100434 100644
--- a/templates/simulate.m
+++ b/templates/simulate.m
@@ -22,6 +22,7 @@ function [Xt,Ut,ctrl_info] = simulate(x0, ctrl, params)
x = params.model.A*x + params.model.B*u;
Xt = [Xt x];
end
+ plot_trajectory(Xt, Ut, ctrl_info, params);
% Ut = u;
% Xt = x;
diff --git a/templates/traj_constraints.m b/templates/traj_constraints.m
index 4b0a081..d8ace29 100644
--- a/templates/traj_constraints.m
+++ b/templates/traj_constraints.m
@@ -8,5 +8,6 @@
function [s_max, y_max, u_max, J_u, df_max, vf_max, traj_feas] = traj_constraints(x,u,params)
% YOUR CODE HERE
+ s_max =
end