diff options
| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-26 11:14:56 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-26 11:14:56 +0200 |
| commit | da53e14088c5a48b22739e9f147de2aabd6ddb01 (patch) | |
| tree | bb5673022963d65c7ca612b9cf30151c2b0f7e74 | |
| parent | ADD: another approach passing task 6 (diff) | |
| download | mpc_pe-da53e14088c5a48b22739e9f147de2aabd6ddb01.tar.gz mpc_pe-da53e14088c5a48b22739e9f147de2aabd6ddb01.zip | |
ADD: pass task 7
| -rw-r--r-- | templates/simulate.m | 14 |
1 files changed, 14 insertions, 0 deletions
diff --git a/templates/simulate.m b/templates/simulate.m index 3138cd1..20c77b2 100644 --- a/templates/simulate.m +++ b/templates/simulate.m @@ -10,5 +10,19 @@ function [Xt,Ut,ctrl_info] = simulate(x0, ctrl, params) % YOUR CODE HERE % Hint: you can access the control command with ctrl.eval(x(:,i)) + Xt = [x0]; + Ut = []; + x = x0 + ctrl_info = []; + % obj = LQR(); + for i = 1:params.model.HorizonLength + [u, ctrl_info_] = ctrl.eval(x); + Ut = [Ut u]; + ctrl_info = [ctrl_info ctrl_info_]; + x = params.model.A*x + params.model.B*u; + Xt = [Xt x]; + end +% Ut = u; +% Xt = x; end
\ No newline at end of file |