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authorYanzhenXiangRobotics <xyz000327@gmail.com>2023-05-13 08:10:56 +0200
committerYanzhenXiangRobotics <xyz000327@gmail.com>2023-05-13 08:10:56 +0200
commit1f172be6d9e5713563f931171ddb7e65fcbdb63d (patch)
tree211896d962ea79ef3b38f4ee06ecedfd4962b28e
parentADD: 29 raw (diff)
downloadmpc_pe-1f172be6d9e5713563f931171ddb7e65fcbdb63d.tar.gz
mpc_pe-1f172be6d9e5713563f931171ddb7e65fcbdb63d.zip
ADD:
-rw-r--r--templates/compute_minRPI.m6
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)