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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-27 13:23:44 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-27 13:23:44 +0200 |
| commit | 4799bac070dad70d6cd3f47163bc481d1f8f6ffa (patch) | |
| tree | dccb386d1af49ea1fd6d040b525c5854c9fc0b80 | |
| parent | ADD: pass task 7 (diff) | |
| download | mpc_pe-4799bac070dad70d6cd3f47163bc481d1f8f6ffa.tar.gz mpc_pe-4799bac070dad70d6cd3f47163bc481d1f8f6ffa.zip | |
ADD: plot traj
| -rw-r--r-- | templates/simulate.m | 1 | ||||
| -rw-r--r-- | templates/traj_constraints.m | 1 |
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 |