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author | YanzhenXiang <54230111+YanzhenXiangRobotics@users.noreply.github.com> | 2023-11-06 16:49:26 +0100 |
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committer | GitHub <noreply@github.com> | 2023-11-06 16:49:26 +0100 |
commit | d6b96c55ebb89ebd6e2d990ec89122799c68a230 (patch) | |
tree | 7a837438da9e07a5e77658c6d882577fff8bcae1 /Submission files/traj_cost.m | |
parent | Update 23 (diff) | |
parent | update the new submission zip generated from npross branch (diff) | |
download | mpc_pe-master.tar.gz mpc_pe-master.zip |
Submission
Diffstat (limited to '')
-rw-r--r-- | Submission files/traj_cost.m | 17 |
1 files changed, 17 insertions, 0 deletions
diff --git a/Submission files/traj_cost.m b/Submission files/traj_cost.m new file mode 100644 index 0000000..57566c9 --- /dev/null +++ b/Submission files/traj_cost.m @@ -0,0 +1,17 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich. +% +% All rights reserved. +% +% Please see the LICENSE file that has been included as part of this package. +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function J_Nt = traj_cost(Xt,Ut,Q,R) + % YOUR CODE HERE + J_Nt=0; + for i=1:length(Xt(1,:))-1 + a= Xt(:,i)'*Q*Xt(:,i); + b= Ut(:,i)'*R*Ut(:,i); + J_Nt=J_Nt+a+b; + end +end
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