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| author | Yuan Xu <yuanxu@student.ethz.ch> | 2023-05-24 17:35:46 +0200 |
|---|---|---|
| committer | Yuan Xu <yuanxu@student.ethz.ch> | 2023-05-24 17:35:46 +0200 |
| commit | a23ba49056a36aff221d0c23e228b981222c3576 (patch) | |
| tree | 742c18cbe13c1603909b55ee82188ce6360e8fa0 /Submission files/traj_cost.m | |
| parent | ADD: declaration of originality (diff) | |
| download | mpc_pe-a23ba49056a36aff221d0c23e228b981222c3576.tar.gz mpc_pe-a23ba49056a36aff221d0c23e228b981222c3576.zip | |
add submission zipsubmission
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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