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| author | YanzhenXiang <54230111+YanzhenXiangRobotics@users.noreply.github.com> | 2023-11-06 16:49:26 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-11-06 16:49:26 +0100 |
| commit | d6b96c55ebb89ebd6e2d990ec89122799c68a230 (patch) | |
| tree | 7a837438da9e07a5e77658c6d882577fff8bcae1 /templates/generate_constraints.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 'templates/generate_constraints.m')
| -rw-r--r-- | templates/generate_constraints.m | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m index 892b706..e2e4357 100644 --- a/templates/generate_constraints.m +++ b/templates/generate_constraints.m @@ -7,5 +7,10 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% function [H_u, h_u, H_x, h_x] = generate_constraints(params) - % YOUR CODE HERE + H_u = [eye(params.model.nu); -eye(params.model.nu)]; + h_u = params.constraints.MaxAbsThrust * ones(params.model.nu*2,1); + + H_x = [eye(3), zeros(3); -eye(3), zeros(3)]; % * inv(params.model.ScalingMatrix); + h_x = params.constraints.MaxAbsPositionXZ * [1, 0, 1, 1, 0, 1].' + ... + params.constraints.MaxAbsPositionY * [0, 1, 0, 0, 1, 0].'; end
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