diff options
| author | Yuan Xu <yuanxu@student.ethz.ch> | 2023-05-11 12:00:59 +0200 |
|---|---|---|
| committer | Yuan Xu <yuanxu@student.ethz.ch> | 2023-05-11 12:00:59 +0200 |
| commit | feb6ec844cf2d0cdb07acd609615675141e2706a (patch) | |
| tree | 1a411c04d693358a6ffc2d2a07e09bb819a8f6cc /templates/generate_constraints.m | |
| parent | Revert mistakenly pushed to master (diff) | |
| download | mpc_pe-yuanxu.tar.gz mpc_pe-yuanxu.zip | |
update previous filesyuanxu
Diffstat (limited to '')
| -rw-r--r-- | templates/generate_constraints.m | 8 |
1 files changed, 1 insertions, 7 deletions
diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m index 008f50c..a9f88fe 100644 --- a/templates/generate_constraints.m +++ b/templates/generate_constraints.m @@ -15,11 +15,5 @@ function [H_u, h_u, H_x, h_x] = generate_constraints(params) s_max = params.constraints.MaxAbsPositionXZ; y_max = params.constraints.MaxAbsPositionY; h_x = [s_max;y_max;s_max;s_max;y_max;s_max]; -% H_x = [eye(3);-eye(3)]; - H_x=[1,0,0,0,0,0; - 0,1,0,0,0,0; - 0,0,1,0,0,0; - -1,0,0,0,0,0; - 0,-1,0,0,0,0; - 0,0,-1,0,0,0]; + H_x=[eye(3),zeros(3);-eye(3),zeros(3)]; end
\ No newline at end of file |