diff options
| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-10 23:30:01 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-10 23:30:01 +0200 |
| commit | 3d6ef58ff1edee6d882a8d9cbe97625ff26afe6e (patch) | |
| tree | 070832993dd8b63ee2aa70ee6f611d4d139f1d65 /templates/generate_constraints.m | |
| parent | Revert mistakenly pushed to master (diff) | |
| download | mpc_pe-3d6ef58ff1edee6d882a8d9cbe97625ff26afe6e.tar.gz mpc_pe-3d6ef58ff1edee6d882a8d9cbe97625ff26afe6e.zip | |
Revert to handout
Diffstat (limited to '')
| -rw-r--r-- | templates/generate_constraints.m | 14 |
1 files changed, 0 insertions, 14 deletions
diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m index 008f50c..892b706 100644 --- a/templates/generate_constraints.m +++ b/templates/generate_constraints.m @@ -8,18 +8,4 @@ function [H_u, h_u, H_x, h_x] = generate_constraints(params) % YOUR CODE HERE - u_max = params.constraints.MaxAbsThrust; - h_u = u_max * ones(6,1); - H_u = [eye(3);-eye(3)]; - - 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]; end
\ No newline at end of file |