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author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:41:27 +0200 |
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committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:41:27 +0200 |
commit | c30079b64d19e8b46b111fb2110dbebf9ed32c37 (patch) | |
tree | 4ceac09270c411f426cf8f10f86f458ef1f92dd2 /templates/generate_constraints.m | |
parent | ADD: pass system modeling test (diff) | |
download | mpc_pe-c30079b64d19e8b46b111fb2110dbebf9ed32c37.tar.gz mpc_pe-c30079b64d19e8b46b111fb2110dbebf9ed32c37.zip |
ADD: .gitignore
Diffstat (limited to '')
-rw-r--r-- | templates/generate_constraints.m | 19 |
1 files changed, 0 insertions, 19 deletions
diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m deleted file mode 100644 index f87ac26..0000000 --- a/templates/generate_constraints.m +++ /dev/null @@ -1,19 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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 [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)]; -end
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