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| author | Yuan Xu <yuanxu@student.ethz.ch> | 2023-05-07 21:10:45 +0200 |
|---|---|---|
| committer | Yuan Xu <yuanxu@student.ethz.ch> | 2023-05-07 21:10:45 +0200 |
| commit | ce14ae31fcb13362ff341e54ace5dccc4f94c095 (patch) | |
| tree | b082d1e3201b40a73e9dbb4f124708e752941468 /templates/generate_constraints.m | |
| parent | ADD: progress log (diff) | |
| download | mpc_pe-ce14ae31fcb13362ff341e54ace5dccc4f94c095.tar.gz mpc_pe-ce14ae31fcb13362ff341e54ace5dccc4f94c095.zip | |
update 15,16 and modify generate_constraints.m
Diffstat (limited to '')
| -rw-r--r-- | templates/generate_constraints.m | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m index f87ac26..008f50c 100644 --- a/templates/generate_constraints.m +++ b/templates/generate_constraints.m @@ -15,5 +15,11 @@ 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 = [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
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