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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:42:56 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:42:56 +0200 |
| commit | c11fe8fc6094ce3823a4a8b9b78ea8ea81e65778 (patch) | |
| tree | b5dcaf73bb9842ee72e457a3bac7ce6589b42122 /templates/generate_constraints.m | |
| parent | ADD: .gitignore (diff) | |
| download | mpc_pe-c11fe8fc6094ce3823a4a8b9b78ea8ea81e65778.tar.gz mpc_pe-c11fe8fc6094ce3823a4a8b9b78ea8ea81e65778.zip | |
FIX: .gitignore
Diffstat (limited to 'templates/generate_constraints.m')
| -rw-r--r-- | templates/generate_constraints.m | 19 |
1 files changed, 19 insertions, 0 deletions
diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m new file mode 100644 index 0000000..f87ac26 --- /dev/null +++ b/templates/generate_constraints.m @@ -0,0 +1,19 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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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