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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:28:44 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:28:44 +0200 |
| commit | 55a42b2be769bbfbd5b697338c6729f06a3d17cc (patch) | |
| tree | fa380bdc758ac73fc63d4e938dd97fff0ce314fb /templates/generate_constraints.m | |
| parent | ADD: init proj (diff) | |
| download | mpc_pe-55a42b2be769bbfbd5b697338c6729f06a3d17cc.tar.gz mpc_pe-55a42b2be769bbfbd5b697338c6729f06a3d17cc.zip | |
ADD: pass system modeling test
Diffstat (limited to 'templates/generate_constraints.m')
| -rw-r--r-- | templates/generate_constraints.m | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m index 892b706..f87ac26 100644 --- a/templates/generate_constraints.m +++ b/templates/generate_constraints.m @@ -8,4 +8,12 @@ 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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