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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:41:27 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-04-25 20:41:27 +0200 |
| commit | c30079b64d19e8b46b111fb2110dbebf9ed32c37 (patch) | |
| tree | 4ceac09270c411f426cf8f10f86f458ef1f92dd2 /templates/generate_params.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_params.m | 73 |
1 files changed, 0 insertions, 73 deletions
diff --git a/templates/generate_params.m b/templates/generate_params.m deleted file mode 100644 index e2e6024..0000000 --- a/templates/generate_params.m +++ /dev/null @@ -1,73 +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 [params] = generate_params() -params = struct(); - -Tf = 60*60*24 * 2; % = 2 days -dt = 60 * 10; % = 10 minutes - -% model -params.model = struct(... - 'nx', 6, ... - 'nu', 3, ... - 'Mass', 300, ... - 'GravitationalParameter', 3.986e14, ... - 'ScalingMatrix', [1e-6*eye(3), zeros(3); zeros(3), 1e-3*eye(3)], ... - 'TargetRadius', 7000e3, ... - 'TimeStep', dt, ... - 'HorizonLength', ceil(Tf / dt), ... - 'InitialConditionA', [-15e-3; -400e-3; 24.4e-3; 0; 0.0081; 0], ... - 'InitialConditionB', [-20e-3; 400e-3; 24.4e-3; 0; 0.0108; 0], ... - 'InitialConditionC', [0.02; 0.01; -0.005; 0; 0; 0] ... -); - -% constraints -params.constraints = struct(... - 'MaxAbsPositionXZ', 0.1, ... - 'MaxAbsPositionY', 1, ... - 'MaxAbsThrust', 1, ... - 'MaxFinalPosDiff' , 3e-4, ... - 'MaxFinalVelDiff', 1e-3 ... -); - -params.exercise = struct( ... - 'QdiagOptA', [94.0; 0.1579; 300; 0.01; 0.10; 0.10] ... -); - -% YOUR CODE HERE -[Ac, Bc] = generate_system_cont(params); -[A_tilta, B_tilta] = generate_system(Ac, Bc, params); -[A, B] = generate_system_scaled(A_tilta, B_tilta, params); -[Hu, hu, Hx, hx] = generate_constraints(params); - -params.model.A = A; -params.model.B = B; - -params.constraints.InputMatrix = Hu; -params.constraints.InputRHS = hu; -params.constraints.StateMatrix = Hx; -params.constraints.StateRHS = hx; - -% new_model_struct = struct(... -% 'A', A, ... -% 'B', B ... -% ); - -% new_constr_struct = struct(... -% 'InputMatrix', Hu,... -% 'InputRHS', hu,... -% 'StateMatrix', Hx,... -% 'StateRHS', hx ... -% ) - - -% params.model = [params.model new_model_struct]; -% params.constraints = [params.constraints, new_constr_struct]; - -end |