Revert to handout

1 files changed, 0 insertions, 50 deletions

diff --git a/templates/lqr_tuning.m b/templates/lqr_tuning.m
index dc7161b..4a26158 100644
--- a/templates/lqr_tuning.m
+++ b/templates/lqr_tuning.m
@@ -8,54 +8,4 @@
 
 function [tuning_struct, i_opt] = lqr_tuning(x0,Q,params)
     % YOUR CODE HERE
-    R = eye(params.model.nu);
-    size_Q = size(Q);
-    param_choices = size_Q(2);
-    J_array = [];
-    tuning_struct = [];
-    for i = 1:param_choices
-        Q_mat = diag(Q(:,i));
-        ctrl = LQR(Q_mat,R,params);
-        [Xt, Ut, ~] = simulate(x0, ctrl, params);
-        [s_max, y_max, u_max, J_u, df_max, vf_max, traj_feas] = traj_constraints(Xt,Ut,params);
-        % YOUR CODE HERE
-        % ctrl_feas_arr = [];
-        % for k = 1:params.model.HorizonLength
-        %     ctrl_feas_arr = [ctrl_feas_arr,ctrl_info(k).ctrl_feas];
-        % end
-        % if all(ctrl_feas_arr)
-        %     J = 0;
-        %     for j = 1:params.model.HorizonLength
-        %         J = J + Xt(:,j)'*Q_mat*Xt(:,j);
-        %         J = J + Ut(:,j)'*R*Ut(:,j);
-        %     end
-        %     J = J + Xt(:,end)'*Q_mat*Xt(:,end);
-        %     J_array = [J_array, J];
-        %     tuning_struct_item.TrajFeasible = true;
-        % else
-        %     tuning_struct_item.TrajFeasible = false;
-        % end
-        tuning_struct_item.InitialCondition = x0;
-        tuning_struct_item.Qdiag = Q(:,i);
-        tuning_struct_item.MaxAbsPositionXZ = s_max;
-        tuning_struct_item.MaxAbsPositionY = y_max;
-        tuning_struct_item.MaxAbsThrust = u_max;
-        tuning_struct_item.InputCost = J_u;
-        tuning_struct_item.MaxFinalPosDiff = df_max;
-        tuning_struct_item.MaxFinalVelDiff = vf_max;
-        tuning_struct_item.TrajFeasible = traj_feas;
-
-        if traj_feas
-            J_array = [J_array, J_u];
-        end
-
-        tuning_struct = [tuning_struct,tuning_struct_item];
-    end
-%     display(J_array)
-    tuning_struct = tuning_struct'; 
-    if isempty(J_array)
-        i_opt = nan;
-    else
-        [~, i_opt] = min(J_array);
-    end
 end
\ No newline at end of file