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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-10 23:30:01 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-10 23:30:01 +0200 |
| commit | 3d6ef58ff1edee6d882a8d9cbe97625ff26afe6e (patch) | |
| tree | 070832993dd8b63ee2aa70ee6f611d4d139f1d65 /templates/simulate.m | |
| parent | Revert mistakenly pushed to master (diff) | |
| download | mpc_pe-3d6ef58ff1edee6d882a8d9cbe97625ff26afe6e.tar.gz mpc_pe-3d6ef58ff1edee6d882a8d9cbe97625ff26afe6e.zip | |
Revert to handout
Diffstat (limited to 'templates/simulate.m')
| -rw-r--r-- | templates/simulate.m | 15 |
1 files changed, 0 insertions, 15 deletions
diff --git a/templates/simulate.m b/templates/simulate.m index 6100434..3138cd1 100644 --- a/templates/simulate.m +++ b/templates/simulate.m @@ -10,20 +10,5 @@ function [Xt,Ut,ctrl_info] = simulate(x0, ctrl, params) % YOUR CODE HERE % Hint: you can access the control command with ctrl.eval(x(:,i)) - Xt = [x0]; - Ut = []; - x = x0 - ctrl_info = []; - % obj = LQR(); - for i = 1:params.model.HorizonLength - [u, ctrl_info_] = ctrl.eval(x); - Ut = [Ut u]; - ctrl_info = [ctrl_info ctrl_info_]; - x = params.model.A*x + params.model.B*u; - Xt = [Xt x]; - end - plot_trajectory(Xt, Ut, ctrl_info, params); -% Ut = u; -% Xt = x; end
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