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author | YanzhenXiang <54230111+YanzhenXiangRobotics@users.noreply.github.com> | 2023-11-06 16:49:26 +0100 |
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committer | GitHub <noreply@github.com> | 2023-11-06 16:49:26 +0100 |
commit | d6b96c55ebb89ebd6e2d990ec89122799c68a230 (patch) | |
tree | 7a837438da9e07a5e77658c6d882577fff8bcae1 /templates/simulate_uncertain.m | |
parent | Update 23 (diff) | |
parent | update the new submission zip generated from npross branch (diff) | |
download | mpc_pe-master.tar.gz mpc_pe-master.zip |
Submission
Diffstat (limited to '')
-rw-r--r-- | templates/simulate_uncertain.m | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/templates/simulate_uncertain.m b/templates/simulate_uncertain.m index dc9df26..f74f7af 100644 --- a/templates/simulate_uncertain.m +++ b/templates/simulate_uncertain.m @@ -8,4 +8,17 @@ function [Xt,Ut,ctrl_info] = simulate_uncertain(x0, ctrl, Wt, params) % YOUR CODE HERE + 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 + Wt(:,i); + Xt = [Xt x]; + end + % plot_trajectory(Xt, Ut, ctrl_info, params); end
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