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| author | YanzhenXiang <54230111+YanzhenXiangRobotics@users.noreply.github.com> | 2023-11-06 16:49:26 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-11-06 16:49:26 +0100 |
| commit | d6b96c55ebb89ebd6e2d990ec89122799c68a230 (patch) | |
| tree | 7a837438da9e07a5e77658c6d882577fff8bcae1 /templates/traj_constraints.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/traj_constraints.m | 28 |
1 files changed, 28 insertions, 0 deletions
diff --git a/templates/traj_constraints.m b/templates/traj_constraints.m index 4b0a081..69d19d3 100644 --- a/templates/traj_constraints.m +++ b/templates/traj_constraints.m @@ -8,5 +8,33 @@ function [s_max, y_max, u_max, J_u, df_max, vf_max, traj_feas] = traj_constraints(x,u,params) % YOUR CODE HERE + + s_max = max(max(abs(x([1,3],:)))); + y_max = max(abs(x(2,:))); + u_max = max(max(abs(u))); + + J_u = 0; + for k=1:size(u,2) + J_u = J_u + u(:,k)' * u(:,k); + end + + df_max = sqrt(sum(x(1:3,end).^2)); + vf_max = sqrt(sum(x(4:6,end).^2)); + + constr = [ + s_max <= params.constraints.MaxAbsPositionXZ, ... + y_max <= params.constraints.MaxAbsPositionY, ... + u_max <= params.constraints.MaxAbsThrust, ... + df_max <= params.constraints.MaxFinalPosDiff, ... + vf_max <= params.constraints.MaxFinalVelDiff + ]; + + % disp([s_max, y_max, df_max, vf_max]) + % disp([params.constraints.MaxAbsPositionXZ, ... + % params.constraints.MaxAbsPositionY, ... + % params.constraints.MaxFinalPosDiff, ... + % params.constraints.MaxFinalVelDiff]) + % disp(constr') + traj_feas = all(constr); end |