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| author | Yuan Xu <yuanxu@student.ethz.ch> | 2023-05-07 21:10:45 +0200 |
|---|---|---|
| committer | Yuan Xu <yuanxu@student.ethz.ch> | 2023-05-07 21:10:45 +0200 |
| commit | ce14ae31fcb13362ff341e54ace5dccc4f94c095 (patch) | |
| tree | b082d1e3201b40a73e9dbb4f124708e752941468 /templates/traj_cost.m | |
| parent | ADD: progress log (diff) | |
| download | mpc_pe-ce14ae31fcb13362ff341e54ace5dccc4f94c095.tar.gz mpc_pe-ce14ae31fcb13362ff341e54ace5dccc4f94c095.zip | |
update 15,16 and modify generate_constraints.m
Diffstat (limited to '')
| -rw-r--r-- | templates/traj_cost.m | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/templates/traj_cost.m b/templates/traj_cost.m index 7e0b443..57566c9 100644 --- a/templates/traj_cost.m +++ b/templates/traj_cost.m @@ -8,4 +8,10 @@ function J_Nt = traj_cost(Xt,Ut,Q,R) % YOUR CODE HERE + J_Nt=0; + for i=1:length(Xt(1,:))-1 + a= Xt(:,i)'*Q*Xt(:,i); + b= Ut(:,i)'*R*Ut(:,i); + J_Nt=J_Nt+a+b; + end end
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