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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/traj_cost.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/traj_cost.m')
| -rw-r--r-- | templates/traj_cost.m | 6 |
1 files changed, 0 insertions, 6 deletions
diff --git a/templates/traj_cost.m b/templates/traj_cost.m index 57566c9..7e0b443 100644 --- a/templates/traj_cost.m +++ b/templates/traj_cost.m @@ -8,10 +8,4 @@ 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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