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| author | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-11 15:19:21 +0200 |
|---|---|---|
| committer | YanzhenXiangRobotics <xyz000327@gmail.com> | 2023-05-11 15:19:21 +0200 |
| commit | d1de80f7885f67b38f19e5bd6ebbc5765b7fc650 (patch) | |
| tree | ba5f3ae0c83c865433715c183bad16ee48c83596 /templates | |
| parent | Merge remote-tracking branch 'origin/yanzhen' into yanzhen (diff) | |
| download | mpc_pe-d1de80f7885f67b38f19e5bd6ebbc5765b7fc650.tar.gz mpc_pe-d1de80f7885f67b38f19e5bd6ebbc5765b7fc650.zip | |
ADD: 29 raw
Diffstat (limited to 'templates')
| -rw-r--r-- | templates/compute_tightening.m | 17 |
1 files changed, 17 insertions, 0 deletions
diff --git a/templates/compute_tightening.m b/templates/compute_tightening.m index 8919d12..2bf06a4 100644 --- a/templates/compute_tightening.m +++ b/templates/compute_tightening.m @@ -8,4 +8,21 @@ function params = compute_tightening(K_tube,H_tube,h_tube,params) % YOUR CODE HERE + Hx = params.constraints.StateMatrix; + hx = params.constraints.StateRHS; + + Hu = params.constraints.InputMatrix; + hu = params.constraints.InputRHS; + + Pxz = Polyhedron('A',Hx,'b',hx); + Puz = Polyhedron('A',Hu,'b',hu); + % Ptube = Polyhedron('A',H_tube,'b',h_tube); + + Px_tube = Pxz.minus(Polyhedron('A',H_tube,'b',h_tube)); + params.constraints.StateMatrix = Px_tube.A; + params.constraints.StateRHS = Px_tube.b; + + Pu_tube = Puz.minus(Polyhedron('A',H_tube*K_tube,'b',h_tube)); + params.constraints.InputMatrix = Pu_tube.A; + params.constraints.InputRHS = Pu_tube.b; end
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