diff options
Diffstat (limited to '')
| -rw-r--r-- | templates/generate_constraints.m | 8 |
1 files changed, 1 insertions, 7 deletions
diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m index 008f50c..a9f88fe 100644 --- a/templates/generate_constraints.m +++ b/templates/generate_constraints.m @@ -15,11 +15,5 @@ function [H_u, h_u, H_x, h_x] = generate_constraints(params) s_max = params.constraints.MaxAbsPositionXZ; y_max = params.constraints.MaxAbsPositionY; h_x = [s_max;y_max;s_max;s_max;y_max;s_max]; -% H_x = [eye(3);-eye(3)]; - H_x=[1,0,0,0,0,0; - 0,1,0,0,0,0; - 0,0,1,0,0,0; - -1,0,0,0,0,0; - 0,-1,0,0,0,0; - 0,0,-1,0,0,0]; + H_x=[eye(3),zeros(3);-eye(3),zeros(3)]; end
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