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Diffstat (limited to '')
| -rw-r--r-- | templates/traj_constraints.m | 31 |
1 files changed, 0 insertions, 31 deletions
diff --git a/templates/traj_constraints.m b/templates/traj_constraints.m index d5e0c65..4b0a081 100644 --- a/templates/traj_constraints.m +++ b/templates/traj_constraints.m @@ -8,36 +8,5 @@ function [s_max, y_max, u_max, J_u, df_max, vf_max, traj_feas] = traj_constraints(x,u,params) % YOUR CODE HERE - traj_feas = true; - % timesteps = params.model.TimeStep; - size_u = size(u); - timesteps = size_u(end); - s_max = max(max(abs(x(1,:))),max(abs(x(3,:)))); - y_max = max(abs(x(2,:))); - u_max = max(abs(u)); - J_u = 0; - % fprintf("timestep: %s\n\n\n",timesteps); -% fprintf("u shape: %s\n\n\n",size(u)); - % display(size(x)) - for k = 1:timesteps - 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)); - if s_max > params.constraints.MaxAbsPositionXZ - traj_feas = false; - end - if y_max > params.constraints.MaxAbsPositionY - traj_feas = false; - end - if u_max > params.constraints.MaxAbsThrust - traj_feas = false; - end - if df_max > params.constraints.MaxFinalPosDiff - traj_feas = false; - end - if vf_max > params.constraints.MaxFinalVelDiff - traj_feas = false; - end end |