From a23ba49056a36aff221d0c23e228b981222c3576 Mon Sep 17 00:00:00 2001 From: Yuan Xu Date: Wed, 24 May 2023 17:35:46 +0200 Subject: add submission zip --- Submission files/generate_constraints.m | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) create mode 100644 Submission files/generate_constraints.m (limited to 'Submission files/generate_constraints.m') diff --git a/Submission files/generate_constraints.m b/Submission files/generate_constraints.m new file mode 100644 index 0000000..e2e4357 --- /dev/null +++ b/Submission files/generate_constraints.m @@ -0,0 +1,16 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich. +% +% All rights reserved. +% +% Please see the LICENSE file that has been included as part of this package. +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function [H_u, h_u, H_x, h_x] = generate_constraints(params) + H_u = [eye(params.model.nu); -eye(params.model.nu)]; + h_u = params.constraints.MaxAbsThrust * ones(params.model.nu*2,1); + + H_x = [eye(3), zeros(3); -eye(3), zeros(3)]; % * inv(params.model.ScalingMatrix); + h_x = params.constraints.MaxAbsPositionXZ * [1, 0, 1, 1, 0, 1].' + ... + params.constraints.MaxAbsPositionY * [0, 1, 0, 0, 1, 0].'; +end \ No newline at end of file -- cgit v1.2.1