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/traj_constraints.m | 40 +++++++++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) create mode 100644 Submission files/traj_constraints.m (limited to 'Submission files/traj_constraints.m') diff --git a/Submission files/traj_constraints.m b/Submission files/traj_constraints.m new file mode 100644 index 0000000..69d19d3 --- /dev/null +++ b/Submission files/traj_constraints.m @@ -0,0 +1,40 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 [s_max, y_max, u_max, J_u, df_max, vf_max, traj_feas] = traj_constraints(x,u,params) + % YOUR CODE HERE + + s_max = max(max(abs(x([1,3],:)))); + y_max = max(abs(x(2,:))); + u_max = max(max(abs(u))); + + J_u = 0; + for k=1:size(u,2) + 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)); + + constr = [ + s_max <= params.constraints.MaxAbsPositionXZ, ... + y_max <= params.constraints.MaxAbsPositionY, ... + u_max <= params.constraints.MaxAbsThrust, ... + df_max <= params.constraints.MaxFinalPosDiff, ... + vf_max <= params.constraints.MaxFinalVelDiff + ]; + + % disp([s_max, y_max, df_max, vf_max]) + % disp([params.constraints.MaxAbsPositionXZ, ... + % params.constraints.MaxAbsPositionY, ... + % params.constraints.MaxFinalPosDiff, ... + % params.constraints.MaxFinalVelDiff]) + % disp(constr') + traj_feas = all(constr); +end + -- cgit v1.2.1