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_cost.m | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) create mode 100644 Submission files/traj_cost.m (limited to 'Submission files/traj_cost.m') diff --git a/Submission files/traj_cost.m b/Submission files/traj_cost.m new file mode 100644 index 0000000..57566c9 --- /dev/null +++ b/Submission files/traj_cost.m @@ -0,0 +1,17 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 J_Nt = traj_cost(Xt,Ut,Q,R) + % YOUR CODE HERE + J_Nt=0; + for i=1:length(Xt(1,:))-1 + a= Xt(:,i)'*Q*Xt(:,i); + b= Ut(:,i)'*R*Ut(:,i); + J_Nt=J_Nt+a+b; + end +end \ No newline at end of file -- cgit v1.2.1