From 3d6ef58ff1edee6d882a8d9cbe97625ff26afe6e Mon Sep 17 00:00:00 2001 From: YanzhenXiangRobotics Date: Wed, 10 May 2023 23:30:01 +0200 Subject: Revert to handout --- templates/generate_constraints.m | 14 -------------- 1 file changed, 14 deletions(-) (limited to 'templates/generate_constraints.m') diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m index 008f50c..892b706 100644 --- a/templates/generate_constraints.m +++ b/templates/generate_constraints.m @@ -8,18 +8,4 @@ function [H_u, h_u, H_x, h_x] = generate_constraints(params) % YOUR CODE HERE - u_max = params.constraints.MaxAbsThrust; - h_u = u_max * ones(6,1); - H_u = [eye(3);-eye(3)]; - - 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]; end \ No newline at end of file -- cgit v1.2.1