From 55a42b2be769bbfbd5b697338c6729f06a3d17cc Mon Sep 17 00:00:00 2001 From: YanzhenXiangRobotics Date: Tue, 25 Apr 2023 20:28:44 +0200 Subject: ADD: pass system modeling test --- templates/generate_constraints.m | 8 ++++++++ 1 file changed, 8 insertions(+) (limited to 'templates/generate_constraints.m') diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m index 892b706..f87ac26 100644 --- a/templates/generate_constraints.m +++ b/templates/generate_constraints.m @@ -8,4 +8,12 @@ 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)]; end \ No newline at end of file -- cgit v1.2.1