From 4a7a45ea55ecd4d4f1bafec34f55902dbefc363d Mon Sep 17 00:00:00 2001 From: Nao Pross Date: Wed, 24 May 2023 16:17:59 +0200 Subject: Take deliverables for system modelling from npross According to table 3 that is - generate_system_cont - generate_system - generate_system_scaled - generate_contraints - generate_params --- templates/generate_constraints.m | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) (limited to 'templates/generate_constraints.m') diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m index 892b706..e2e4357 100644 --- a/templates/generate_constraints.m +++ b/templates/generate_constraints.m @@ -7,5 +7,10 @@ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% function [H_u, h_u, H_x, h_x] = generate_constraints(params) - % YOUR CODE HERE + 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