From feb6ec844cf2d0cdb07acd609615675141e2706a Mon Sep 17 00:00:00 2001 From: Yuan Xu Date: Thu, 11 May 2023 12:00:59 +0200 Subject: update previous files --- templates/generate_constraints.m | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) (limited to 'templates/generate_constraints.m') diff --git a/templates/generate_constraints.m b/templates/generate_constraints.m index 008f50c..a9f88fe 100644 --- a/templates/generate_constraints.m +++ b/templates/generate_constraints.m @@ -15,11 +15,5 @@ function [H_u, h_u, H_x, h_x] = generate_constraints(params) 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]; + H_x=[eye(3),zeros(3);-eye(3),zeros(3)]; end \ No newline at end of file -- cgit v1.2.1