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/simulate.m | 15 --------------- 1 file changed, 15 deletions(-) (limited to 'templates/simulate.m') diff --git a/templates/simulate.m b/templates/simulate.m index 6100434..3138cd1 100644 --- a/templates/simulate.m +++ b/templates/simulate.m @@ -10,20 +10,5 @@ function [Xt,Ut,ctrl_info] = simulate(x0, ctrl, params) % YOUR CODE HERE % Hint: you can access the control command with ctrl.eval(x(:,i)) - Xt = [x0]; - Ut = []; - x = x0 - ctrl_info = []; - % obj = LQR(); - for i = 1:params.model.HorizonLength - [u, ctrl_info_] = ctrl.eval(x); - Ut = [Ut u]; - ctrl_info = [ctrl_info ctrl_info_]; - x = params.model.A*x + params.model.B*u; - Xt = [Xt x]; - end - plot_trajectory(Xt, Ut, ctrl_info, params); -% Ut = u; -% Xt = x; end \ No newline at end of file -- cgit v1.2.1