From 2be9f8ec42ca8bcd765804c070e246f6f5e4805d Mon Sep 17 00:00:00 2001
From: YanzhenXiangRobotics <xyz000327@gmail.com>
Date: Mon, 1 May 2023 21:36:59 +0200
Subject: ADD: not using traj_constr version (not correct)

---
 templates/lqr_tuning.asv | 50 ++++++++++++++++++++++++++++++++++++++++++++++++
 templates/lqr_tuning.m   | 42 ++++++++++++++++++++++++++++++++++++++++
 2 files changed, 92 insertions(+)
 create mode 100644 templates/lqr_tuning.asv

(limited to 'templates')

diff --git a/templates/lqr_tuning.asv b/templates/lqr_tuning.asv
new file mode 100644
index 0000000..71c92ef
--- /dev/null
+++ b/templates/lqr_tuning.asv
@@ -0,0 +1,50 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+function [tuning_struct, i_opt] = lqr_tuning(x0,Q,params)
+    % YOUR CODE HERE
+    R = eye(params.model.nu);
+    size_Q = size(Q);
+    param_choices = size_Q(2);
+    J_array = [];
+    for i = 1:param_choices
+        Q_mat = diag(Q(:,i));
+        ctrl = LQR(Q_mat,R,params);
+        [Xt, Ut, ctrl_info] = simulate(x0, ctrl, params);
+        ctrl_feas_arr = [];
+        for k = 1:params.model.HorizonLength
+            ctrl_feas_arr = [ctrl_feas_arr,ctrl_info(k).ctrl_feas];
+        end
+%         display(ctrl_feas_arr);
+        if all(ctrl_feas_arr)
+            J = 0;
+            for j = 1:params.model.HorizonLength
+                J = J + Xt(:,j)'*Q_mat*Xt(:,j);
+                J = J + Ut(:,j)'*R*Ut(:,j);
+            end
+            J = J + Xt(:,end)'*Q_mat*Xt(:,end);
+            J_array = [J_array, J];
+        end
+    end
+%     display(J_array)
+    if isempty(J_array)
+        i_opt = nan;
+        tuning_struct.TrajFeasible = false;
+    else
+        [~, i_opt] = min(J_array);
+    end
+    tuning_struct.TrajFeasible = true;
+    tuning_struct.InitialCondition = x0;
+    tuning_struct.Qdiag = Q(:,i_opt);
+    tuning_struct.MaxAbsPositionXZ = params.constraints.MaxAbsPositionXZ;
+    tuning_struct.MaxAbsPositionY = params.constraints.MaxAbsPositionY;
+    tuning_struct.MaxAbsThrust = params.constraints.MaxAbsThrust;
+    tuning_struct.InputCost = J_
+    tuning_struct.MaxFinalPosDiff = params.constraints.MaxFinalPosDiff;
+    tuning_struct.MaxFinalVelDiff = params.constraints.MaxFinalVelDiff;
+end
\ No newline at end of file
diff --git a/templates/lqr_tuning.m b/templates/lqr_tuning.m
index 4a26158..8e6edc1 100644
--- a/templates/lqr_tuning.m
+++ b/templates/lqr_tuning.m
@@ -8,4 +8,46 @@
 
 function [tuning_struct, i_opt] = lqr_tuning(x0,Q,params)
     % YOUR CODE HERE
+    R = eye(params.model.nu);
+    size_Q = size(Q);
+    param_choices = size_Q(2);
+    J_array = [];
+    tuning_struct = [];
+    for i = 1:param_choices
+        Q_mat = diag(Q(:,i));
+        ctrl = LQR(Q_mat,R,params);
+        [Xt, Ut, ctrl_info] = simulate(x0, ctrl, params);
+        ctrl_feas_arr = [];
+        for k = 1:params.model.HorizonLength
+            ctrl_feas_arr = [ctrl_feas_arr,ctrl_info(k).ctrl_feas];
+        end
+        if all(ctrl_feas_arr)
+            J = 0;
+            for j = 1:params.model.HorizonLength
+                J = J + Xt(:,j)'*Q_mat*Xt(:,j);
+                J = J + Ut(:,j)'*R*Ut(:,j);
+            end
+            J = J + Xt(:,end)'*Q_mat*Xt(:,end);
+            J_array = [J_array, J];
+            tuning_struct_item.TrajFeasible = true;
+        else
+            tuning_struct_item.TrajFeasible = false;
+        end
+        tuning_struct_item.InitialCondition = x0;
+        tuning_struct_item.Qdiag = Q(:,i);
+        tuning_struct_item.MaxAbsPositionXZ = params.constraints.MaxAbsPositionXZ;
+        tuning_struct_item.MaxAbsPositionY = params.constraints.MaxAbsPositionY;
+        tuning_struct_item.MaxAbsThrust = params.constraints.MaxAbsThrust;
+        tuning_struct_item.InputCost = J_array(i);
+        tuning_struct_item.MaxFinalPosDiff = params.constraints.MaxFinalPosDiff;
+        tuning_struct_item.MaxFinalVelDiff = params.constraints.MaxFinalVelDiff;
+        tuning_struct = [tuning_struct,tuning_struct_item];
+    end
+%     display(J_array)
+    tuning_struct = tuning_struct'; 
+    if isempty(J_array)
+        i_opt = nan;
+    else
+        [~, i_opt] = min(J_array);
+    end
 end
\ No newline at end of file
-- 
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