From d1de80f7885f67b38f19e5bd6ebbc5765b7fc650 Mon Sep 17 00:00:00 2001 From: YanzhenXiangRobotics Date: Thu, 11 May 2023 15:19:21 +0200 Subject: ADD: 29 raw --- templates/compute_tightening.m | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) (limited to 'templates') diff --git a/templates/compute_tightening.m b/templates/compute_tightening.m index 8919d12..2bf06a4 100644 --- a/templates/compute_tightening.m +++ b/templates/compute_tightening.m @@ -8,4 +8,21 @@ function params = compute_tightening(K_tube,H_tube,h_tube,params) % YOUR CODE HERE + Hx = params.constraints.StateMatrix; + hx = params.constraints.StateRHS; + + Hu = params.constraints.InputMatrix; + hu = params.constraints.InputRHS; + + Pxz = Polyhedron('A',Hx,'b',hx); + Puz = Polyhedron('A',Hu,'b',hu); + % Ptube = Polyhedron('A',H_tube,'b',h_tube); + + Px_tube = Pxz.minus(Polyhedron('A',H_tube,'b',h_tube)); + params.constraints.StateMatrix = Px_tube.A; + params.constraints.StateRHS = Px_tube.b; + + Pu_tube = Puz.minus(Polyhedron('A',H_tube*K_tube,'b',h_tube)); + params.constraints.InputMatrix = Pu_tube.A; + params.constraints.InputRHS = Pu_tube.b; end \ No newline at end of file -- cgit v1.2.1