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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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 [H_u, h_u, H_x, h_x] = generate_constraints(params)
% YOUR CODE HERE
u_max = params.constraints.MaxAbsThrust;
h_u = u_max * ones(6,1);
H_u = [eye(3);-eye(3)];
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];
end
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