blob: f87ac26cd7df6f2297fe3cc9545eaafad869b77e (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 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)];
end
|
