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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 [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
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