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Commit 14fcbaed authored by roangel's avatar roangel
Browse files

commented a bit for future work

parent 8e882e10
......@@ -318,6 +318,9 @@ VectorXd mympc_varying_another(std::vector<MatrixAtype> A_tray, std::vector<Matr
VectorXd solve_QP(Eigen::MatrixXd H, Eigen::MatrixXd F)
{
// H is assumed to be symmetric. There is NO 0.5 factor anywhere, with this we solve:
// min(x'Hx + F'x)
int size_H = H.cols();
std::vector<int> q_row;
......
......@@ -775,7 +775,7 @@ void setpointCallback(const Setpoint& newSetpoint)
U_ref.segment(i*N_u, N_u) = u_ref;
}
mympc_varying_another(A_tray, B_tray, g_tray, Q, R, P, N, x0, X_ref, U_ref, 0, 0, 0);
Eigen::VectorXd U_0 = mympc_varying_another(A_tray, B_tray, g_tray, Q, R, P, N, x0, X_ref, U_ref, 0, 0, 0);
}
......
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