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Commit bb1a07b2 authored by elokdae's avatar elokdae
Browse files

Commit with final parameters

parent 5de8fd06
This diff is collapsed.
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......@@ -113,12 +113,12 @@ Q : [40.0, 40.0, 40.0, 0.0, 0.0, 0.0, 0.0, 0.0, 40.0]
R : [160.0, 4.0, 4.0, 2.0]
# Terminal output cost matrix diagonal entries (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
P : [657.21, 657.21, 355.26, 96.92, 96.92, 18.77, 629.60, 629.60, 244.50]
#P : [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
#P : [657.21, 657.21, 355.26, 96.92, 96.92, 18.77, 629.60, 629.60, 244.50]
P : [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
# Regularization parameters
#lambda2_g : 600.0
lambda2_g : 0.001
lambda2_g : 400.0
#lambda2_g : 0.001
lambda2_s : 100000000.0
# Output constraints (x, y, z, x_dot, y_dot, z_dot, roll, pitch, yaw)
......@@ -133,7 +133,7 @@ input_max : [0.4791, 1.5708, 1.5708, 1.5708]
solver : osqp
opt_sparse : true
opt_verbose : false
opt_steady_state : true # Available in sparse formulation only, ignored otherwise
opt_steady_state : false # Available in sparse formulation only, ignored otherwise
# Parameters specific to Gurobi
grb_LogToFile : false
......
......@@ -1202,7 +1202,7 @@ void update_uini_yini(Controller::Request &request, control_output &output)
// Get u_data from file
MatrixXf get_u_data()
{
MatrixXf u_data_in = read_csv(d_dataFolder + "/u_data.csv");
MatrixXf u_data_in = read_csv(d_dataFolder + "/output/m_u_data.csv");
if (u_data_in.size() <= 0)
{
clear_setupDeepc_success_flag();
......@@ -1224,7 +1224,7 @@ MatrixXf get_u_data()
// Get y_data from file
MatrixXf get_y_data()
{
MatrixXf y_data_in = read_csv(d_dataFolder + "/y_data.csv");
MatrixXf y_data_in = read_csv(d_dataFolder + "/output/m_y_data.csv");
if (y_data_in.size() <= 0)
{
clear_setupDeepc_success_flag();
......
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