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Commit 0eeaf7a0 authored by roangel's avatar roangel

Changes left on Teacher Computer after completetion of thesis, this commit was performed by Paul.

parent c4512715
1,PPS_CF01,0/0/2M/E7E7E7E701,0,-0.62,-0.63,-0.2,0.7,0.83,1.2
1,PPS_CF02,0/8/2M/E7E7E7E702,0,-1.11,-1.09,-0.2,5.14,1.05,1.2
......@@ -202,7 +202,7 @@ VectorXtype x0;
std::mutex MPC_mutex;
int N = 10;
int N = 2;
// ROS Publisher for debugging variables
......@@ -521,8 +521,8 @@ void do_MPC(int* publish_rate)
MPC_mutex.unlock();
// Do the MPC step:
// U_0 = mympc_varying_another_ADP(A_tray, B_tray, g_tray, Q, R, P, N, x0_local, X_ref, U_ref, 0, 0.1391*4, 0.7887);
U_0 = mympc_varying_another(A_tray, B_tray, g_tray, Q, R, P, N, x0_local, X_ref, U_ref, 0, 0.1391*4, 0.7887);
U_0 = mympc_varying_another_ADP(A_tray, B_tray, g_tray, Q, R, P, N, x0_local, X_ref, U_ref, 0, 0.1391*4, 0.7887);
// U_0 = mympc_varying_another(A_tray, B_tray, g_tray, Q, R, P, N, x0_local, X_ref, U_ref, 0, 0.1391*4, 0.7887);
VectorUtype u = U_0.tail(4); // this is the input to apply next
// prediction of next N states:
......
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