From 10b5b9011a1e9ec87f21b3b28eec264861cab7aa Mon Sep 17 00:00:00 2001 From: Shunichi09 Date: Fri, 8 Feb 2019 01:32:35 +0900 Subject: [PATCH] add iterative mpc --- mpc/with_disturbance/main_track.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mpc/with_disturbance/main_track.py b/mpc/with_disturbance/main_track.py index e3b0477..01190b5 100644 --- a/mpc/with_disturbance/main_track.py +++ b/mpc/with_disturbance/main_track.py @@ -265,7 +265,7 @@ def main(): R = np.diag([0.01]) # System model update - V = 2.0 # in pratical we should calc from the state + V = 4.0 # in pratical we should calc from the state lead_car_system_model.calc_predict_sytem_model(V, curvatures, PREDICT_STEP) follow_car_system_model.calc_predict_sytem_model(V, curvatures, PREDICT_STEP)