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PythonLinearNonlinearControl
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add iterative mpc

This commit is contained in:
Shunichi09 2019-02-08 01:32:35 +09:00
parent bf703611bd
commit 10b5b9011a
1 changed files with 1 additions and 1 deletions
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2
mpc/with_disturbance/main_track.py
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@ -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)