From 9d66cd2d4929745d40e175073d6811a2785240d2 Mon Sep 17 00:00:00 2001
From: Shunichi09 <quick1st97@gmail.com>
Date: Sat, 25 May 2019 17:46:17 +0900
Subject: [PATCH] fix bug of ilqr

---
 ilqr/ilqr.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/ilqr/ilqr.py b/ilqr/ilqr.py
index 8466069..21a0c16 100644
--- a/ilqr/ilqr.py
+++ b/ilqr/ilqr.py
@@ -312,14 +312,12 @@ class iLQRController():
                     
                     (l[t], l_x[t], l_xx[t], l_u[t], l_uu[t], l_ux[t]) = self.cost(X[t], U[t])
                     
-                    """ # we consider this part in cost function.
                     l[t] *= self.dt
                     l_x[t] *= self.dt
                     l_xx[t] *= self.dt
                     l_u[t] *= self.dt
                     l_uu[t] *= self.dt
                     l_ux[t] *= self.dt
-                    """
 
                 # and for final state
                 l[-1], l_x[-1], l_xx[-1] = self.cost_final(X[-1])