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PythonLinearNonlinearControl
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fix bug of ilqr

This commit is contained in:
Shunichi09 2019-05-25 17:46:17 +09:00
parent a9f1f0da8e
commit 9d66cd2d49
1 changed files with 0 additions and 2 deletions
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2
ilqr/ilqr.py
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@ -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]) (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[t] *= self.dt
l_x[t] *= self.dt l_x[t] *= self.dt
l_xx[t] *= self.dt l_xx[t] *= self.dt
l_u[t] *= self.dt l_u[t] *= self.dt
l_uu[t] *= self.dt l_uu[t] *= self.dt
l_ux[t] *= self.dt l_ux[t] *= self.dt
"""
# and for final state # and for final state
l[-1], l_x[-1], l_xx[-1] = self.cost_final(X[-1]) l[-1], l_x[-1], l_xx[-1] = self.cost_final(X[-1])