From 5534819d900059cc160c8297fe76b7184de08527 Mon Sep 17 00:00:00 2001 From: Sravan Balaji Date: Sun, 12 Dec 2021 16:03:27 -0500 Subject: [PATCH] File Renaming / Reorganization & Minor Changes - Add 1/2 coefficient to cost function - Move `MPC_Class.m` to "Deliverables" folder - Modify `part2_test_controller.m` plotting style a bit - Rename `part2_MPC_controller.m` to `sravan_MPC_controller.m` --- {Experimentation => Deliverables}/MPC_Class.m | 2 +- Experimentation/part2_test_controller.m | 14 +++++++++----- ...t2_MPC_controller.m => sravan_MPC_controller.m} | 0 3 files changed, 10 insertions(+), 6 deletions(-) rename {Experimentation => Deliverables}/MPC_Class.m (99%) rename Experimentation/{part2_MPC_controller.m => sravan_MPC_controller.m} (100%) diff --git a/Experimentation/MPC_Class.m b/Deliverables/MPC_Class.m similarity index 99% rename from Experimentation/MPC_Class.m rename to Deliverables/MPC_Class.m index 981e652..1456c69 100644 --- a/Experimentation/MPC_Class.m +++ b/Deliverables/MPC_Class.m @@ -200,7 +200,7 @@ classdef MPC_Class H = diag(H); % Evaluate cost function (quadratic function) - J = Z_err.' * H * Z_err; + J = 0.5 * Z_err.' * H * Z_err; end end diff --git a/Experimentation/part2_test_controller.m b/Experimentation/part2_test_controller.m index fd45817..f8e816c 100644 --- a/Experimentation/part2_test_controller.m +++ b/Experimentation/part2_test_controller.m @@ -9,13 +9,17 @@ info = getTrajectoryInfo(Y,U) %% Figures % Plot segmented trajectory for debugging purposes +close all; figure(1) hold on; grid on; -plot(Y(:,1), Y(:,3), '-'); - load('TestTrack.mat') -plot(TestTrack.bl(1,:), TestTrack.bl(2,:), '--r'); -plot(TestTrack.br(1,:), TestTrack.br(2,:), '--r'); -plot(TestTrack.cline(1,:), TestTrack.cline(2,:), '-.g'); \ No newline at end of file +load('ROB535_ControlProject_part1_Team3.mat') + +plot(Y(:,1), Y(:,3), 'b-'); +plot(ROB535_ControlProject_part1_state(:,1), ROB535_ControlProject_part1_state(:,3), 'k-'); + +plot(TestTrack.bl(1,:), TestTrack.bl(2,:), 'r.-'); +plot(TestTrack.br(1,:), TestTrack.br(2,:), 'r.-'); +plot(TestTrack.cline(1,:), TestTrack.cline(2,:), 'g.-'); \ No newline at end of file diff --git a/Experimentation/part2_MPC_controller.m b/Experimentation/sravan_MPC_controller.m similarity index 100% rename from Experimentation/part2_MPC_controller.m rename to Experimentation/sravan_MPC_controller.m