Update mpc_demo_nosim.py

2023-10-12 22:06:01 +01:00 · 2023-10-12 22:06:01 +01:00 · 1cfcbc1077
parent 12ffa4b9b3
commit 1cfcbc1077
1 changed files with 1 additions and 1 deletions
--- a/mpc_pybullet_demo/mpc_demo_nosim.py
+++ b/mpc_pybullet_demo/mpc_demo_nosim.py
@ -38,7 +38,7 @@ class MPCSim:
        self.K = int(params.T / params.DT)
        self.opt_u = np.zeros((params.M, self.K))

-        # Cost Matrices
+        # Weights for Cost Matrices
        Q = [20, 20, 10, 20]  # state error cost
        Qf = [30, 30, 30, 30]  # state final error cost
        R = [10, 10]  # input cost