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Update mpc_demo_nosim.py

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mcarfagno 2023-10-12 22:06:01 +01:00 committed by GitHub
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mpc_pybullet_demo/mpc_demo_nosim.py
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@ -38,7 +38,7 @@ class MPCSim:
self.K = int(params.T / params.DT) self.K = int(params.T / params.DT)
self.opt_u = np.zeros((params.M, self.K)) self.opt_u = np.zeros((params.M, self.K))
# Cost Matrices # Weights for Cost Matrices
Q = [20, 20, 10, 20] # state error cost Q = [20, 20, 10, 20] # state error cost
Qf = [30, 30, 30, 30] # state final error cost Qf = [30, 30, 30, 30] # state final error cost
R = [10, 10] # input cost R = [10, 10] # input cost