From 22e7e6dbbb1dfa21f17a8cd37a922d9dcb7afd4b Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Fri, 27 Aug 2021 17:43:29 +0200
Subject: [PATCH] Small tweak for comparison of MPCs
---
scripts/test_convergence_mpc.py | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/scripts/test_convergence_mpc.py b/scripts/test_convergence_mpc.py
index 437acb5d..9038b23c 100644
--- a/scripts/test_convergence_mpc.py
+++ b/scripts/test_convergence_mpc.py
@@ -19,13 +19,13 @@ def test_1():
# Velocity of base in horizontal frame
h_v = np.zeros((18, 1))
- # h_v[0, 0] = 0.1
- # h_v[1, 0] = 0.1
- # h_v[1, 0] = 0.1
+ h_v[0, 0] = 0.1
+ h_v[1, 0] = 0.1
+ #h_v[1, 0] = 0.1
# Velocity reference of base in horizontal frame
v_ref = np.zeros((18, 1))
- # v_ref[0, 0] = 0.1
+ v_ref[0, 0] = 0.1
# Params
params = lqrw.Params() # Object that holds all controller parameters
@@ -51,7 +51,7 @@ def test_1():
# MPC wrapper
mpc_wrapper_classic = MPC_Wrapper.MPC_Wrapper(params, q)
- params.type_MPC = 1
+ params.type_MPC = 3
mpc_wrapper_croco = MPC_Wrapper.MPC_Wrapper(params, q)
# Update gait
--
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