diff options
Diffstat (limited to 'eigen-matrix-init-fix.patch')
| -rw-r--r-- | eigen-matrix-init-fix.patch | 15 |
1 files changed, 15 insertions, 0 deletions
diff --git a/eigen-matrix-init-fix.patch b/eigen-matrix-init-fix.patch new file mode 100644 index 0000000..20f9696 --- /dev/null +++ b/eigen-matrix-init-fix.patch @@ -0,0 +1,15 @@ +--- a/controllers/easynav_mpc_controller/include/easynav_mpc_controller/MPCOptimizer.hpp ++++ b/controllers/easynav_mpc_controller/include/easynav_mpc_controller/MPCOptimizer.hpp +@@ -72,9 +72,9 @@ + private: + int N_ {5}; ///< Horizont Step to optimize. + double dt_ {0.1}; ///< Differential time to integrate. +- Eigen::Matrix2d Q_ {{4.0, 0.0}, {0.0, 4.0}}; ///< Tracking Cost Matrix +- Eigen::Matrix2d R_ {{0.1, 0.0}, {0.0, 0.1}}; ///< Effort Cost Matrix +- Eigen::Matrix2d Rd_ {{0.1, 0.0}, {0.0, 0.1}}; ///< Smooth Cost Matrix ++ Eigen::Matrix2d Q_ = (Eigen::Matrix2d() << 4.0, 0.0, 0.0, 4.0).finished(); ///< Tracking Cost Matrix ++ Eigen::Matrix2d R_ = (Eigen::Matrix2d() << 0.1, 0.0, 0.0, 0.1).finished(); ///< Effort Cost Matrix ++ Eigen::Matrix2d Rd_ = (Eigen::Matrix2d() << 0.1, 0.0, 0.0, 0.1).finished(); ///< Smooth Cost Matrix + double qtheta_ {3.0}; ///< Angular cost value. + + }; |