From f22335fe47bfcb1fdb3952984b75ccb97b096f2f Mon Sep 17 00:00:00 2001 From: Marco Camurri Date: Thu, 9 Nov 2023 09:39:44 +0100 Subject: [PATCH 1/2] use the correct flags to start multiple step horizon --- matlab/acc2021/test.m | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/matlab/acc2021/test.m b/matlab/acc2021/test.m index 196364f..09689d4 100644 --- a/matlab/acc2021/test.m +++ b/matlab/acc2021/test.m @@ -151,7 +151,7 @@ %% Simulate MPC-CBF with other N params_mpc_cbf.N = 8; -if run_mpc_cbf_one +if run_mpc_cbf_multiple fprintf('Run MPC-CBF\n'); controller_mpc_cbf_multiple = MPCCBF(x0, system, params_mpc_cbf); controller_mpc_cbf_multiple.obs = obs; @@ -159,7 +159,7 @@ end %% Display MPC-CBF simulation with other N -if display_mpc_cbf_one +if display_mpc_cbf_multiple % Plot simulation figure('Renderer', 'painters', 'Position', [0 0 400 400]); set(gca,'LooseInset',get(gca,'TightInset')); From 127cfaf5e07eada614803e1a177b0214a9f558a2 Mon Sep 17 00:00:00 2001 From: Marco Camurri Date: Thu, 9 Nov 2023 10:15:47 +0100 Subject: [PATCH 2/2] fix wrong name for display multiple --- matlab/acc2021/test.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/matlab/acc2021/test.m b/matlab/acc2021/test.m index 09689d4..b91077e 100644 --- a/matlab/acc2021/test.m +++ b/matlab/acc2021/test.m @@ -7,7 +7,7 @@ run_mpc_cbf_one = true; display_mpc_cbf_one = true; run_mpc_cbf_multiple = true; -run_mpc_cbf_multiple = true; +display_mpc_cbf_multiple = true; run_mpc_dc = true; display_mpc_dc = true;