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use the correct flags to start multiple step horizon #13

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use the correct flags to start multiple step horizon #13

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f22335f
use the correct flags to start multiple step horizon
Nov 9, 2023
127cfaf
fix wrong name for display multiple
Nov 9, 2023
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6 changes: 3 additions & 3 deletions matlab/acc2021/test.m
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Original file line number Diff line number Diff line change
Expand Up @@ -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;

Expand Down Expand Up @@ -151,15 +151,15 @@

%% 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;
controller_mpc_cbf_multiple.sim(time_total);
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'));
Expand Down