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closes #1

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Anson Biggs
2021-09-13 09:09:46 -07:00
parent b94568bea8
commit bb31512572
9 changed files with 4412 additions and 4412 deletions
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36
build/release/gainCalc.m
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@@ -37,24 +37,24 @@ K = Rinv * B' * S;
%% Outputs
% Copy results in command window to LQRcalc function in C++
fprintf("double K11 = %3.5f;\n", K(1, 1))
fprintf("double K12 = %3.5f;\n", K(1, 2))
fprintf("double K13 = %3.5f;\n", K(1, 3))
fprintf("double K14 = %3.5f;\n", K(1, 4))
fprintf("double K15 = %3.5f;\n", K(1, 5))
fprintf("double K16 = %3.5f;\n", K(1, 6))
fprintf("double K21 = %3.5f;\n", K(2, 1))
fprintf("double K22 = %3.5f;\n", K(2, 2))
fprintf("double K23 = %3.5f;\n", K(2, 3))
fprintf("double K24 = %3.5f;\n", K(2, 4))
fprintf("double K25 = %3.5f;\n", K(2, 5))
fprintf("double K26 = %3.5f;\n", K(2, 6))
fprintf("double K31 = %3.5f;\n", K(3, 1))
fprintf("double K32 = %3.5f;\n", K(3, 2))
fprintf("double K33 = %3.5f;\n", K(3, 3))
fprintf("double K34 = %3.5f;\n", K(3, 4))
fprintf("double K35 = %3.5f;\n", K(3, 5))
fprintf("double K36 = %3.5f;\n", K(3, 6))
fprintf("float K11 = %3.5f;\n", K(1, 1))
fprintf("float K12 = %3.5f;\n", K(1, 2))
fprintf("float K13 = %3.5f;\n", K(1, 3))
fprintf("float K14 = %3.5f;\n", K(1, 4))
fprintf("float K15 = %3.5f;\n", K(1, 5))
fprintf("float K16 = %3.5f;\n", K(1, 6))
fprintf("float K21 = %3.5f;\n", K(2, 1))
fprintf("float K22 = %3.5f;\n", K(2, 2))
fprintf("float K23 = %3.5f;\n", K(2, 3))
fprintf("float K24 = %3.5f;\n", K(2, 4))
fprintf("float K25 = %3.5f;\n", K(2, 5))
fprintf("float K26 = %3.5f;\n", K(2, 6))
fprintf("float K31 = %3.5f;\n", K(3, 1))
fprintf("float K32 = %3.5f;\n", K(3, 2))
fprintf("float K33 = %3.5f;\n", K(3, 3))
fprintf("float K34 = %3.5f;\n", K(3, 4))
fprintf("float K35 = %3.5f;\n", K(3, 5))
fprintf("float K36 = %3.5f;\n", K(3, 6))
syms yaw pitch roll yawdot pitchdot rolldot gain
w = [0.5*yaw 0.5*pitch 0.5*roll yawdot pitchdot rolldot]';