added simple example of linear mpc applied to the minimum-time proble…

…m for the double integrator
JIJIOUOU · Oct 20, 2015 · 19acc8c · 19acc8c
1 parent 24390d2
commit 19acc8c
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/drake/examples/DoubleIntegrator.m b/drake/examples/DoubleIntegrator.m
@@ -93,6 +93,9 @@ function drawfun(J,PI)
       discrete_time_system = LinearSystem([],[],Ad,Bd,eye(2),[]);
 
       for N = 50:100 % increase N until i find a feasible solution
+        % note: bisection search would be a lot more efficient, but it's in
+        % the noise here...
+
         [prog,x_inds,u_inds] = dirtranModelPredictiveControl(discrete_time_system,N);
 
         % add initial value constraint: