updated boattest

jhu-asco · Jul 29, 2015 · 7b723ca · 7b723ca
1 parent c29e2ff
commit 7b723ca
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Showing 2 changed files with 13 additions and 9 deletions.
diff --git a/bin/boat.cfg b/bin/boat.cfg
@@ -17,17 +17,20 @@ ulb = -100, -100
 uub = 100, 100
 
 # 
-x0=-3.4, 2, -1, 0,0,0
-#x0=0.6, 0.1, -.1, 0,0,0
-xf=0, 0, 0, 0,0,0
+#x0=-1.76095, -.917983, -2.2352, 1.62703,-1.67655,0.752046
+#xf=0, 0.1, -5, 0,0,0
+
+x0=-0.468, -0.332, -3.268, -0.59, 2.427, 3.99
+xf=0, 0.1, -5, 0,0,0
+
 
 #     g     v
-Qf = 1, 5, 5, .01, .05, .05
+Qf = 1, 5, 5, .1, .5, .5
 Q = 0, 0, 0, 0, 0, 0
 
 #ko = .5
 
 #     u
-R = .001, .005,
+R = .01, .05,
 
 mu=.01
diff --git a/bin/boattest.cc b/bin/boattest.cc
@@ -36,12 +36,13 @@ void solver_process(Viewer* viewer)
   Body2dForce<2> force;
   force.D(2)= 5;
   params.GetVector3d("D", force.D);
+  force.B << 1, -1, 1, 1, 0, 0;
 
   Body2d<2> sys(&force);
+  sys.d << 1.16, 0.72;
 
   params.GetVector3d("I", sys.I);
 
-
   Body2dState x0;
   VectorXd qv0(6);
   se2.q2g(x0.first, Vector3d(0, 2, 2));
@@ -86,8 +87,8 @@ void solver_process(Viewer* viewer)
   Vector2d u(0,0);
   vector<Vector2d> us(N, u);
   for (int i = 0; i < N/2; ++i) {
-    us[i] = Vector2d(0,1);
-    us[N/2+i] = Vector2d(0,-1);
+    //    us[i] = Vector2d(0,1);
+    //    us[N/2+i] = Vector2d(0,-1);
   }
 
   Body2dDdp ddp(sys, cost, ts, xs, us);
@@ -106,7 +107,7 @@ void solver_process(Viewer* viewer)
 
   getchar();
 
-  for (int i = 0; i < 50; ++i) {
+  for (int i = 0; i < iters; ++i) {
 
     timer_start(timer);
     ddp.Iterate();