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Undarstanding mpc realization
System information
- Linux Ubuntu 20.04
- Apollo installed from source:
- Apollo version 8.0:
Hello, colleagues! I have a question about mpc realization. File mpc_controller.cc has a declaration of matrix addition_gain:
The element of this matrix is used in a calculation of some variables:
But between declaration and using of the element of this matrix there isn't any place where some values are put in the matrix, so this element always is equal to 0. It uses as multiplier, so it doesn't have sense. My question is do I clearly understand that this element is always equal to zero? What is the sense of this variable?
