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Published 20 hours ago • verified publisher icon ShuoYangRobotics

Question on calculate A Matrix

Open lgkimjy opened this issue 7 months ago • 1 comments

Dear @ShuoYangRobotics ,

In ConvexMPC.cpp, I do not understand why did you set value 1 at line 129, according to the ConvexMPC on MIT Cheetah3 paper, isn't it should be zero?

https://github.com/ShuoYangRobotics/A1-QP-MPC-Controller/blob/79c91302b5855cf245a852aefa7162449bf4ac9e/src/a1_cpp/src/ConvexMpc.cpp#L110-L130

can you explain why you put 1 in line 129?

lgkimjy avatar Jul 24 '24 04:07 lgkimjy