uzh-rpg / rpg_mpc Goto Github PK

Hey guys, I've been using your library for our project. When I edit the code, I found that in the MpcController class, the method setReference also computes reference inputs. For example, here.

I am wondering, how's the performance if I do not compute any reference inputs and only set them to zeros. Will the optimization still converge?

I'm debugging right now, and I have set them to zero. I do not know if this is a critical point for the performance of the whole controller.

Thanks

Would it be feasible in principle to adapt the PAMPC framework for a UVG?

Thanks for answering.
When reading your article, I have difficulties understanding how to get (8) and (9), could you give me some help.

There's wiki entry for tuning but that page is empty. Can you link any external resources to tune or update the wiki with model gen & tuning procedure?