Closed dfridovi closed 3 years ago
Now, LQ solvers ought to use relative coordinates to propagate x0 (given) through the linearized dynamics and to compute costates. That is, when passed into an LQSolver.Solve() function the x0 argument on line: https://github.com/HJReachability/ilqgames/blob/f2ce1fc9c3c6e8086a16b483ef551d14789886b5/include/ilqgames/solver/lq_solver.h#L68 should be x0 - operating_point.xs[0].
x0
LQSolver.Solve()
x0 - operating_point.xs[0]
Now, LQ solvers ought to use relative coordinates to propagate
x0(given) through the linearized dynamics and to compute costates. That is, when passed into anLQSolver.Solve()function thex0argument on line: https://github.com/HJReachability/ilqgames/blob/f2ce1fc9c3c6e8086a16b483ef551d14789886b5/include/ilqgames/solver/lq_solver.h#L68 should bex0 - operating_point.xs[0].