Thanks for making this tool available. It's really helpful to use it to play around the values. I have a quesiton regarding to implement HOCBF (ECBF in this case). Why is the CBF defined like this?
Shouldn't the ECBF be like LfLf h(x) + LgLfh(x) u >= -gamma_1 h(x) - gamma_2 Lfh(x)? How does line 23 convert into the ECBF constraint with control (u) in it?
https://github.com/HybridRobotics/CBF-CLF-Helper/blob/956c88bb1ed72b76feffd882df7e491893391c77/dynsys/%40DoubleIntegrator2D/DoubleIntegrator2D.m#L22-L23
Thanks for making this tool available. It's really helpful to use it to play around the values. I have a quesiton regarding to implement HOCBF (ECBF in this case). Why is the CBF defined like this?
Shouldn't the ECBF be like LfLf h(x) + LgLfh(x) u >= -gamma_1 h(x) - gamma_2 Lfh(x)? How does line 23 convert into the ECBF constraint with control (u) in it?