Closed dementrock closed 8 years ago
In https://github.com/cbfinn/gps/blob/master/python/gps/algorithm/cost/cost_action.py#L28, the term dc/du is computed as (line 28):
dc/du
lu = self._hyperparams['wu'] * sample_u
Should there be a negative sign in front, since this should compute the expansion of 0.5*(u-uref)^T*R*(u-uref)?
0.5*(u-uref)^T*R*(u-uref)
In https://github.com/cbfinn/gps/blob/master/python/gps/algorithm/cost/cost_action.py#L28, the term
dc/duis computed as (line 28):Should there be a negative sign in front, since this should compute the expansion of
0.5*(u-uref)^T*R*(u-uref)?