jayanjankar
commented
5 years ago - Created 2 data files for z_sol_state and z_sol_input generated after evaluating cartpole for 50k iterations titled pws_z_state_cartpole_50000.mat and pws_z_input_cartpole_50000.mat.
- Deleted the 2 data files corresponding to 10k and 50k iterations for cartpole.
- Created model files for u which compute z_sol_input based on fmincon titled compute_pws_objective_input, compute_pws_mu, compute_pws_eta.
- run_pws now loads files, reconstructs x_j and u_j, and visualizes as well as compares performance of direct_collocation with initial x_j and u_j with direct_collocation.
- save_pws_z_input_cartpole and save_pws_z_state_cartpole used to save z_sol_input_cartpole and z_sol_state_cartpole after fmincon.
- visualize_pws used for plotting x_j and u_j.