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Commit 29b53952 authored by Sylvain CALINON's avatar Sylvain CALINON
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typo fixed

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matlab/iLQR_manipulator_recursive_LS.m
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...@@ -34,7 +34,7 @@ R = speye((param.nbData-1)*param.nbVarU) * param.r; %Control weight matrix (at t ...@@ -34,7 +34,7 @@ R = speye((param.nbData-1)*param.nbVarU) * param.r; %Control weight matrix (at t
%Time occurrence of viapoints %Time occurrence of viapoints
tl = linspace(1, param.nbData, param.nbPoints+1); tl = linspace(1, param.nbData, param.nbPoints+1);
tl = round(tl(2:end)); tl = round(tl(2:end));
idx = (tl - 1) * param.nbVarX + [1:param.nchansons quebecoise 2024bVarX]'; idx = (tl - 1) * param.nbVarX + [1:param.nbVarX]';
%% Iterative LQR (iLQR) %% Iterative LQR (iLQR)
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