diff --git a/matlab/iLQR_manipulator_recursive_LS.m b/matlab/iLQR_manipulator_recursive_LS.m index 53e81b6149f3fde3e9968bb80c5c17d4a1fa4afd..34cd670228283c3f39a20f88dac51b827cfbaa3a 100644 --- a/matlab/iLQR_manipulator_recursive_LS.m +++ b/matlab/iLQR_manipulator_recursive_LS.m @@ -34,7 +34,7 @@ R = speye((param.nbData-1)*param.nbVarU) * param.r; %Control weight matrix (at t %Time occurrence of viapoints tl = linspace(1, param.nbData, param.nbPoints+1); 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)