mex example: add check when setting cost_Vx

acados · Oct 10, 2019 · ee61954 · ee61954
1 parent 0283cbc
commit ee61954
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/examples/acados_matlab_octave/pendulum_on_cart_model/example_closed_loop.m b/examples/acados_matlab_octave/pendulum_on_cart_model/example_closed_loop.m
@@ -329,11 +329,12 @@
 	ocp.set('init_u', u_traj_init);
 	ocp.set('init_pi', pi_traj_init);
 
-	% modify numerical data for a certain stage
+	% use ocp.set to modify numerical data for a certain stage
 	some_stages = 1:10:ocp_N-1;
 	for i = some_stages
-		ocp.set('cost_Vx', Vx, i); % cost_y_ref, cost_Vu, cost_Vx, cost_W, cost_Z, cost_Zl,...
-		 % cost_Zu, cost_z, cost_zl, cost_zu;
+        if strcmp( ocp.model_struct.cost_type, 'linear_ls')
+            ocp.set('cost_Vx', Vx, i);
+        end
 	end
 
 	% solve OCP