small fixes

swdr1904 · Apr 27, 2018 · 12f1dbb · 12f1dbb
1 parent 9f659bf
commit 12f1dbb
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/AutonomousParking/ParkingSignedDist.jl b/AutonomousParking/ParkingSignedDist.jl
@@ -79,7 +79,8 @@ function ParkingSignedDist(x0,xF,N,Ts,L,ego,XYbounds,nOb,vOb, A, b,rx,ry,ryaw,fi
 		 					 sum(0.1*((u[1,i+1]-u[1,i])/Ts)^2 + 0.1*((u[2,i+1]-u[2,i])/Ts)^2 for i = 1:N-1)+
 		 					 	(0.1*((u[1,1]-u0[1])/(Ts))^2 + 0.1*((u[2,1]-u0[2])/(Ts))^2) +
 		 					 sum(0.0001*x[4,i]^2 for i=1:N+1)+
-		 					 sum(0.001*(x[1,i]-rx[i])^2 + 0.001*(x[2,i]-ry[i])^2 + 0.01*(x[3,i]-ryaw[i])^2 for i=1:N+1))
+		 					 sum(0.001*(x[1,i]-rx[i])^2 + 0.001*(x[2,i]-ry[i])^2 + 0.01*(x[3,i]-ryaw[i])^2 for i=1:N+1) + 
+							 sum(sum(1e2*sl[j,i] + 1e4*sl[j,i]^2 for i = 1:N+1) for j = 1 : nOb)							)
 	else
 	# variable time objective
 		@NLobjective(m, Min,sum(0.01*u[1,i]^2 + 0.1*u[2,i]^2 for i = 1:N) + 

diff --git a/AutonomousParking/main.jl b/AutonomousParking/main.jl
@@ -34,7 +34,7 @@ close("all")
 
 # choose one of two predefined scenarios
 scenario = "parallel"
-# scenario = "backwards"
+scenario = "backwards"
 
 # fixed or variable time 1/0
 fixTime = 0				# default: 0 (variable time steps)