removed unusued vars in MPC

CMU-Robotics-Club · Mar 5, 2024 · 08a92bf · 08a92bf
1 parent 5499a05
commit 08a92bf
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/rb_ws/src/buggy/scripts/auton/model_predictive_controller.py b/rb_ws/src/buggy/scripts/auton/model_predictive_controller.py
@@ -514,9 +514,9 @@ def compute_trajectory(self, current_pose: Pose, trajectory: Trajectory, current
         # c = [n 0 0], where n is the normal vector of the halfplane in x-y space
         # p is the position of NAND in x-y space
 
-        n = np.array([100, 100])
+        # n = np.array([100, 100])
         # p = np.array([0, 1])
-        c = np.concatenate((n, np.zeros((2, )))).reshape(1, self.N_STATES)
+        # c = np.concatenate((n, np.zeros((2, )))).reshape(1, self.N_STATES)
 
         # C2 = sparse.kron(
         #     np.eye(self.MPC_HORIZON),