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Control_utils.jl
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module Control
mutable struct param_base
dt::Float64
Ns::Int
order::Int
# CS_type::String
# TS_type::String
end
mutable struct param_cart_multi
control_param::param_base
mass::Float64
inertial::Float64
lx::Float64
ly::Float64
run_cost::Matrix{Float64}
terminal_cost::Matrix{Float64}
terminal_cons::Bool #
# x2 x1 y1 (c1 s1) || vx2 vx1 vy1 (ca1 sa1) || tau
xc_0::Float64
theta_0::Matrix{Float64}
dof::Int
end
mutable struct param_cartpole
control_param::param_base
mass::Float64
inertial::Float64
lx::Float64
ly::Float64
run_cost::Matrix{Float64}
terminal_cost::Matrix{Float64}
terminal_cons::Bool #
# x2 x1 y1 (c1 s1) || vx2 vx1 vy1 (ca1 sa1) || tau
xc_0::Float64
theta_0::Float64
end
mutable struct param_drone_landing
control_param::param_base
obs_num::Int
obs_pos::Matrix{Float64}
end
end