Fix documentation bug in dlqr
Turns out the cost function is X.T * S * X, not 1/2. Verified by
summing up the costs and it not matching.
Change-Id: Iaa5afeacc07e6809af916c50263a71ab2c12af08
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2018/control_loops/python/extended_lqr.py b/y2018/control_loops/python/extended_lqr.py
index e19ee8f..a2a31af 100755
--- a/y2018/control_loops/python/extended_lqr.py
+++ b/y2018/control_loops/python/extended_lqr.py
@@ -85,6 +85,7 @@
Returns:
numpy.matrix(1, 1), The quadratic cost of being at X
"""
+ print('TODO(austin): S -> X.T * S * X, need to fix if we care')
return 0.5 * X.T * self.S * X
def cost(self, X, U):