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fix_wust_mpc erro

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cyy_mac
2026-03-27 05:34:05 +08:00
parent 5d8ab40974
commit 649063d6b7
1 changed files with 1 additions and 0 deletions
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src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
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@@ -290,6 +290,7 @@ void MpcPlanner::setupProblem() {
// Cost weights // Cost weights
Q_(0) = params_.Q_yaw_p; Q_(0) = params_.Q_yaw_p;
Q_(1) = params_.Q_yaw_v; Q_(1) = params_.Q_yaw_v;
R_.resize(1);
R_(0) = params_.R_yaw; R_(0) = params_.R_yaw;
} }