pendulum

Bharath2 · Nov 7, 2021 · b79a198 · b79a198
1 parent 2351618
commit b79a198
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/examples/pendulum.py b/examples/pendulum.py
@@ -40,7 +40,7 @@ def f(x, u):
 R  = np.diag([0.1])
 QT = np.diag([0, 100, 100])
 #Add constraints on torque input (2Nm to -2Nm)
-cons = Constrain(u, max_u = [2], min_u = [-2])
+cons = Bounded(u, high = [2], low = [-2])
 SwingUpCost = Cost.QR(Q, R, QT, x_goal, cons)