Fixed Cost function in QP formulation generation. #7
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The cost function adds cost on the inital state x_0 that is constraint to be equal to x_init. Now we just make the initial cost to be 0. This will result in a sparser system and therefor in faster execution and less memory ussage. Even though the argument can be made that the change is negligible. I hope this change helps anybody that uses this code to generate a QP problem from an MPC one.
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The cost function adds cost on the inital state x_0 that is constraint to be equal to x_init. Now we just make the initial cost to be 0. This will result in a sparser system and therefor in faster execution and less memory ussage. Even though the argument can be made that the change is negligible.
I hope this change helps anybody that uses this code to generate a QP problem from an MPC one.