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proxima-technology · Jun 17, 2024 · 157b642 · 157b642
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diff --git a/src/chapter3.ipynb b/src/chapter3.ipynb
@@ -1297,64 +1297,6 @@
     "plt.show()    "
    ]
   },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 37,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# x = casadi.SX.sym('x')\n",
-    "# dt = 0.1 \n",
-    "# times = np.arange(0, 2+dt, dt)\n",
-    "# X_t = [1] # 初期値\n",
-    "\n",
-    "\n",
-    "# options = {'t0':0, 'tf':dt} # 積分範囲（時刻）\n",
-    "# ode = {'x': x, 'ode': -2*x} # 常微分方程式\n",
-    "\n",
-    "# F = casadi.integrator('F', 'idas', ode, options)\n",
-    "\n",
-    "# for t in times[:-1]:\n",
-    "#     res = F(x0=X_t[-1])\n",
-    "#     X_t += res['xf'].toarray().tolist()[0]\n",
-    "\n",
-    "# Y_t = np.exp(-2*times)  #真の解     \n",
-    "\n",
-    "# plt.plot(times, X_t, label=\"数値解\", color=\"blue\")\n",
-    "# plt.plot(times, Y_t, label=\"解析解\", color=\"red\")\n",
-    "# plt.legend()\n",
-    "# plt.savefig(\"images/chap3_integ.png\")\n",
-    "# plt.show()    "
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
-  },
   {
    "cell_type": "code",
    "execution_count": null,

diff --git a/src/chapter4.ipynb b/src/chapter4.ipynb
@@ -39,14 +39,15 @@
    "metadata": {},
    "outputs": [],
    "source": [
+    "# ロトカ・ヴォルテラモデルのパラメータ\n",
     "a = 0.06\n",
     "b = 0.06\n",
     "c = 0.024\n",
     "d = 0.06\n",
     "e = 0.06\n",
     "f = 0.012\n",
     "\n",
-    "# 予測ホライズン等\n",
+    "# 予測ホライズン\n",
     "K = 30\n",
     "\n",
     "nu = 1 #制御変数の次元\n",
@@ -148,7 +149,7 @@
     "plt.xlabel(\"Time\")\n",
     "plt.ylabel(\"State\")\n",
     "\n",
-    "plt.savefig(\"images/chap4_mpc_no_control.png\")\n",
+    "plt.savefig(\"images/chap4_mpc_no_control.pdf\")\n",
     "plt.show()"
    ]
   },

diff --git a/src/chapter5.ipynb b/src/chapter5.ipynb
@@ -39,6 +39,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
+    "# 倒立振子のパラメータ\n",
     "g = 9.81 #重力加速度\n",
     "M = 1 #台車の質量\n",
     "m = 0.2 #振子の質量\n",
@@ -67,7 +68,7 @@
     "x_ref = casadi.DM([0,0,0,0])\n",
     "u_ref = casadi.DM([0])\n",
     "\n",
-    "total = nx*(K+1) + nu*K"
+    "total = nx*(K+1) + nu*K #最適化変数の次元"
    ]
   },
   {
@@ -360,65 +361,6 @@
     "ani.save(\"images/chap5_cart_pole.gif\",writer=\"pillow\",fps=fps)"
    ]
   },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 10,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# import os\n",
-    "# import shutil\n",
-    "# import glob\n",
-    "# import natsort\n",
-    "# import cv2\n",
-    "# shutil.rmtree(\"./tmp\",ignore_errors=True)\n",
-    "# os.mkdir(\"./tmp\")\n",
-    "# for i in np.linspace(0,99,12):\n",
-    "#     i = int(i)\n",
-    "#     update_figure(i)\n",
-    "#     fig.savefig(f\"./tmp/_frame_{i}.png\")\n",
-    "# paths = glob.glob(\"./tmp/*.png\")\n",
-    "# paths = natsort.natsorted(paths)\n",
-    "# paths = [cv2.imread(path) for path in paths]\n",
-    "# paths = np.stack(paths,axis=0)\n",
-    "# paths = paths.reshape((4,3) + paths[0].shape)\n",
-    "# paths = np.concatenate(paths,axis=1)\n",
-    "# paths = np.concatenate(paths,axis=1)\n",
-    "# cv2.imwrite(\"images/chap5_cart_pole_anim.png\",paths)\n",
-    "# shutil.rmtree(\"./tmp\",ignore_errors=True)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 11,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# import glob\n",
-    "# import natsort\n",
-    "# import cv2\n",
-    "# for i in np.linspace(0,199,12):\n",
-    "#     i = int(i)\n",
-    "#     update_figure(i)\n",
-    "#     fig.savefig(f\"./tmp/_frame_{i}.png\")\n",
-    "# paths = glob.glob(\"./tmp/*.png\")\n",
-    "# paths = natsort.natsorted(paths)\n",
-    "# paths = [cv2.imread(path) for path in paths]\n",
-    "# paths = np.stack(paths,axis=0)\n",
-    "# paths = paths.reshape(4,3,600,1200,3)\n",
-    "# paths = np.concatenate(paths,axis=1)\n",
-    "# paths = np.concatenate(paths,axis=1)\n",
-    "# # paths = cv2.resize(paths,dsize=None,fx=1/3,fy=1/3)\n",
-    "# cv2.imwrite(\"images/chap5_cart_pole_anim.png\",paths)"
-   ]
-  },
   {
    "cell_type": "code",
    "execution_count": null,

diff --git a/src/chapter7_2d_quadrotor.ipynb b/src/chapter7_2d_quadrotor.ipynb