I am running the minimal_example_closed_loop.py (pendulum example).
I would like to set a sampling time of 10ms and a prediction horizon of 50 steps.
Time-swise, I am able to set following parameters:
The online manual (for python API) at
states “N - prediction horizon” and “tf - prediction horizon”, which is weird.
From the code it seems that “tf” is the total simulation time.
As indicated above, I would like to log the data (states, input, execution times) in 10ms sampling instances, for a total simulation time of 10 seconds.
Can anyone kindly advise me how to configure the example adequately?
Thank you very much in advance,