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Author: FraCpl

src/functions/rcsTools.jl

@@ -285,19 +285,19 @@ function rcsAllocationSimplex!(y, u, My; maxIter=30)
     # end
 
     # maxIter = 30#3m + 1                 # was 3m + 10, but needed to heuristically increase a bit
-    # cs = 1e3*maximum(c)*ones(m)                 # [OLD with c] [m x 1] Slack variables cost vector
-    cs = 1e3*ones(m)                            # [m x 1] Slack variables cost vector
+    # cs = 1e3*maximum(c)*ones(m)           # [OLD with c] [m x 1] Slack variables cost vector
+    cs = 1e3*ones(m)                        # [m x 1] Slack variables cost vector
 
     # Setup the initial solution
-    E = -diagm(xsign.(u))*My 	                            # [m x n]
-    # ∇z = c + E'*cs                                          # [OLD with c] [n x 1] Cost change when bringing in the base a thruster which is out of the basis (i.e., increasing Yn[i])
-    ∇z = 1.0 .+ E'*cs                                       # [n x 1] Cost change when bringing in the base a thruster which is out of the basis (i.e., increasing Yn[i])
+    E = -diagm(xsign.(u))*My 	            # [m x n]
+    # ∇z = c + E'*cs                        # [OLD with c] [n x 1] Cost change when bringing in the base a thruster which is out of the basis (i.e., increasing Yn[i])
+    ∇z = 1.0 .+ E'*cs                       # [n x 1] Cost change when bringing in the base a thruster which is out of the basis (i.e., increasing Yn[i])
     e = zeros(m)
 
-    iBase = Integer.(n+1:n+m)                               # [m x 1] Global indices (i.e., within the vector Y) of thrusters in the basis. Initial solution is y = s
-    Yn = zeros(n + m)                                       # [n+m x 1] Thrusters out of the basis, either at zero (Yn[i] = 0) or at max (Yn[i] = Ymax[i])
-    yb = abs.(u)                                            # [m x 1] Basis vector (i.e., y of the m thrusters that form the basis)
-    Ymax = [ones(n); 1e3*maximum(yb)*ones(m)]           # [n+m x 1] Parameters upper bounds, 0 <= Y <= Ymax, where Y = [y; s] TODO: Caution, this was creating problems when it was (maximum(yb) + 1.0)
+    iBase = Integer.(n+1:n+m)               # [m x 1] Global indices (i.e., within the vector Y) of thrusters in the basis. Initial solution is y = s
+    Yn = zeros(n + m)                       # [n+m x 1] Thrusters out of the basis, either at zero (Yn[i] = 0) or at max (Yn[i] = Ymax[i])
+    yb = abs.(u)                            # [m x 1] Basis vector (i.e., y of the m thrusters that form the basis)
+    Ymax = [ones(n); 1e8*ones(m)]           # [n+m x 1] Parameters upper bounds, 0 <= Y <= Ymax, where Y = [y; s] TODO: Caution, this was creating problems when it was (maximum(yb) + 1.0)
     eNew = zeros(n)
 
     # Loop until all gradient components are positive