ethz-adrl
diff --git a/‎ct_optcon/include/ct/optcon/solver/lqp/GNRiccatiSolver-impl.hpp
Copy file name to clipboardExpand all lines: ct_optcon/include/ct/optcon/solver/lqp/GNRiccatiSolver-impl.hpp
-2Lines changed: 0 additions & 2 deletions b/‎ct_optcon/include/ct/optcon/solver/lqp/GNRiccatiSolver-impl.hpp
Copy file name to clipboardExpand all lines: ct_optcon/include/ct/optcon/solver/lqp/GNRiccatiSolver-impl.hpp
-2Lines changed: 0 additions & 2 deletions
@@ -157,8 +157,6 @@ void GNRiccatiSolver<STATE_DIM, CONTROL_DIM, SCALAR>::computeCostToGo(size_t k)
     sv_[k] = p.qv_[k];
     sv_[k].noalias() += p.A_[k].transpose() * sv_[k + 1];
     sv_[k].noalias() += p.A_[k].transpose() * S_[k + 1] * p.b_[k];
-    sv_[k].noalias() += this->L_[k].transpose() * Hi_[k] * this->lv_[k];
-    sv_[k].noalias() += this->L_[k].transpose() * gv_[k];
     sv_[k].noalias() += G_[k].transpose() * this->lv_[k];
 }
Original file line number	Diff line number	Diff line change
`@@ -157,8 +157,6 @@ void GNRiccatiSolver<STATE_DIM, CONTROL_DIM, SCALAR>::computeCostToGo(size_t k)`
`157`	`157`	`sv_[k] = p.qv_[k];`
`158`	`158`	`sv_[k].noalias() += p.A_[k].transpose() * sv_[k + 1];`
`159`	`159`	`sv_[k].noalias() += p.A_[k].transpose() * S_[k + 1] * p.b_[k];`
`160`		`- sv_[k].noalias() += this->L_[k].transpose() * Hi_[k] * this->lv_[k];`
`161`		`- sv_[k].noalias() += this->L_[k].transpose() * gv_[k];`
`162`	`160`	`sv_[k].noalias() += G_[k].transpose() * this->lv_[k];`
`163`	`161`	`}`
`164`	`162`