diff --git a/control/optimal.py b/control/optimal.py
index 811c8e518..81372705c 100644
--- a/control/optimal.py
+++ b/control/optimal.py
@@ -319,11 +319,9 @@ def _cost_function(self, coeffs):
dt = np.diff(self.timepts)
# Integrate the cost
- # TODO: vectorize
- cost = 0
- for i in range(self.timepts.size-1):
- # Approximate the integral using trapezoidal rule
- cost += 0.5 * (costs[i] + costs[i+1]) * dt[i]
+ costs = np.array(costs)
+ # Approximate the integral using trapezoidal rule
+ cost = np.sum(0.5 * (costs[:-1] + costs[1:]) * dt)
else:
# Sum the integral cost over the time (second) indices
pFad - Phonifier reborn
Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.
Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.
Alternative Proxies:
Alternative Proxy
pFad Proxy
pFad v3 Proxy
pFad v4 Proxy