termLQR
{
    name "state cost quadratic"
    kind "quadratic"   
    type 0              ; 0 = intermediate, 1 = final

    weights
    {
      Q
      {
        scaling 1.0
        (0,0) 1.6
        (1,1) 1.0
      }
      R
      {
        scaling 1.0
        (0,0) 1.0
      }
    }
}
