BLOCK-ALADIN

A prototype implementation of the block-based ALADIN scheme for optimal control

INSTRUCTIONS

Open script runOCP.m, insert the simulation details of your choice and click run.
The integrator included in this repository is compiled for MAC OS X. To use on other operating systems, the user must install the latest version of ACADO (master branch is recommended) and set the EXPORT_INTEGRATOR flag to 1.
To generate MEX interfaces for the algorithmic parts that are written in C, set the GENERATE_MEX flag to 1 (provided files are for MAC OS X and block sizes 5 and 10).
Users must also install the dense QP solver qpOASES (http://www.qpoases.org/)

Name		Name	Last commit message	Last commit date
Latest commit History 6 Commits
condensing		condensing
dual_step		dual_step
sim_export		sim_export
.gitignore		.gitignore
BLOCK_ALADIN_fun.m		BLOCK_ALADIN_fun.m
LICENSE		LICENSE
README.md		README.md
checkMex.m		checkMex.m
condense_N10.mexmaci64		condense_N10.mexmaci64
condense_N5.mexmaci64		condense_N5.mexmaci64
crane.cpp		crane.cpp
crane_RUN.m		crane_RUN.m
crane_RUN.mexmaci64		crane_RUN.mexmaci64
crane_data_acadodata_M1.txt		crane_data_acadodata_M1.txt
crane_data_acadodata_M2.txt		crane_data_acadodata_M2.txt
dualStep_N10.mexmaci64		dualStep_N10.mexmaci64
dualStep_N5.mexmaci64		dualStep_N5.mexmaci64
generateMex.m		generateMex.m
generateSim.m		generateSim.m
integrate.mexmaci64		integrate.mexmaci64
iterate_NLP.m		iterate_NLP.m
plotResults.m		plotResults.m
runOCP.m		runOCP.m
sol_80.mat		sol_80.mat