int main( ){
USING_NAMESPACE_ACADO
TIME autotime;
DifferentialState x(2);
AlgebraicState z;
Control u;
DifferentialEquation f1;
IntermediateState setc_is_1(5);
setc_is_1(0) = autotime;
setc_is_1(1) = x(0);
setc_is_1(2) = x(1);
setc_is_1(3) = z;
setc_is_1(4) = u;
CFunction cLinkModel_1( 3, myAcadoDifferentialEquation1 );
f1 << cLinkModel_1(setc_is_1);
double dconstant1 = 0.0;
double dconstant2 = 5.0;
int dconstant3 = 10;
OCP ocp1(dconstant1, dconstant2, dconstant3);
ocp1.minimizeMayerTerm(x(1));
ocp1.subjectTo(f1);
ocp1.subjectTo(AT_START, x(0) == 1.0 );
ocp1.subjectTo(AT_START, x(1) == 0.0 );
GnuplotWindow window;
window.addSubplot(x(0),"DIFFERENTIAL STATE x");
window.addSubplot(z,"ALGEBRAIC STATE z" );
window.addSubplot(u,"CONTROL u" );
OptimizationAlgorithm algo1(ocp1);
algo1.set( KKT_TOLERANCE, 1.000000E-05 );
algo1.set( RELAXATION_PARAMETER, 1.500000E+00 );
// algo1.set( HESSIAN_APPROXIMATION, EXACT_HESSIAN );
//
algo1 << window;
algo1.solve();
return 0;
}
USING_NAMESPACE_ACADO
#include <mex.h>
void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )
{
MatlabConsoleStreamBuf mybuf;
RedirectStream redirect(std::cout, mybuf);
clearAllStaticCounters( );
mexPrintf("\nACADO Toolkit for Matlab - Developed by David Ariens and Rien Quirynen, 2009-2013 \n");
mexPrintf("Support available at http://www.acadotoolkit.org/matlab \n \n");
if (nrhs != 0){
mexErrMsgTxt("This problem expects 0 right hand side argument(s) since you have defined 0 MexInput(s)");
}
TIME autotime;
DifferentialState u;
DifferentialState v;
DifferentialState w;
DifferentialState p;
DifferentialState q;
DifferentialState r;
DifferentialState phi;
DifferentialState theta;
DifferentialState intg_V;
DifferentialState x_w2_uT;
DifferentialState x_w2_uE;
DifferentialState x_w2_uA;
DifferentialState x_w2_uR;
DifferentialState x_w2_sv;
Control uT;
Control uE;
Control uA;
Control uR;
Control sv;
OnlineData Aw2;
OnlineData Bw2;
OnlineData Cw2;
OnlineData Dw2;
OnlineData kiV;
BMatrix acadodata_M1;
acadodata_M1.read( "nmpc_ext_data_acadodata_M1.txt" );
BMatrix acadodata_M2;
acadodata_M2.read( "nmpc_ext_data_acadodata_M2.txt" );
OCP ocp1(0, 0.5, 10);
ocp1.minimizeLSQ(acadodata_M1, "evaluateLSQ");
ocp1.minimizeLSQEndTerm(acadodata_M2, "evaluateLSQEndTerm");
ocp1.subjectTo(1.000000E-01 <= uT <= 1.000000E+00);
ocp1.subjectTo((-3.490659E-01) <= uE <= 3.490659E-01);
ocp1.subjectTo((-3.490659E-01) <= uA <= 3.490659E-01);
ocp1.subjectTo((-3.490659E-01) <= uR <= 3.490659E-01);
ocp1.subjectTo((-1.047198E+00) <= phi <= 1.047198E+00);
ocp1.subjectTo((-7.853982E-01) <= theta <= 7.853982E-01);
ocp1.subjectTo((-3.490659E-02) <= (atan(1/u*w)+sv));
ocp1.subjectTo((atan(1/u*w)-sv) <= 1.745329E-01);
ocp1.subjectTo(0.000000E+00 <= sv <= 5.235988E-02);
ocp1.setNOD( 5 );
ocp1.setNP( 0 );
ocp1.setNU( 5 );
ocp1.setModel( "model", "rhs", "rhs_jac" );
ocp1.setDimensions( 0, 14, 0, 0, 0, 5, 5, 0 );
OCPexport ExportModule1( ocp1 );
ExportModule1.set( GENERATE_MATLAB_INTERFACE, 1 );
uint options_flag;
options_flag = ExportModule1.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: HESSIAN_APPROXIMATION");
options_flag = ExportModule1.set( DISCRETIZATION_TYPE, MULTIPLE_SHOOTING );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: DISCRETIZATION_TYPE");
options_flag = ExportModule1.set( SPARSE_QP_SOLUTION, FULL_CONDENSING );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: SPARSE_QP_SOLUTION");
options_flag = ExportModule1.set( INTEGRATOR_TYPE, INT_IRK_GL4 );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: INTEGRATOR_TYPE");
options_flag = ExportModule1.set( NUM_INTEGRATOR_STEPS, 10 );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: NUM_INTEGRATOR_STEPS");
options_flag = ExportModule1.set( QP_SOLVER, QP_QPOASES );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: QP_SOLVER");
options_flag = ExportModule1.set( HOTSTART_QP, NO );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: HOTSTART_QP");
options_flag = ExportModule1.set( LEVENBERG_MARQUARDT, 1.000000E-10 );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: LEVENBERG_MARQUARDT");
options_flag = ExportModule1.set( GENERATE_MAKE_FILE, YES );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: GENERATE_MAKE_FILE");
options_flag = ExportModule1.set( GENERATE_TEST_FILE, YES );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: GENERATE_TEST_FILE");
options_flag = ExportModule1.set( GENERATE_SIMULINK_INTERFACE, YES );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: GENERATE_SIMULINK_INTERFACE");
options_flag = ExportModule1.set( CG_HARDCODE_CONSTRAINT_VALUES, YES );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: CG_HARDCODE_CONSTRAINT_VALUES");
uint export_flag;
export_flag = ExportModule1.exportCode( "export_nmpc_ext" );
if(export_flag != 0) mexErrMsgTxt("ACADO export failed because of the above error(s)!");
clearAllStaticCounters( );
}
USING_NAMESPACE_ACADO
#include <mex.h>
void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )
{
MatlabConsoleStreamBuf mybuf;
RedirectStream redirect(std::cout, mybuf);
clearAllStaticCounters( );
mexPrintf("\nACADO Toolkit for Matlab - Developed by David Ariens and Rien Quirynen, 2009-2013 \n");
mexPrintf("Support available at http://www.acadotoolkit.org/matlab \n \n");
if (nrhs != 0) {
mexErrMsgTxt("This problem expects 0 right hand side argument(s) since you have defined 0 MexInput(s)");
}
TIME autotime;
DifferentialState x;
DifferentialState y;
DifferentialState th;
DifferentialState L;
Control v;
Control w;
DifferentialEquation acadodata_f1;
acadodata_f1 << dot(x) == cos(th)*v;
acadodata_f1 << dot(y) == sin(th)*v;
acadodata_f1 << dot(th) == w;
acadodata_f1 << dot(L) == w*w;
OCP ocp1(0, 10, 20);
ocp1.minimizeMayerTerm(L);
ocp1.subjectTo(acadodata_f1);
ocp1.subjectTo(AT_START, x == (-1.000000E+00));
ocp1.subjectTo(AT_START, y == (-1.000000E+00));
ocp1.subjectTo(AT_START, th == 0.000000E+00);
ocp1.subjectTo(AT_END, x == 0.000000E+00);
ocp1.subjectTo(AT_END, y == 0.000000E+00);
OptimizationAlgorithm algo1(ocp1);
returnValue returnvalue = algo1.solve();
VariablesGrid out_states;
VariablesGrid out_parameters;
VariablesGrid out_controls;
VariablesGrid out_disturbances;
VariablesGrid out_algstates;
algo1.getDifferentialStates(out_states);
algo1.getControls(out_controls);
const char* outputFieldNames[] = {"STATES", "CONTROLS", "PARAMETERS", "DISTURBANCES", "ALGEBRAICSTATES", "CONVERGENCE_ACHIEVED"};
plhs[0] = mxCreateStructMatrix( 1,1,6,outputFieldNames );
mxArray *OutS = NULL;
double *outS = NULL;
OutS = mxCreateDoubleMatrix( out_states.getNumPoints(),1+out_states.getNumValues(),mxREAL );
outS = mxGetPr( OutS );
for( int i=0; i<out_states.getNumPoints(); ++i ) {
outS[0*out_states.getNumPoints() + i] = out_states.getTime(i);
for( int j=0; j<out_states.getNumValues(); ++j ) {
outS[(1+j)*out_states.getNumPoints() + i] = out_states(i, j);
}
}
mxSetField( plhs[0],0,"STATES",OutS );
mxArray *OutC = NULL;
double *outC = NULL;
OutC = mxCreateDoubleMatrix( out_controls.getNumPoints(),1+out_controls.getNumValues(),mxREAL );
outC = mxGetPr( OutC );
for( int i=0; i<out_controls.getNumPoints(); ++i ) {
outC[0*out_controls.getNumPoints() + i] = out_controls.getTime(i);
for( int j=0; j<out_controls.getNumValues(); ++j ) {
outC[(1+j)*out_controls.getNumPoints() + i] = out_controls(i, j);
}
}
mxSetField( plhs[0],0,"CONTROLS",OutC );
mxArray *OutP = NULL;
double *outP = NULL;
OutP = mxCreateDoubleMatrix( out_parameters.getNumPoints(),1+out_parameters.getNumValues(),mxREAL );
outP = mxGetPr( OutP );
for( int i=0; i<out_parameters.getNumPoints(); ++i ) {
outP[0*out_parameters.getNumPoints() + i] = out_parameters.getTime(i);
for( int j=0; j<out_parameters.getNumValues(); ++j ) {
outP[(1+j)*out_parameters.getNumPoints() + i] = out_parameters(i, j);
}
}
mxSetField( plhs[0],0,"PARAMETERS",OutP );
mxArray *OutW = NULL;
double *outW = NULL;
OutW = mxCreateDoubleMatrix( out_disturbances.getNumPoints(),1+out_disturbances.getNumValues(),mxREAL );
outW = mxGetPr( OutW );
for( int i=0; i<out_disturbances.getNumPoints(); ++i ) {
outW[0*out_disturbances.getNumPoints() + i] = out_disturbances.getTime(i);
for( int j=0; j<out_disturbances.getNumValues(); ++j ) {
outW[(1+j)*out_disturbances.getNumPoints() + i] = out_disturbances(i, j);
}
}
mxSetField( plhs[0],0,"DISTURBANCES",OutW );
mxArray *OutZ = NULL;
double *outZ = NULL;
OutZ = mxCreateDoubleMatrix( out_algstates.getNumPoints(),1+out_algstates.getNumValues(),mxREAL );
outZ = mxGetPr( OutZ );
for( int i=0; i<out_algstates.getNumPoints(); ++i ) {
outZ[0*out_algstates.getNumPoints() + i] = out_algstates.getTime(i);
for( int j=0; j<out_algstates.getNumValues(); ++j ) {
outZ[(1+j)*out_algstates.getNumPoints() + i] = out_algstates(i, j);
}
}
mxSetField( plhs[0],0,"ALGEBRAICSTATES",OutZ );
mxArray *OutConv = NULL;
if ( returnvalue == SUCCESSFUL_RETURN ) {
OutConv = mxCreateDoubleScalar( 1 );
}
else {
OutConv = mxCreateDoubleScalar( 0 );
}
mxSetField( plhs[0],0,"CONVERGENCE_ACHIEVED",OutConv );
clearAllStaticCounters( );
}