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 xT;
DifferentialState vT;
DifferentialState xL;
DifferentialState vL;
DifferentialState uT;
DifferentialState uL;
DifferentialState phi;
DifferentialState omega;
Control duT;
Control duL;
DMatrix acadodata_M1;
acadodata_M1.read( "crane_data_acadodata_M1.txt" );
DMatrix acadodata_M2;
acadodata_M2.read( "crane_data_acadodata_M2.txt" );
SIMexport ExportModule1( 1, 0.2 );
ExportModule1.set( GENERATE_MATLAB_INTERFACE, 1 );
uint options_flag;
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( DYNAMIC_SENSITIVITY, FORWARD );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: DYNAMIC_SENSITIVITY");
options_flag = ExportModule1.set( NUM_INTEGRATOR_STEPS, 1 );
if(options_flag != 0) mexErrMsgTxt("ACADO export failed when setting the following option: NUM_INTEGRATOR_STEPS");
DifferentialEquation acadodata_f1;
acadodata_f1 << dot(phi) == omega;
acadodata_f1 << dot(omega) == (-((-7.818238E+01)*vT+3.707268E+00*uT)*cos(phi)+(-9.810000E+00)*sin(phi)-2.000000E+00*omega*vL)/xL;
ExportModule1.setLinearInput( acadodata_M1, acadodata_M2 );
ExportModule1.setModel( acadodata_f1 );
uint export_flag = 0;
ExportModule1.setTimingSteps( 0 );
export_flag = ExportModule1.exportCode( "sim_export" );
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 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( );
}
