FIX: .gitignore

1 files changed, 45 insertions, 0 deletions

diff --git a/templates/MPC.m b/templates/MPC.m
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+++ b/templates/MPC.m
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+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
+%
+% All rights reserved.
+%
+% Please see the LICENSE file that has been included as part of this package.
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+classdef MPC
+    properties
+        yalmip_optimizer
+    end
+
+    methods
+        function obj = MPC(Q,R,N,params)
+            nu = params.model.nu;
+            nx = params.model.nx;
+
+            % define optimization variables
+            U = sdpvar(repmat(nu,1,N),ones(1,N),'full');
+            X0 = sdpvar(nx,1,'full');
+
+            % YOUR CODE HERE
+            
+            opts = sdpsettings('verbose',1,'solver','quadprog');
+            obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{U{1} objective});
+        end
+
+        function [u, ctrl_info] = eval(obj,x)
+            %% evaluate control action by solving MPC problem, e.g.
+            tic;
+            [optimizer_out,errorcode] = obj.yalmip_optimizer(x);
+            solvetime = toc;
+            
+            [u, objective] = optimizer_out{:};
+
+            feasible = true;
+            if (errorcode ~= 0)
+                feasible = false;
+            end
+
+            ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
+        end
+    end
+end
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