diff options
Diffstat (limited to 'templates/MPC_TE_forces.m')
| -rw-r--r-- | templates/MPC_TE_forces.m | 38 |
1 files changed, 0 insertions, 38 deletions
diff --git a/templates/MPC_TE_forces.m b/templates/MPC_TE_forces.m deleted file mode 100644 index 5625f32..0000000 --- a/templates/MPC_TE_forces.m +++ /dev/null @@ -1,38 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -% 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_TE_forces - properties - forces_optimizer - end - - methods - function obj = MPC_TE_forces(Q,R,N,params) - % YOUR CODE HERE - opts = getOptions('forcesSolver'); - opts.printlevel = 0; - obj.forces_optimizer = % YOUR CODE HERE - end - - function [u, ctrl_info] = eval(obj,x) - %% evaluate control action by solving MPC problem, e.g. - [optimizer_out,errorcode,info] = obj.forces_optimizer(x); - u = optimizer_out; - objective = info.pobj; - solvetime = info.solvetime; - - feasible = true; - if any(errorcode ~= 1) - feasible = false; - warning('MPC infeasible'); - end - - ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime); - end - end -end
\ No newline at end of file |