From feb6ec844cf2d0cdb07acd609615675141e2706a Mon Sep 17 00:00:00 2001
From: Yuan Xu <yuanxu@student.ethz.ch>
Date: Thu, 11 May 2023 12:00:59 +0200
Subject: update previous files

---
 templates/MPC.m | 49 ++-----------------------------------------------
 1 file changed, 2 insertions(+), 47 deletions(-)

(limited to 'templates/MPC.m')

diff --git a/templates/MPC.m b/templates/MPC.m
index b2d411d..355eb81 100644
--- a/templates/MPC.m
+++ b/templates/MPC.m
@@ -6,44 +6,6 @@
 % 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
-
 classdef MPC
     properties
         yalmip_optimizer
@@ -54,7 +16,6 @@ classdef MPC
             nu = params.model.nu;
             nx = params.model.nx;
             % YOUR CODE HERE
-            % define optimization variables
             A=params.model.A;
             B=params.model.B;
             U = sdpvar(repmat(nu,1,N),ones(1,N),'full');
@@ -62,7 +23,6 @@ classdef MPC
 
             [K,P,~] = dlqr(A,B,Q,R);
 
-            % define constraints
 %             s_max=params.constraints.MaxAbsPositionXZ;
 %             y_max=params.constraints.MaxAbsPositionY;
 %             u_max = params.constraints.MaxAbsThrust;
@@ -99,17 +59,12 @@ classdef MPC
             [optimizer_out,errorcode,~] = obj.yalmip_optimizer{x};
             solvetime = toc;
 
-            % extract optimal control action and objective function value
-            u = optimizer_out{1};
-            objective = optimizer_out{2};
+            [u, objective] = optimizer_out{:};
 
-            % check feasibility of optimization problem
-            feasible = ~isnan(objective) && ~isinf(objective);
+            feasible = true;
             if (errorcode ~= 0)
                 feasible = false;
             end
-
-            % create control info struct
             ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
         end
     end
-- 
cgit v1.2.1