From c11fe8fc6094ce3823a4a8b9b78ea8ea81e65778 Mon Sep 17 00:00:00 2001 From: YanzhenXiangRobotics Date: Tue, 25 Apr 2023 20:42:56 +0200 Subject: FIX: .gitignore --- templates/MPC_TE_forces.m | 38 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 38 insertions(+) create mode 100644 templates/MPC_TE_forces.m (limited to 'templates/MPC_TE_forces.m') diff --git a/templates/MPC_TE_forces.m b/templates/MPC_TE_forces.m new file mode 100644 index 0000000..5625f32 --- /dev/null +++ b/templates/MPC_TE_forces.m @@ -0,0 +1,38 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% 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 -- cgit v1.2.1