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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.
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classdef MPC_TUBE
    properties
        yalmip_optimizer
        K_tube
    end

    methods
        function obj = MPC_TUBE(Q,R,N,H_N,h_N,H_tube,h_tube,K_tube,params)
            obj.K_tube = K_tube;

            % YOUR CODE HERE

            opts = sdpsettings('verbose',1,'solver','quadprog');
            obj.yalmip_optimizer = optimizer(constraints,objective,opts,X0,{V{1} Z{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;
            % YOUR CODE HERE
            
            feasible = true;
            if (errorcode ~= 0)
                feasible = false;
            end

            ctrl_info = struct('ctrl_feas',feasible,'objective',objective,'solvetime',solvetime);
        end
    end
end