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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_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
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