8000 MATLAB: minor cleanup of examples, rewrite to new interface by sandmaennchen · Pull Request #1206 · acados/acados · GitHub
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MATLAB: minor cleanup of examples, rewrite to new interface #1206

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Merged
merged 4 commits into from
Aug 16, 2024
Merged

MATLAB: minor cleanup of examples, rewrite to new interface #1206

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f2781dd
fix example
sandmaennchen Aug 16, 2024
6ab3dca
minor cleanup
sandmaennchen Aug 16, 2024
93f0a6f
rewrite example to use new interface
sandmaennchen Aug 16, 2024
569558f
set opts.N_horizon instead of dims.N
sandmaennchen Aug 16, 2024
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87 changes: 50 additions & 37 deletions examples/acados_matlab_octave/control_rates/F8_crusader_model.m
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Original file line number Diff line number Diff line change
Expand Up @@ -30,50 +30,63 @@
%

function model = F8_crusader_model()
import casadi.*
import casadi.*

%% System dimension
nx = 4;
nu = 1;
%% System dimension
nx = 4;
nu = 1;

%% System parameters
a1 = -0.877; a2 = -0.088; a3 = 0.47; a4 = -0.019; a5 = 3.846; a6 = -0.215;
a7 = 0.28; a8 = 0.47; a9 = 0.63;
c1 = -4.208; c2 = -0.396; c3 = -0.47; c4 = -3.564; c5 = -20.967; c6 = 6.265;
c7 = 46; c8 = 61.4;
%% System parameters
a1 = -0.877;
a2 = -0.088;
a3 = 0.47;
a4 = -0.019;
a5 = 3.846;
a6 = -0.215;
a7 = 0.28;
a8 = 0.47;
a9 = 0.63;
c1 = -4.208;
c2 = -0.396;
c3 = -0.47;
c4 = -3.564;
c5 = -20.967;
c6 = 6.265;
c7 = 46;
c8 = 61.4;

%% Symbolic variables
% states
x1 = SX.sym('x1');
x2 = SX.sym('x2');
x3 = SX.sym('x3');
x4 = SX.sym('x4'); % extra state for the original control input
sym_x = vertcat(x1, x2, x3, x4);
%% Symbolic variables
% states
x1 = SX.sym('x1');
x2 = SX.sym('x2');
x3 = SX.sym('x3');
x4 = SX.sym('x4'); % extra state for the original control input
x = vertcat(x1, x2, x3, x4);

% controls
u = SX.sym('u'); % input rate becomes the input
sym_u = u;
% controls
u = SX.sym('u'); % input rate becomes the input

% state derivatives
sym_xdot = SX.sym('xdot', nx, 1);
% state derivatives
xdot = SX.sym('xdot', nx, 1);

%% The system dynamics
% Explicit Dynamics
expr_f_expl = vertcat(a1*x1+x3+a2*x1*x3+a3*x1.^2+a4*x2.^2-x1.^2*x3+a5*x1.^3+a6*x4+a7*x1.^2*x4+a8*x1*x4.^2+a9*x4.^3, ...
x3, ...
c1*x1+c2*x3+c3*x1.^2+c4*x1.^3+c5*x4+c6*x1.^2*x4+c7*x1*x4.^2+c8*x4.^3, ...
u); % dynamics of the added state
%% The system dynamics
% Explicit Dynamics
f_expl_expr = vertcat(
a1*x1+x3+a2*x1*x3+a3*x1.^2+a4*x2.^2-x1.^2*x3+a5*x1.^3+a6*x4+a7*x1.^2*x4+a8*x1*x4.^2+a9*x4.^3, ...
x3, ...
c1*x1+c2*x3+c3*x1.^2+c4*x1.^3+c5*x4+c6*x1.^2*x4+c7*x1*x4.^2+c8*x4.^3, ...
u); % dynamics of the added state

% Implicit Dynamics
expr_f_impl = expr_f_expl - sym_xdot;
% Implicit Dynamics
f_impl_expr = f_expl_expr - xdot;

%% fill structure
model.nx = nx;
model.nu = nu;
model.sym_x = sym_x;
model.sym_u = sym_u;
model.sym_xdot = sym_xdot;
model.expr_f_expl = expr_f_expl;
model.expr_f_impl = expr_f_impl;
% setup an acados model
model = AcadosModel();
model.x = x;
model.u = u;
model.xdot = xdot;
model.f_expl_expr = f_expl_expr;
model.f_impl_expr = f_impl_expr;
model.name = 'F8_crusader_model';

end
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