8000 MATLAB/Octave: add note on interfaces to examples by sandmaennchen · Pull Request #1232 · acados/acados · GitHub
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Sep 2, 2024
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MATLAB/Octave: add note on interfaces to examples #1232

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13 changes: 10 additions & 3 deletions examples/acados_matlab_octave/generic_dyn_disc/disc_dyn_example_ocp.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%

%% test of native matlab interface

% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)


clear all; clc;
check_acados_requirements()
addpath('../linear_mass_spring_model/');
Expand Down Expand Up @@ -121,7 +128,7 @@
ocp_model.set('cost_source_ext_cost_0', 'generic_ext_cost.c');
ocp_model.set('cost_function_ext_cost_0', 'ext_cost');
% Generic stage cost
ocp_model.set('cost_ext_fun_type', 'generic');
ocp_model.set('cost_ext_fun_type', 'generic');
ocp_model.set('cost_source_ext_cost', 'generic_ext_cost.c');
ocp_model.set('cost_function_ext_cost', 'ext_cost');
% Generic terminal cost
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11 changes: 9 additions & 2 deletions examples/acados_matlab_octave/generic_external_cost/external_cost_example_ocp.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%


% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)

import casadi.*

%% test of native matlab interface
clear all; clc;
check_acados_requirements()

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14 changes: 10 additions & 4 deletions examples/acados_matlab_octave/getting_started/extensive_example_ocp.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%

%% test of native matlab interface

% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)

clear all; clc;

addpath('../pendulum_on_cart_model')
Expand Down Expand Up @@ -360,9 +366,9 @@
% time_linearize = sum(time_lin);
% time_regulariz = sum(time_reg);
% time_qp_solution = sum(time_qp_sol);
%
%
% figure;
%
%
% bar_vals = 1000 * [time_linearize; time_regulariz; time_qp_solution; ...
% time_total - time_linearize - time_regulariz - time_qp_solution] / n_executions;
% bar([1; nan], [bar_vals, nan(size(bar_vals))]' ,'stacked')
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10 changes: 8 additions & 2 deletions examples/acados_matlab_octave/getting_started/minimal_example_closed_loop.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%

%% test of native matlab interface

% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)

clear all; clc;

model_path = fullfile(pwd,'..','pendulum_on_cart_model');
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12 changes: 10 additions & 2 deletions examples/acados_matlab_octave/getting_started/minimal_example_ocp.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%

%% test of native matlab interface


% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)


% options needed for the Simulink example
if ~exist('simulink_opts','var')
disp('using acados simulink default options')
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11 changes: 10 additions & 1 deletion examples/acados_matlab_octave/getting_started/minimal_example_sim.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%



% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)


%% minimal example of acados integrator matlab interface
clear all; clc;
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9 changes: 8 additions & 1 deletion examples/acados_matlab_octave/linear_mass_spring_model/example_closed_loop.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%


% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)

%% example of closed loop simulation
clear all; clc;
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11 changes: 9 additions & 2 deletions examples/acados_matlab_octave/linear_mass_spring_model/example_ocp.m
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Expand Up @@ -27,9 +27,16 @@
% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%

%% test of native matlab interface

% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)


clear all; clc;
check_acados_requirements()

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11 changes: 9 additions & 2 deletions examples/acados_matlab_octave/linear_mass_spring_model/example_sim.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%

%% test of native matlab interface

% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)


clear all; clc;
check_acados_requirements();

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12 changes: 11 additions & 1 deletion examples/acados_matlab_octave/linear_mass_spring_model/linear_mass_spring_model.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%




% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)


function model = linear_mass_spring_model()

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11 changes: 9 additions & 2 deletions examples/acados_matlab_octave/linear_mpc/example_closed_loop.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%

%% test of native matlab interface

% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)

< 3D11 /td>
clear all; clc; close all;
check_acados_requirements()

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13 changes: 12 additions & 1 deletion examples/acados_matlab_octave/linear_mpc/quadcopter.m
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Expand Up @@ -28,6 +28,17 @@
% POSSIBILITY OF SUCH DAMAGE.;
%




% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)


% this function implements the quadcopter model from https://osqp.org/docs/examples/mpc.html
% more infomation can be found here: https://github.com/orgs/osqp/discussions/558

Expand Down Expand Up @@ -80,7 +91,7 @@
cost_expr_ext_cost = cost_expr_ext_cost_e + sym_u'*R*sym_u; % stage cost (states and inputs)
cost_expr_ext_cost = 1/h * cost_expr_ext_cost; % scale the stage cost to match the discrete formulation
cost_expr_ext_cost_0 = 1/h * sym_u'*R*sym_u; % penalize only the inputs in the first stage
% more info on discrete cost scaling:
% more info on discrete cost scaling:
% https://docs.acados.org/python_interface/index.html#acados_template.acados_ocp_cost.AcadosOcpCost

% linear least-squares cost formulation (alternative)
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10 changes: 10 additions & 0 deletions examples/acados_matlab_octave/lorentz/example_mhe.m
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Expand Up @@ -30,6 +30,16 @@
%
% author: Katrin Baumgaertner




% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)

clear all

%% model
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13 changes: 13 additions & 0 deletions examples/acados_matlab_octave/lorentz/lorentz_model.m
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Expand Up @@ -30,6 +30,19 @@
%
% author: Katrin Baumgaertner





% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)



function [model] = lorentz_model()

import casadi.*
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8 changes: 8 additions & 0 deletions examples/acados_matlab_octave/lorentz/setup_estimator.m
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Expand Up @@ -29,6 +29,14 @@



% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)


function [estimator] = setup_estimator(model)

N = model.N;
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10 changes: 10 additions & 0 deletions examples/acados_matlab_octave/lorentz/setup_integrator.m
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% POSSIBILITY OF SUCH DAMAGE.;




% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)


function [sim_solver] = setup_integrator(model)

model_name = 'lorentz_model_integrator';
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11 changes: 10 additions & 1 deletion examples/acados_matlab_octave/masses_chain_model/example_closed_loop.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%



% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)


%% example of closed loop simulation
clear all
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11 changes: 9 additions & 2 deletions examples/acados_matlab_octave/masses_chain_model/example_ocp.m
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Expand Up @@ -27,9 +27,16 @@
% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%

%% test of native matlab interface


% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)

clear all


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10 changes: 8 additions & 2 deletions examples/acados_matlab_octave/pendulum_dae/example_closed_loop.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%

%% test of native matlab interface

% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)

clear all; clc;

% check that env.sh has been run
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9 changes: 8 additions & 1 deletion examples/acados_matlab_octave/pendulum_dae/example_sim.m
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;

%


% NOTE: `acados` currently supports both an old MATLAB/Octave interface (< v0.4.0)
% as well as a new interface (>= v0.4.0).

% THIS EXAMPLE still uses the OLD interface. If you are new to `acados` please start
% with the examples that have been ported to the new interface already.
% see https://github.com/acados/acados/issues/1196#issuecomment-2311822122)

clear all; clc;

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