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99 lines
2.4 KiB
99 lines
2.4 KiB
#include <acado_code_generation.hpp>
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const int controlHorizon = 50;
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using namespace std;
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int main( )
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{
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USING_NAMESPACE_ACADO
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DifferentialEquation f;
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DifferentialState x_ego, v_ego, a_ego, t;
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OnlineData x_poly_r0, x_poly_r1, x_poly_r2, x_poly_r3;
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OnlineData v_poly_r0, v_poly_r1, v_poly_r2, v_poly_r3;
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OnlineData a_poly_r0, a_poly_r1, a_poly_r2, a_poly_r3;
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Control j_ego;
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// Equations of motion
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f << dot(x_ego) == v_ego;
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f << dot(v_ego) == a_ego;
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f << dot(a_ego) == j_ego;
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f << dot(t) == 1;
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auto poly_x = x_poly_r0*(t*t*t) + x_poly_r1*(t*t) + x_poly_r2*t + x_poly_r3;
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auto poly_v = v_poly_r0*(t*t*t) + v_poly_r1*(t*t) + v_poly_r2*t + v_poly_r3;
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auto poly_a = a_poly_r0*(t*t*t) + a_poly_r1*(t*t) + a_poly_r2*t + a_poly_r3;
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// Running cost
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Function h;
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h << x_ego - poly_x;
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h << v_ego - poly_v;
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h << a_ego - poly_a;
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h << a_ego * (0.1 * v_ego + 1.0);
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h << j_ego * (0.1 * v_ego + 1.0);
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// Weights are defined in mpc.
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BMatrix Q(5,5); Q.setAll(true);
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// Terminal cost
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Function hN;
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hN << x_ego - poly_x;
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hN << v_ego - poly_v;
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hN << a_ego - poly_a;
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hN << a_ego * (0.1 * v_ego + 1.0);
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// Weights are defined in mpc.
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BMatrix QN(4,4); QN.setAll(true);
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// Non uniform time grid
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// First 5 timesteps are 0.2, after that it's 0.6
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DMatrix numSteps(20, 1);
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for (int i = 0; i < 5; i++){
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numSteps(i) = 1;
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}
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for (int i = 5; i < 20; i++){
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numSteps(i) = 3;
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}
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// Setup Optimal Control Problem
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const double tStart = 0.0;
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const double tEnd = 10.0;
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OCP ocp( tStart, tEnd, numSteps);
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ocp.subjectTo(f);
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ocp.minimizeLSQ(Q, h);
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ocp.minimizeLSQEndTerm(QN, hN);
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//ocp.subjectTo( 0.0 <= v_ego);
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ocp.setNOD(12);
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OCPexport mpc(ocp);
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mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
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mpc.set( DISCRETIZATION_TYPE, MULTIPLE_SHOOTING );
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mpc.set( INTEGRATOR_TYPE, INT_RK4 );
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mpc.set( NUM_INTEGRATOR_STEPS, controlHorizon);
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mpc.set( MAX_NUM_QP_ITERATIONS, 500);
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mpc.set( CG_USE_VARIABLE_WEIGHTING_MATRIX, YES);
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mpc.set( SPARSE_QP_SOLUTION, CONDENSING );
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mpc.set( QP_SOLVER, QP_QPOASES );
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mpc.set( HOTSTART_QP, YES );
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mpc.set( GENERATE_TEST_FILE, NO);
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mpc.set( GENERATE_MAKE_FILE, NO );
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mpc.set( GENERATE_MATLAB_INTERFACE, NO );
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mpc.set( GENERATE_SIMULINK_INTERFACE, NO );
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if (mpc.exportCode( "lib_mpc_export" ) != SUCCESSFUL_RETURN)
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exit( EXIT_FAILURE );
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mpc.printDimensionsQP( );
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return EXIT_SUCCESS;
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}
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