writeAcadoFiles

Generate files for ACADO Toolbox

Contents

Syntax

writeAcadoFiles(path,benchmark,Opts)

Description

This function generates and compiles the files containing the system dynamics, which are needed for solving optimal control problems with the ACADO toolbox

Input Arguments

path

path of the root directory for the Convex Interpolation Control Algorithm

benchmark

name of the selected benchmark

Opts

a structure containing following options

.nx

number of system states

.nu

number of system inputs

.extHorizon.active

use extended optimization horizon for optimal control problems (optional) [{false} / true]

.extHorizon.horizon

length of the extended optimization horizon in center trajectory time steps (optional) [{'all'} / positive integer]

.extHorizon.decay

decay function for the objective function of the optimization problem with extended optimization horizon (optional) [{'uniform'} / 'fall' / 'fall+end' /; 'fallLinear' / 'fallLinear+End' /; 'fallEqDiff' / 'FallEqDiff+End' /; 'rise' / 'quad' / 'riseLinear' /; 'riseEqDiff' / 'end']

See Also

acadoConvertDynamics


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