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
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path
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path to the root directory of the control algorithm
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benchmark
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name of the selected benchmark
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Opts
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a structure containing following options
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.nx
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number of system states
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.nu
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number of system inputs
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.extHorizon.active
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use extended optimization horizon for
optimal control problems (optional)
[{false} / true]
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.extHorizon.horizon
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length of the extended optimization
horizon in center trajectory time steps
(optional)
[{'all'} / positive integer]
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.extHorizon.decay
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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']
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See Also
acadoConvertDynamics
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