Time optimal formulation

FreyJo · January 23, 2020, 2:53pm

Hi @aknight0, welcome to the forum!

There is indeed an update:
The interfaces now allow for a more flexibel way of setting bounds on the initial state vector x0.
Instead of setting the property constr_x0, you can now set the following properties.

constr_Jbx_0, the matrix that specifies which components of x0 are bounded
constr_lbx_0, constr_ubx_0 the lower and upper bounds on x0

I did not play around with that a lot in Matlab, so please let me know if there is an issue

github.com

acados/acados/blob/f1718259f22eb25a96f8c59fd157c341d3035dca/interfaces/acados_matlab_octave/acados_ocp_model.m#L170


    end


% constraints
elseif (strcmp(tokens{1}, 'constr'))


    if (strcmp(field, 'constr_type'))
        obj.model_struct.constr_type = value;
    elseif (strcmp(field, 'constr_type_e'))
        obj.model_struct.constr_type_e = value;


    % initial state constraint
    elseif (strcmp(field, 'constr_x0'))
        obj.model_struct.constr_lbx_0 = value;
        obj.model_struct.constr_ubx_0 = value;
        obj.model_struct.constr_Jbx_0 = eye( length(value) );
    elseif (strcmp(field, 'constr_lbx_0'))
        obj.model_struct.constr_lbx_0 = value;
    elseif (strcmp(field, 'constr_ubx_0'))
        obj.model_struct.constr_ubx_0 = value;
    elseif (strcmp(field, 'constr_Jbx_0'))
        obj.model_struct.constr_Jbx_0 = value;

Best,
Jonathan