ACADO Toolkit - Forum

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David — Sat, 22 Jan 2011 15:10:28 +0000

Please send your questions by mail (see contact page)

pow(Expression, double) with LagrangianFormalism results in 1.#QNAN0 (no replies)

Spacecookies — Sat, 22 Jan 2011 01:50:48 +0000

Hi there,

In 1.0.2367beta, using the pow(Expression, double) function in the LagrangianFormalism results in a solution from the integrator consisting entirely of 1.#QNAN0.

Test case:

#include 

using namespace std;
USING_NAMESPACE_ACADO

int main(int argc, char *argv[])
{
	const double g	= 9.81;	// gravitational acceleration
	const double m	= 5.0;	// mass
	
	// DEFINE VALRIABLES:
	// ---------------------------
	DifferentialState   q(1);   // the generalized coordinate of the particle (y-axis)
	DifferentialState  dq(1);   // the associated velocities

	// COMPUTE THE KINETIC ENERGY T AND THE POTENTIAL V:
	// -------------------------------------------------
	IntermediateState dq0Sqr = pow(dq(0),2);	// doesn't work! (solution is 1.#QNAN0)
	//IntermediateState dq0Sqr = dq(0)*dq(0);	// works

	IntermediateState T = 0.5*m*(dq0Sqr);
	IntermediateState V = m*q(0)*g;	//gravity on y-axis
	

	// AUTOMATICALLY DERIVE THE EQUATIONS OF MOTION BASED ON THE LAGRANGIAN FORMALISM:
	// -------------------------------------------------------------------------------
	DifferentialEquation  f;
	LagrangianFormalism( f, T - V, q, dq );

	// Define an integrator:
	// ---------------------
	double t_start    =   0.0;
	double t_end      =   3.0;
	double q_start[2] = {0.0, 0.0};	//y-axis, y-axis velocity

	IntegratorBDF integrator( f );
	integrator.set( INTEGRATOR_PRINTLEVEL, HIGH );
	integrator.set( INTEGRATOR_TOLERANCE, 1e-5 );

	Grid timeInterval(t_start, t_end, 60 );
	integrator.integrate(timeInterval, q_start);

	// Output solution:
	// ---------------------
	VariablesGrid rx;
	integrator.getX(rx);

	FILE *file = fopen("solution.txt", "w" );
	for(int t = 0; t < rx.getLastIndex(); t++)
	{
		Vector v = rx.getVector(t);
		acadoFPrintf(file, "%f\n", v(0));
	}
	fclose(file);

	return 0;
}

Expected output:

0.000000
-0.012682
-0.050727
-0.114135
etc...

Actual output:

0.000000
1.#QNAN0
1.#QNAN0
1.#QNAN0
etc...

Thanks,
Spacecookies

Multiplication of Matrix and Scalar - Error (2 replies)

Tobias — Fri, 21 Jan 2011 08:57:03 +0000

Hi,

I'm getting an error message when doing a simple multiplication of a scalar and a matrix, but due to my limited C++ knowledge have no idea what is missing.

The following example code raises the error message "|error: no match for 'operator=' in 'A = ACADO::operator*(const double&, const ACADO::Expression&)(((const ACADO::Expression&)(&Expression(((const ACADO::Matrix&)((const ACADO::Matrix*)(&A)))))))'|"

#include 

int main() {

    USING_NAMESPACE_ACADO

    Matrix A(2,2);
    A(0,0) = 1.0;  A(0,1) = 1.0;
    A(1,0) = 0.0;  A(1,1) = 2.0;

    // works
    printf("\nThe matrix 5.0*A is:\n");
    A *= 5.0;
    A.print();

    // does not work
    printf("\nThe matrix 5.0*A is:\n");
    A = 5.0 * A;
    A.print();

    return 0;
}

The multiplication A *= 5.0; works fine, but A = 5.0 * A; fails with the error.

I would be really glad about any help!

Thank you very much!
Tobias

Exporting to a C function - variable names not used (no replies)

Spacecookies — Mon, 17 Jan 2011 00:53:38 +0000

In the tutorial Inspecting IntermediateStates, DifferentialStates and Expressions, under Method 1: Exporting to a C function, it says "If the DifferentialStates were declared with a name, they would appear with this name in the generated C code."

In my tests with 1.0.2367beta though, this doesn't seem to work. The variables are always named acado_xd[0], acado_xd[1] etc...

Test case:

#include 

using namespace std;
USING_NAMESPACE_ACADO

int main(int argc, char *argv[])
{
	DifferentialState x("x"),y("y");
	IntermediateState v = x * y + x;
	Function f;
	f << v;
	FILE *file = fopen("debug.cpp", "w" );
	file << f;
	fclose(file);
}

Expected output:

// COMPUTE THE INTERMEDIATE STATES:
// --------------------------------
acadoWorkspace.acado_aux[0] = ((x*y)+x);

Actual output:

// COMPUTE THE INTERMEDIATE STATES:
// --------------------------------
acadoWorkspace.acado_aux[0] = ((acado_xd[0]*acado_xd[1])+acado_xd[0]);

(Additionally there is a small typo in the tutorial... flcose(file) should be fclose(file).)

How Do I debug C++ files in matlab? (no replies)

David — Sun, 16 Jan 2011 07:42:44 +0000

Debugging in WINDOWS, Microsoft Visual C++ EXPRESS

Open make.m
Set the DEBUG flag to 1
Run make.m
Start Microsoft Visual C++ Express Edition. Do not exit your MATLAB session.
From the menu, select Tools -> Attach to process
In the Process GUI that opens, select the MATLAB.exe process and click Attach
You can now close the Process GUI if you wish.
Open the source files by selecting File -> Open->File
Set a breakpoint on the desired line of code by right-clicking on the line of code, and selecting Insert Breakpoint. If you have not run the model yet and the breakpoint shows up with a "?" in it, do not worry. The .mexw32 file will load when you run the model.
Start the simulation in matlab (eg. run getting_started.m), and you should be running the S-function in the Microsoft Development Environment.

Debugging in UNIX
See http://www.mathworks.com/support/tech-notes/1800/1819.html

Other interesting documentation
* Matlab MEX guide
http://www.mathworks.com/support/tech-notes/1600/1605.html

* Installing Microsoft Visual C++ EXPRESS for Windows
http://www.microsoft.com/Express/VC/

* Installing GCC for Windows (MinGW and GNUMEX)
http://gnumex.sourceforge.net/
http://www.mingw.org/wiki/MinGWiki

examples/modeling_tools (2 replies)

Spacecookies — Sat, 22 Jan 2011 13:02:31 +0000

Hi all,

I started experimenting with the acado toolkit (v1.0.2367beta) today, and so far I'm very impressed! I was particularly thrilled to see the examples/modeling_tools directory. This would seem to make the specification of mechanical systems *much* easier.

However, the modeling_tools examples are not built by default. I attempted to build them with:

cd examples/modeling_tools
make

But there are some compiler errors...

$ make
Creating spinningtop.exe
g++ -o spinningtop.exe -DLINUX -Wall -pedantic -Wfloat-equal -Wshadow -Winline -
D__DEBUG__ -g -O0 -finline-functions spinningtop.o -L../../libs   -lacado_toolki
t -lqpOASESextras2.0 -lcsparse
spinningtop.o: In function `main':
/cygdrive/c/lib/ACADOtoolkit/examples/modeling_tools/spinningtop.cpp:47: undefin
ed reference to `ACADO::Frame::Frame(ACADO::String const&, ACADO::Expression con
st&, ACADO::Expression const&, ACADO::Expression const&)'
/cygdrive/c/lib/ACADOtoolkit/examples/modeling_tools/spinningtop.cpp:48: undefin
ed reference to `tr(ACADO::Expression const&, ACADO::Expression const&, ACADO::E
xpression const&)'
/cygdrive/c/lib/ACADOtoolkit/examples/modeling_tools/spinningtop.cpp:48: undefin
ed reference to `TRy(ACADO::Expression const&)'
/cygdrive/c/lib/ACADOtoolkit/examples/modeling_tools/spinningtop.cpp:48: undefin
ed reference to `TRz(ACADO::Expression const&)'
/cygdrive/c/lib/ACADOtoolkit/examples/modeling_tools/spinningtop.cpp:48: undefin
ed reference to `ACADO::Frame::Frame(ACADO::String const&, ACADO::Frame const&,
ACADO::Expression const&)'

Etc...

It looks like an #include is missing. Before I debug further though, I thought I would simply ask about the state of these modeling_tools and their examples. Should they be working or are they still a 'work in progress'?

Thanks!
Spacecookies

cosine multiplication bug (no replies)

jgillis — Mon, 03 Jan 2011 23:33:21 +0000

Hi there, and happy newyear!

The master student Jan Goos just noticed a very weird bug in acado (1.0.2367beta release, not checked with svn trunk).

The bugreport is committed as /tests/bugreports/bug4.cpp, but the important part is included here:


	IntermediateState	x						= 0.0;

	IntermediateState v(6);

  v(0)=cos(x);
  v(1)=cos(x)*1.0;
  v(2)=cos(x)*1;
  v(3)=cos(x)/1;
  v(4)=1.0*cos(x);
  v(5)=cos(0)*1.0;

v should evaluate to a vector with all zeros, but v(1) and v(2) are displayed as 0.0
We can avoid the bug for now, but it should be looked at.

regards,
Joris

Constraints implementation (1 reply)

ferqtpo — Mon, 17 Jan 2011 09:50:26 +0000

Hello all,

My name is Fernando, this is my first post here. Thanks a lot for your software, and your effort.

I have a question about how the constraints are implemented. If I have a constraint of the type f(y,x,t)-limitmax < 0 (limitmax is a number, and f(y,x,t) a expression that depends on the states,algebraic and/or control variables), in an OCP problem, which is the constraint value what is sent to the NLP solver, i.e, is the maximum of that difference f(y,x,t)-limitmax (when it is greater than zero) in the integration? is the area of the integration in which f is greater than limitmax, etc??

Thanks in advance!!

Greetings

Fernando

single shooting (no replies)

msz — Tue, 21 Dec 2010 07:58:13 +0000

Hi,

I have installed 1.0.2367beta release, compiled the Matlab interface, and run the package successfully.

I was trying to set the discretization mode to single shooting using

algo=acado.OptimizationAlgorithm(ocp);
algo.set('DISCRETIZATION_TYPE','SINGLE_SHOOTING');

but received same results.

Is single shooting supported in this release?

msz

setting decomposition (no replies)

ukasz — Mon, 13 Dec 2010 01:10:03 +0000

Is it possible to set Cholesky decomposition? I have NLP problem and in each iterate of SQP i would like to apply Cholesky decomposition while solving QP problem by active-set method. I have no idea how to do that. Anyone can help me?

The use of INTERMEDIATESTATES (2 replies)

Jonas — Sun, 19 Dec 2010 12:04:52 +0000

Hi,

I would like to use Intermediate states to generate a trajectory with fixed points between start end end positions.

For example in 2D : calculation of optimal path (with dynamics as constrains and minimize to time)

START point = (1,1)
Intermediate point = (5,5) No time specified when the trajectory should pass this point !
END point = (8,11)

How can I implement this extra constrain ? Should i use IntermediateState and how should i initialize it ?

Thanks a lot !

Jonas

Function x^4 (1 reply)

Jonas — Fri, 26 Nov 2010 23:22:09 +0000

hello,

Is there a function available to get a power of x , like x^4 or x^5 ... .

thanks

Is it possible to store all the differential states at each step of the integrator? (3 replies)

Mattia — Fri, 26 Nov 2010 12:31:36 +0000

I want to store all the values of the differential states of my ODE's system at each step of the integrator, so that I can afterwards print them in gnuplot.

My integration is not discretized, and I am using the RK45.

Actually I am using:

VariablesGrid differentialStates;
integrator.getX( differentialStates );

and:

VariablesGrid difstates;
integrator.getAll(LOG_DIFFERENTIAL_STATES, difstates);

The first gives me back only the differential states at the end, and the second gives me an error.

any suggestion?

Problem with two ACADO problems in one file (2 replies)

Tobias — Wed, 24 Nov 2010 08:59:32 +0000

Hi,

in a larger project, I have separate pieces, a controller and a system (which later might become a real system).

I have modeled both in ACADO, the controller is a solved OCP and the system is a DynamicalEquation in a Process.

Both are in independent C++ functions (in their own files) and called on their own, they work totally fine.

However, if I execute both functions, the Process will no longer work, because for some reason it believes that the DynamicalSystem is larger than it actually is (specifically the number of controls is wrong).

If have created a small and heavily simplified test file which illustrates the problem (from the simple_ocp.cpp and the process/getting_started.cpp from the examples folder). The main() function is calling the controller() and the simulate_system(), both independent ACADO problems. If I just execute one of the functions (by commenting out the other one in the main() function), everything is fine.
However, if I execute both, the simulation of the process will no longer work, because the Process in simulate_system() suddenly believes that it has two controls. (See line 66 which results in the output "PROBLEM: Controls: 2", although there's only one control in the Process/function!)

What am I doing wrong here?
I would expect that the problems (as they are running in different functions) will not interfere with each other, but it seems as if there are some global variables that are used in both functions?
Do I need to reset those somehow?

Thanks a lot for looking into this!
Best wishes,
Tobias

The file:

// file "test.cpp"

#include 

// Header
void controller();
void simulate_system();

// MAIN
int main(){
    controller();
    simulate_system();
    return 0;
}

/*********************************************************************/
void controller() {

    USING_NAMESPACE_ACADO

    DifferentialState        s, v, m    ;     // the differential states
    Control                  u          ;     // the control input u
    Parameter                T          ;     // the time horizon T
    DifferentialEquation     f_1( 0.0, T );     // the differential equation
    f_1 << dot(s) == v;                         // an implementation
    f_1 << dot(v) == (u-0.2*v*v)/m;             // of the model equations
    f_1 << dot(m) == -0.01*u*u;                 // for the rocket.

    OCP ocp( 0.0, T );                        // time horizon of the OCP: [0,T]
    ocp.minimizeMayerTerm( T );               // the time T should be optimized
    ocp.subjectTo( f_1                 );     // minimize T s.t. the model,
    ocp.subjectTo( AT_START, s ==  0.0 );     // the initial values for s,
    ocp.subjectTo( AT_START, v ==  0.0 );     // v,
    ocp.subjectTo( AT_START, m ==  1.0 );     // and m,

    ocp.subjectTo( AT_END  , s == 10.0 );     // the terminal constraints for s
    ocp.subjectTo( AT_END  , v ==  0.0 );     // and v,

    ocp.subjectTo( -0.1 <= v <=  1.7   );     // as well as the bounds on v
    ocp.subjectTo( -1.1 <= u <=  1.1   );     // the control input u,
    ocp.subjectTo(  5.0 <= T <= 15.0   );     // and the time horizon T.

    OptimizationAlgorithm algorithm(ocp);     // the optimization algorithm
    algorithm.solve();                        // solves the problem.
    std::cout << "Controller done." << std::endl;
}

/*********************************************************************/
void simulate_system() {
    USING_NAMESPACE_ACADO

    DifferentialState xB, xW, vB, vW;
    Control F;

    DifferentialEquation f_2;
    f_2 << dot(xB) == vB;
    f_2 << dot(xW) == vW;
    f_2 << dot(vB) == ( -20000.0*xB + 20000.0*xW + F );
    f_2 << dot(vW) == ( -200000.0*xB - (200000.0+20000.0)*xW - F ) / 50.0;

    DynamicSystem dynSys( f_2 );
    Process myProcess;
    myProcess.setDynamicSystem( dynSys, INT_RK45 );

    // This should NOT print "2"!
    std::cout << "ATTENTION: Controls: " << myProcess.getNU() << std::endl;

    Vector x0( 4 );
    x0.setZero();
    VariablesGrid u( 1,0.0,1.0,6 );
    u.setZero();
    myProcess.init( 0.0, x0 );
    myProcess.run( u );
    std::cout << "Simulation done." << std::endl;
}

Changelog (1 reply)

Tobias — Fri, 19 Nov 2010 15:17:04 +0000

Hi,

today I noticed that a new version 1.0.2367beta was released.

Unfortunately I could not find any hints on the changes that were made, like fixed bugs or new features.

Is there a changelog available somewhere?
If not (which I can completely understand, as it is quite some extra work), is it possible to access the underlying SVN repository to read the commit messages, or is the repository private?

Thanks a lot!
Best wishes,
Tobias

Error compiling matlab interface for ACADOtoolkit-1.0.2367beta (6 replies)

alc — Mon, 22 Nov 2010 12:31:36 +0000

I get the following error compiling in Matlab 2010b on Win32 XP machine:

>> make clean all
Cleaning up all ACADO files... 
Removing ACADO folders from Matlab path... 
Clean completed. 
Making ACADO... 

....................
....................
....................
....................
....................
....................
....................
....................
....................ACADOintegrators.cpp 
E:\HELICO~1\MODEL\ACADO\ACADOT~1.236\INTERF~1\MATLAB\..\..\INCLUDE\acado/variables_grid/matrix_variables_grid.ipp(417) : warning C4390: ';' : empty controlled statement found; is this the intent? 
E:\HELICO~1\MODEL\ACADO\ACADOT~1.236\INTERF~1\MATLAB\..\..\INCLUDE\acado/utils/matlab_acado_utils.hpp(132) : warning C4018: '<' : signed/unsigned mismatch 
E:\HELICO~1\MODEL\ACADO\ACADOT~1.236\INTERF~1\MATLAB\..\..\INCLUDE\acado/utils/matlab_acado_utils.hpp(134) : warning C4018: '<' : signed/unsigned mismatch 
INTEGR~1\ACADOintegrators.cpp(72) : error C3861: 'clearAllStaticCounters': identifier not found 
INTEGR~1\ACADOintegrators.cpp(1400) : error C3861: 'clearAllStaticCounters': identifier not found 
INTEGR~1\ACADOintegrators.cpp(1529) : warning C4018: '<' : signed/unsigned mismatch 
INTEGR~1\ACADOintegrators.cpp(1581) : warning C4018: '<' : signed/unsigned mismatch 
INTEGR~1\ACADOintegrators.cpp(1724) : warning C4018: '<' : signed/unsigned mismatch 
INTEGR~1\ACADOintegrators.cpp(1746) : warning C4018: '<' : signed/unsigned mismatch 
INTEGR~1\ACADOintegrators.cpp(1848) : warning C4018: '<' : signed/unsigned mismatch 
INTEGR~1\ACADOintegrators.cpp(1870) : warning C4018: '<' : signed/unsigned mismatch 
INTEGR~1\ACADOintegrators.cpp(1957) : warning C4018: '<' : signed/unsigned mismatch 
INTEGR~1\ACADOintegrators.cpp(1959) : warning C4018: '<' : signed/unsigned mismatch 
INTEGR~1\ACADOintegrators.cpp(1974) : warning C4018: '<' : signed/unsigned mismatch 
INTEGR~1\ACADOintegrators.cpp(1976) : warning C4018: '<' : signed/unsigned mismatch 
 
  E:\MATLAB\R2010B\BIN\MEX.PL: Error: Compile of 'INTEGR~1\ACADOintegrators.cpp' failed. 
 
??? Error using ==> mex at 208
Unable to complete successfully.

Error in ==> makehelper>execute_command at 260
    eval (s) ;

Error in ==> makehelper at 198
                counter = execute_command (cmd, counter, DEBUG, SRCMEX{i}) ;

Error in ==> make at 80
    makehelper(0, {}, varargin);
 
>>

gnuplot fix in OSX (1 reply)

ghorn — Tue, 16 Nov 2010 19:08:10 +0000

I've been having trouble getting gnuplot to work and I finally fixed the problem. (This may belong in the FAQ but I think only moderators have access to that.)

Anyways, the problem is that aqua has problems on Snow Leopard, and aqua is gnuplot's default terminal. If you switch gnuplot to the x11 terminal (make sure x11 is installed) it should work fine.

To do this, just set the GNUTERM environment variable to x11. I did this by adding

export GNUTERM=x11

to my ~/.zshrc.local (If you're using bash, add it to your ~/.bashrc)

Compiling ACADO using VC (1 reply)

EllaGuru — Fri, 19 Nov 2010 15:20:19 +0000

Hi there,

I was wondering if it is possible to compile ACADO using the VC compiler (VC2005, VC2008 doesnt really matter). I noticed in the makefiles (include.mk) that it is possible to set the compiler to GNU or VC.
I tried switching to VC and compile with nmake.... but had no success.

Regards,
Paul McGahan

installation ACADOtoolkit_1_0_2313_beta in Win7 64bit (3 replies)

sunahn — Sat, 16 Oct 2010 08:38:34 +0000

Hi
I am trying to install ACADOtoolkit_1_0_2313_beta in Win7 64bit with Matlab 2010a(64bit).

But I got error during "make clean all" process

Is that because my Window and Matlab are 64bit ver?

-----------------------------------------------------------------------------------

Cleaning up all ACADO files...
Removing ACADO folders from Matlab path...
Clean completed.
Making ACADO...

. Error: Could not find the compiler "cl" on the DOS path.
Use mex -setup to configure your environment properly.

C:\PROGRA~1\MATLAB\R2010A\BIN\MEX.PL: Error: Unable to locate compiler.

??? Error using ==> mex at 222
Unable to complete successfully.

Error in ==> makehelper>execute_command at 260
eval (s) ;

Error in ==> makehelper at 184
counter = execute_command (cmd, counter, DEBUG, SRC{i})
;

Error in ==> make at 80
makehelper(0, {}, varargin);

Additional common functions (2 replies)

Tobias — Tue, 26 Oct 2010 10:12:37 +0000

Hi,

in my differential equations I'd like to use different simple functions like

abs

floor

ceil

round

and so on.
Those are available in Matlab, and as far as I know also in C++ (if one maybe loads an extra lib).
As it seems however, they are not usable in ACADO, as I get an error message, when trying to compile my m-file to a mex-file ("Undefined function or method '...' for input arguments of type 'acado.DifferentialState'.")

I tried adding them by copying and adjusting one of the other folders in /interfaces/matlab/acado/packages/+acado.

Unfortunately that does not seem to be enough. What other steps do I need to take to add the mentioned functions?

Thanks a lot!
Tobias

Wrong Eigenvalues (no replies)

DTelen — Mon, 04 Oct 2010 13:07:16 +0000

I was trying to use the written function getEigenvalues() for the Matrices as defined in ACADO.
For example for the 2 by 2-matrix: 1 2
3 -7, ACADO obtains 1.47214 en -7.47214 while the actual values are
-7.6904 and 1.6904.
With kind regards.

Order of state variables (5 replies)

Manuel — Tue, 12 Oct 2010 07:08:15 +0000

How is the order of differential state varibales determined in ACADO?

I experienced some problems when integrating a large model. The inital values where kind of mixed up.

To further specify my question, consider this example:

 DifferentialState x1, x2;

 DifferentialEquation f;

 f << dot(x1) == .... ;
 f << dot(x2) == ... ;

Now, if I want to give intial values to the integration algorithms how do I know which state is the first one, and wich is the second one? I thought this is implicitly declared by the order of equations assigned to f. But in my model (not the one above) this order is apparently changed by ACADO.

Issues with spambots on forum (no replies)

David — Tue, 14 Sep 2010 09:23:41 +0000

Due to some issues with spam we disabled anonymous reactions. We now require registration before you can respond to a message or when you want to post a new thread.

Sorry for the inconvenience!

Older matlab versions? (1 reply)

David — Mon, 13 Sep 2010 09:51:12 +0000

I have already successfully worked with ACADO on Matlab 2008a, which is
the minimum requirement for ACADO, according to your website.

Now, I'll unfortunately have to switch to an older computer where I only
have Matlab 7.1 available, and don't have a chance to get a new version
(financial reasons for the new licenses...).

So, I'm wondering: What is the reason that Matlab 2008a is required? Is
the reason more on the Matlab side (i.e. with mex file integration or
something like that), or is it more of a C++ problem?

Error while compiling ACADO interface for Matlab (2 replies)

Stefan Antonov — Sat, 04 Sep 2010 06:26:31 +0000

Hello,

I followed all the instructions to install ACADO interface for Matlab, on a 64-bit computer with Windows 7, Visual Studio 2008 Express Edition and "x64 compilers and tools" and Microsoft windows SDK installed in addition.
Here is the error in the final steps...

I hope it could help.
How do you think ?

Installation of 1.0.2292beta (1 reply)

Tobias — Thu, 02 Sep 2010 11:06:44 +0000

Hi,

first of all, thanks for the great toolkit!

I just saw the new update to 1.0.2292beta, but have trouble installing it (i.e. the MATLAB interface).

A few details first:
- Windows XP Prof. SP3 with Matlab R2008a (7.6.0)
- Microsoft Visual C++ 2008 installed in C:\Program Files\Microsoft Visual Studio 9.0

Installation of the previous version (1.0.1986beta) went absolutely flawless and was working fine.

I now tried the update:
- Removed entire
- Unpacked new zip file there.
- Followed installation procedure from http://acadotoolkit.org/matlab/gettingstarted.php
- "mex -setup;" went fine, selected correct compiler (Microsoft Visual C++ 2008)
- running "make clean all;" then starts, but at some point stops with this output:

>> make clean all;
Cleaning up all ACADO files... 
Removing ACADO folders from Matlab path... 
Clean completed. 
Making ACADO... 

....................
....................
....................
....................
..................lsq_term.cpp 
C:\ACADOtoolkit\src\objective\lsq_term.cpp(231) : error C2228: left of '.addMessage' must have class/struct/union 
        type is ''unknown-type'' 
C:\ACADOtoolkit\src\objective\lsq_term.cpp(231) : error C3861: 'ASSERT_RETURN': identifier not found 
 
  C:\PROGRA~1\MATLAB\R2008A\BIN\MEX.PL: Error: Compile of '..\..\src\objective\lsq_term.cpp' failed. 
 
??? Error using ==> mex at 207
Unable to complete successfully.

Error in ==> makehelper>execute_command at 260
    eval (s) ;

Error in ==> makehelper at 184
                counter = execute_command (cmd, counter, DEBUG, SRC{i}) ;

Error in ==> make at 80
    makehelper(0, {}, varargin);

As 1.0.1986beta worked fine, I suspect a bug in the new version? Or is the Matlab interface to the new version not yet ready? Your help is greatly appreciated! Thanks!

Best wishes,
Tobias

Providing scaling information to ACADO (no replies)

ferreau — Mon, 30 Aug 2010 19:37:02 +0000

1) Add the possibility to allow the user to provide scaling information to ACADO.
2) Possibly add an auto-scaling routine to ACADO.

Passing user data to external c functions (1 reply)

Manuel — Mon, 30 Aug 2010 19:56:19 +0000

I would like to pass some user data to a linked c function. In your example "linking_c_functions2" it looks like that there is a possibility to do this:

void my_function( double *x_, double *f, void *userData ){

    double          t =  x_[ 0];    // the time
    double          x =  x_[ 1];    // the differential state

    f[0] = x*x + t;
    f[1] = t;
}

How do I use this void *userData argument in ACADO? I tried a couple of things. But it didn't work.

"examples/ocp/getting_started" fails (1 reply)

Manuel — Tue, 03 Aug 2010 10:06:50 +0000

If I run the example "ocp/getting_started" I get an assertion after the first iteration:

Quote

1: KKT tolerance = 4.597e-02 line search parameter = 1.000e+00 objective value = 1.3769e+00 merit function value = 1.3778e+00
assertion "( getNumRows( ) == arg.getNumRows( ) ) && ( getNumCols( ) == arg.getNumCols( ) )" failed: file "../../include/acado/matrix_vector/matrix.ipp", line 65, function: ACADO::Matrix ACADO::Matrix::operator+(const ACADO::Matrix&) const
Aborted (core dumped)

The problem can be resolved by making the differential equation explicit:

//f << -dot(x) -x*x + p + u*u + w;
f << dot(x) == -x*x + p + u*u + w;

simulating a control profile (3 replies)

Niko — Fri, 06 Aug 2010 10:25:05 +0000

Hello,

I would like to simulate a specific control profile. Unfortunately, I cannot specify the control profile as

settings.u = [0 5 10; 450 100 30];

wherein the 1st row contains the time points at which the corresponding control value in the 2nd row is valid. Is it possible to integrate a profile with ACADO or do I have to call the integrator in a for-loop over the time points?

Best regards,
Niko