MATLAB: flat setter example (#1420)

Extend MOCP transition example with bounds on `x` and showcase usage of flat format setters.
acados · Jan 15, 2025 · 5aeb773 · 5aeb773
1 parent d0edd56
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Showing 5 changed files with 25 additions and 2 deletions.
diff --git a/examples/acados_matlab_octave/mocp_transition_example/formulate_double_integrator_ocp.m b/examples/acados_matlab_octave/mocp_transition_example/formulate_double_integrator_ocp.m
@@ -48,6 +48,12 @@
     ocp.constraints.ubu = [u_max];
     ocp.constraints.idxbu = [0];
 
+    if settings.WITH_X_BOUNDS
+        ocp.constraints.lbx = [-100, -10];
+        ocp.constraints.ubx = [100, 10];
+        ocp.constraints.idxbx = [0, 1];
+    end
+
     ocp.constraints.x0 = settings.X0;
 
 end
diff --git a/examples/acados_matlab_octave/mocp_transition_example/formulate_single_integrator_ocp.m b/examples/acados_matlab_octave/mocp_transition_example/formulate_single_integrator_ocp.m
@@ -48,6 +48,16 @@
     ocp.constraints.ubu = [u_max];
     ocp.constraints.idxbu = [0];
 
+    if settings.WITH_X_BOUNDS
+        ocp.constraints.lbx = [-100];
+        ocp.constraints.ubx = [100];
+        ocp.constraints.idxbx = [0];
+
+        ocp.constraints.lbx_e = [-100];
+        ocp.constraints.ubx_e = [100];
+        ocp.constraints.idxbx_e = [0];
+    end
+
     ocp.constraints.x0 = settings.X0(1);
 end
 

diff --git a/examples/acados_matlab_octave/mocp_transition_example/get_example_settings.m b/examples/acados_matlab_octave/mocp_transition_example/get_example_settings.m
@@ -36,4 +36,5 @@
     settings.L2_COST_V = 1e-1;
     settings.L2_COST_P = 1e0;
     settings.L2_COST_A = 1e-3;
+    settings.WITH_X_BOUNDS = true;
 end
diff --git a/examples/acados_matlab_octave/mocp_transition_example/main_mocp_simulink.m b/examples/acados_matlab_octave/mocp_transition_example/main_mocp_simulink.m
@@ -29,6 +29,7 @@
 
 
 settings = get_example_settings();
+settings.WITH_X_BOUNDS = false;
 
 N_list = [10, 1, 15];
 n_phases = length(N_list);

diff --git a/examples/acados_matlab_octave/mocp_transition_example/main_multiphase_ocp.m b/examples/acados_matlab_octave/mocp_transition_example/main_multiphase_ocp.m
@@ -74,13 +74,18 @@
 
 ocp_solver = AcadosOcpSolver(ocp);
 
-
 % initialize x trajectory using flattened format
 x0 = ocp.constraints{1}.x0;
 x_init = [repmat(x0, 1, N_list(1)+N_list(2)) repmat(x0(1), 1, N_list(3)+1)];
-
 ocp_solver.set('x', x_init);
 
+% update state bounds using flattened format
+lbx = [repmat([-10, -5], 1, N_list(1)) repmat([-10], 1, N_list(3)+1)];
+ocp_solver.set('constr_lbx', lbx);
+
+% need to set initial state after updating the bounds on x as this again overwrites lbx_0
+ocp_solver.set('constr_x0', x0);
+
 ocp_solver.solve();
 ocp_solver.print();