plateform stringclasses 1
value | repo_name stringlengths 13 113 | name stringlengths 3 74 | ext stringclasses 1
value | path stringlengths 12 229 | size int64 23 843k | source_encoding stringclasses 9
values | md5 stringlengths 32 32 | text stringlengths 23 843k |
|---|---|---|---|---|---|---|---|---|
github | ssketch/motorControl-master | mpt_constructMatrices.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/control/mpt_constructMatrices.m | 59,989 | utf_8 | a441227d9800cf2e1040f2757d8244fe | function [G,W,E,H,F,Y,Cf,Cx,Cc,symmetric,bndA,bndb,Pinvset]=mpt_constructMatrices(sysStruct,probStruct,Options,setHorizon)
%MPT_CONSTRUCTMATRICES Constructs matrices for the finite time constrained optimal control problem
%
% [G,W,E,H,F,Y,Cf,Cx,Cc,symmetric,bndA,bndb,Pinvset]=
% mpt_constructMatrices(sysStruct,probS... |
github | ssketch/motorControl-master | mpt_sys.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/control/mpt_sys.m | 26,373 | utf_8 | eebf71265be14acf4e1c7cb92b242250 | function [sysStruct, msg] = mpt_sys(obj, varargin)
% MPT_SYS Converts an object to sysStruct structure
%
% ---------------------------------------------------------------------------
% DESCRIPTION
% ---------------------------------------------------------------------------
% Converts a given object to MPT's system str... |
github | ssketch/motorControl-master | mpt_hyparr.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/hys2pwa/mpt_hyparr.m | 15,324 | utf_8 | a2a117282ddbf7c3a6058ec680d4b875 | %===============================================================================
%
% Title: hyparr
%
% Project: Transformation of HYSDEL model into PWA model
%
% Purpose: Dervive hyperplane arrangement
%
% Input: Hyp: hyperplanes Hyp.A... |
github | ssketch/motorControl-master | findFAS.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/hys2pwa/findFAS.m | 6,331 | utf_8 | c352163da8f00287b3b6fe9fd0afd5c2 | %===============================================================================
%
% Title: findFAS
%
% Project: Transformation of HYSDEL model into PWA model
%
% Purpose: find feedback arc set (FAS)
%
% Input: A: adjacency matrix
%
% ... |
github | ssketch/motorControl-master | remAL.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/hys2pwa/remAL.m | 13,159 | utf_8 | 42570cd56b2a6b3324363a344c6544f5 | %===============================================================================
%
% Title: remAL
%
% Project: Transformation of HYSDEL model into PWA model
%
% Purpose: Detect and remove algebraic loops
%
% Input: S: structure contain... |
github | ssketch/motorControl-master | hys2pwa.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/hys2pwa/hys2pwa.m | 46,959 | utf_8 | 00cecb86029f1380ae493f6169e713d1 | function pwa = hys2pwa(S, verbose, constr, plot)
% HYS2PWA Transformation of HYSDEL model into PWA model
%===============================================================================
%
% Title: hys2pwa
%
% Project: Transformation of HYSDEL mode... |
github | ssketch/motorControl-master | mpt_pwa2mld.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/hys2pwa/mpt_pwa2mld.m | 9,689 | utf_8 | 20ddf84ff711e74b8be89c8431530c73 | function S = mpt_pwa2mld(sysStruct)
%MPT_PWA2MLD Converts a PWA system into the MLD representation
%
% S = mpt_pwa2mld(sysStruct)
%
% ---------------------------------------------------------------------------
% DESCRIPTION
% ---------------------------------------------------------------------------
% Converts a PWA s... |
github | ssketch/motorControl-master | mpt_hyparr2.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/optmerge/mpt_hyparr2.m | 35,788 | utf_8 | 59d9a6cafaa380b6a992cf06435f24af | %===============================================================================
%
% Title: hyparr
%
% Project: Transformation of HYSDEL model into PWA model
%
% Purpose: Dervive hyperplane arrangement
%
% Input: Hyp: hyperplanes Hyp.A... |
github | ssketch/motorControl-master | mpt_optMerge.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/optmerge/mpt_optMerge.m | 17,376 | utf_8 | 4c0f25d2163690fc6cccf57e7399f829 | %===============================================================================
%
% function [PAmer, colorMer] = mpt_optMerge(PA, Opt)
%
% Title: mpt_optMerge
%
% Project: Optimal merging of a set of polyhedra
%
% Input: PA: polyhedral a... |
github | ssketch/motorControl-master | mpt_merge5.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/optmerge/mpt_merge5.m | 14,054 | utf_8 | 960c093b33de35f8ad41ecc5baf230ca | %===============================================================================
%
% Title: Merge5
%
% Project: Optimal merging of polyhedra with the same PWA dynamics
%
% Description: Merges the white polyhedra recursively by dividing the
% ... |
github | ssketch/motorControl-master | mpt_exHyperAdv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/optmerge/mpt_exHyperAdv.m | 27,808 | utf_8 | 54a276be3e10b7cd52b6e8a83bf6843c | %===============================================================================
%
% Title: mpt_exHyper
%
% Project: Optimal merging of polyhedra with the same PWA dynamics
%
% Input: Hi, Ki: definition of the polyhedral partition
% ... |
github | ssketch/motorControl-master | mpt_optMergeDivCon.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/optmerge/mpt_optMergeDivCon.m | 41,251 | utf_8 | d11bebe9a6e93f1882666a86f9662332 | %===============================================================================
%
% Title: mpt_optMergeDivCon
%
% Project: Optimal merging of a set of polyhedra using divide and
% conquer strategy
%
% Input: PA: polyhedral array
% ... |
github | ssketch/motorControl-master | mpt_solveQP_26.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/solvers/mpt_solveQP_26.m | 18,664 | utf_8 | df98bf97b04126fd52abf71d58003b74 | function [xopt,lambda,how,exitflag,objqp]=mpt_solveQP(H,f,A,B,Aeq,Beq,x0,solver,options,rescue)
%MPT_SOLVEQP Interface to various QP solvers
%
% [xopt,lambda,how,exitflag,objqp]=mpt_solveQP(H,f,A,B,Aeq,Beq,x0,solver,options);
%
% ---------------------------------------------------------------------------
% DESCRIPTION
... |
github | ssketch/motorControl-master | mpt_mplp_26.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/solvers/mpt_mplp_26.m | 66,218 | utf_8 | a3188addb8ceafff9eb2c6264eeebd6c | function [Pn,Fi,Gi,activeConstraints,Phard,details]=mpt_mplp_26(Matrices,Options)
%MPT_MPLP Explicitly solves the given linear program (LP)
%
% [Pn,Fi,Gi,activeConstraints,Phard,details]=mpt_mplp(Matrices,Options)
%
% ---------------------------------------------------------------------------
% DESCRIPTION
% ----------... |
github | ssketch/motorControl-master | mpt_solveLP_26.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/solvers/mpt_solveLP_26.m | 19,622 | utf_8 | 0cd4d924f93ff19516ae8e56deb838e1 | function [xopt,fval,lambda,exitflag,how]=mpt_solveLP_26(f,A,B,Aeq,Beq,x0,lpsolver)
%MPT_SOLVELPi Interface to various LP solvers (version without errorchecks)
%
% [xopt,fval,lambda,exitflag,how]=mpt_solveLPi(f,A,B,Aeq,Beq,x0,lpsolver);
%
% ---------------------------------------------------------------------------
% DE... |
github | ssketch/motorControl-master | mpt_mpqp_26.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/compatibility/solvers/mpt_mpqp_26.m | 52,284 | utf_8 | fda307755ae46f58e537604370d3e7dc | function [Pn,Fi,Gi,activeConstraints,Phard,details]=mpt_mpqp(Matrices,Options)
%MPT_MPQP Explicitly solves the given quadratic program (QP)
%
% [Pn,Fi,Gi,activeConstraints,Phard,details]=mpt_mpqp(Matrices,Options)
%
% ---------------------------------------------------------------------------
% DESCRIPTION
% ----------... |
github | ssketch/motorControl-master | mpt_import.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/mpt_import.m | 11,123 | utf_8 | b7d279c522701ef06ec8a1fd2f0516b2 | function out = mpt_import(varargin)
%
% MPT_IMPORT: Converts sysStruct and probStruct into an MPT3 prediction model
% ============================================================================
%
%
% SYNTAX
% ------
%
% model = mpt_import(sysStruct, probStruct)
%
%
% DESCRIPTION
% ----------... |
github | ssketch/motorControl-master | filter_integrator.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@LTISystem/filter_integrator.m | 2,169 | utf_8 | 61b643e9b08a894cbe1257c5b83710ba | function filter = filter_integrator(varargin)
% Adds a stedy-state-based integrator for LTI systems
% set up the filter
filter = FilterSetup;
filter.addField('value', true, @islogical);
% the filter impacts the following calls:
filter.callback('addFilter') = @on_addFilter;
filter.callback('constraints') = @on_constra... |
github | ssketch/motorControl-master | filter_min.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_min.m | 2,244 | utf_8 | 49d124f587ac372b841098b7e1ebe3ce | function filter = filter_min(obj)
%
% MIN: Lower bound on a signal
% =============================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter introduces the lower bound lb on the signal s, i.e. lb <= s_k .
%
% AUTHOR(s)
% ---------
%
%
% (c) ... |
github | ssketch/motorControl-master | filter_softMax.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_softMax.m | 5,391 | utf_8 | bf0b052bc88113dab3ec85bdf1e6f3c1 | function filter = filter_softMax(obj)
%
% SOFTMAX: Soft upper bound constraint
% =====================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter will soften the upper bound constraint on a selected signal in
% the MPC setup. Without this fil... |
github | ssketch/motorControl-master | filter_PWApenalty.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_PWApenalty.m | 4,526 | utf_8 | 01a09c74d48409fadb74d3b8ea0d2a35 | function filter = filter_PWApenalty(varargin)
% PWA penalty
%
% Adds a PWA penalty on the k-th step of the prediction horizon. The
% penalty function must be scalar-valued.
%
% This example adds a PWA penalty on the final predicted state, assumes the
% PWA function is given as the function 'obj' of polyunion "PU".
%
% ... |
github | ssketch/motorControl-master | filter_deltaPenalty.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_deltaPenalty.m | 3,742 | utf_8 | 30a1601aad291fcb3db7da3e067971e8 | function filter = filter_deltaPenalty(varargin)
%
% DELTAPENALTY: Penalizes the increment of a signal
% ==================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% s_k-1 where s is the system signal and k is the time instant. The filter i... |
github | ssketch/motorControl-master | filter_reference.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_reference.m | 5,272 | utf_8 | 3e125f7ac2c6e53989082f8c9163907b | function filter = filter_reference(obj)
%
% REFERENCE: Penalizes difference of a signal from a given reference level
% =========================================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% Adding this filter to an MPC setup ... |
github | ssketch/motorControl-master | filter_previous.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_previous.m | 2,135 | utf_8 | 4b00af85363098c87ab929d914d3bf9a | function filter = filter_previous(varargin)
% Value of a signal in the previous time step
% set up the filter
filter = FilterSetup;
filter.hidden = true;
filter.transient = true; % transient filters are not saved
filter.addField('value', {});
% the filter impacts the following calls:
filter.callback('instantiate') = ... |
github | ssketch/motorControl-master | filter_deltaMax.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_deltaMax.m | 3,924 | utf_8 | ccb2e9e58dc75bd15e285d5a71e8094a | function filter = filter_deltaMax(obj)
%
% DELTAMAX: Upper bound on the increment of a signal
% ===================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter introduces the upper bound ub on the difference of a signal
% Del... |
github | ssketch/motorControl-master | filter_block.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_block.m | 2,647 | utf_8 | a3f050af887d2a82ac4db0522c676ace | function filter = filter_block(varargin)
%
% BLOCK: Adds a move blocking constraint
% =======================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% Adding this filter to an MPC setup will modify the constraints in such a way
% that the differences b... |
github | ssketch/motorControl-master | filter_terminalPenalty.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_terminalPenalty.m | 3,377 | utf_8 | 83260003ef62d2ffe528eb5b03e0a899 | function filter = filter_terminalPenalty(obj)
%
% TERMINALPENALTY: Penalizes the final predicted state in the MPC problem
% ========================================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter adds the term || Q... |
github | ssketch/motorControl-master | filter_setConstraint.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_setConstraint.m | 3,475 | utf_8 | 3b020db58531bf20ad4877308bf6dcb1 | function filter = filter_setConstraint(obj)
%
% SETCONSTRAINT: Adds a polyhedral constraint
% ============================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter adds polyhedral constraints z_k in P for all k = 0, ..., N-1 to
% the MPC ... |
github | ssketch/motorControl-master | filter_deltaMin.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_deltaMin.m | 3,924 | utf_8 | f0d72ec976cf4633ce4361397b734199 | function filter = filter_deltaMin(obj)
%
% DELTAMIN: Lower bound on the increment of a signal
% ===================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter introduces the lower bound lb on the difference of a signal lb
% <... |
github | ssketch/motorControl-master | filter_max.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_max.m | 2,256 | utf_8 | f875b35e66a58b87834316372963ebfd | function filter = filter_max(obj)
%
% MAX: Upper bound on a signal
% =============================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter introduces the upper bound ub on the signal s, i.e. s_k <= ub .
%
%
% AUTHOR(s)
% ---------
%
%
% ... |
github | ssketch/motorControl-master | filter_softMin.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_softMin.m | 5,392 | utf_8 | 0b003a9b3d502be9080e84b4b4235f06 | function filter = filter_softMin(obj)
%
% SOFTMIN: Soft lower bound constraint
% =====================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter will soften the lower bound constraint on a selected signal in
% the MPC setup. Without this fil... |
github | ssketch/motorControl-master | filter_initialSet.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_initialSet.m | 1,229 | utf_8 | 117a9844aaec8188bf3bb2029f06ab5f | function filter = filter_initialSet(obj)
% Polyhedral set on the first prediction step
% set up the filter
filter = FilterSetup;
filter.addField('value', Polyhedron, @validate_polyhedron);
% the filter impacts the following calls:
filter.callback('constraints') = @on_constraints;
filter.callback('set') = @on_set;
en... |
github | ssketch/motorControl-master | filter_binary.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_binary.m | 2,792 | utf_8 | c3bb73cbb4f73fe7fb537cdb63f2c8a5 | function filter = filter_binary(obj)
%
% BINARY: Constraints variable to be binary (0/1)
% ================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% Adding this filter will constraint some (or all) elements of a given variable
% to take... |
github | ssketch/motorControl-master | filter_penalty.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_penalty.m | 3,728 | utf_8 | 8cb17d6211d9754c1ea4f9c7a65fbdcc | function filter = filter_penalty(varargin)
%
% PENALTY: Penalizes the signal in the MPC cost function
% =======================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter, which is enabled by default, allows to penalize a parti... |
github | ssketch/motorControl-master | filter_terminalSet.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/ui/@SystemSignal/filter_terminalSet.m | 3,294 | utf_8 | f204792cc026a4f202d130b2ae7f9780 | function filter = filter_terminalSet(obj)
%
% TERMINALSET: Adds a polyhedral constraint on the final predicted state
% =======================================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter adds a polyhedral constra... |
github | ssketch/motorControl-master | mpt_plcp.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/solvers/mpt_plcp.m | 94,781 | utf_8 | 9c7b5d2e89f88cc43408458e7fa0598b | function sol = mpt_plcp(opt)
%
% MPT_PLCP: Parametric linear complementarity solver (PLCP) (without errorchecks)
% ================================================================================
%
%
% SYNTAX
% ------
%
% R = mpt_plcp(S)
%
%
% DESCRIPTION
% -----------
% Implementation of... |
github | ssketch/motorControl-master | mpt_call_nag.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/solvers/mpt_call_nag.m | 15,261 | utf_8 | 927213acd8bc96f841b97152cc98c4f5 | function R = mpt_call_nag(S)
%
% MPT_CALL_NAG: A gateway function to the NAG Toolbox LP and QP solvers
% ======================================================================
%
%
% SYNTAX
% ------
%
% R = mpt_call_nag(S)
%
%
% DESCRIPTION
% -----------
% The function implements call to N... |
github | ssketch/motorControl-master | mpt_solve.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/solvers/mpt_solve.m | 34,325 | utf_8 | b4d773823b8673c9a364060757122673 | function R=mpt_solve(Sin, param_value)
%
% MPT_SOLVE: A gateway function to solve non-parametric optimization problems
% ===========================================================================
% (without errorchecks)
% ======================
%
%
% SYNTAX
% ------
%
% R = mpt_solve(S)
%
%
... |
github | ssketch/motorControl-master | mpt_enum_plcp.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/solvers/mpt_enum_plcp.m | 9,489 | utf_8 | b1a45c0ef6726993c3d54d683c6215e9 | function sol = mpt_enum_plcp(problem)
%
% enumeration based PLCP solver for parametric linear complementarity
% problems (PLCP) of the form
%
% find w, z
% s.t. w - M*z = q + Q*th
% w(th)'*z(th) = 0
% w(th) >= 0
% z(th) >= 0
% Ath*th <= bth
%
% where w, ... |
github | ssketch/motorControl-master | mpt_detect_solvers.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.2/all/mpt3-3_1_2/mpt/modules/solvers/mpt_detect_solvers.m | 10,685 | utf_8 | 78a0c0b2ab5b64ca95b9a74608bc5235 | function solvers=mpt_detect_solvers
%
% MPT_DETECT_SOLVERS: Searches for installed solvers on the path.
% ================================================================
%
%
% SYNTAX
% ------
%
% s = mpt_detect_solvers
%
%
% DESCRIPTION
% -----------
% Searches for installed solvers on t... |
github | ssketch/motorControl-master | mpt_nlrs.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/utils/mpt_nlrs.m | 13,102 | utf_8 | a85f4352bb2fe4b650455167b5ae90b4 | function [V,R,H,K] = mpt_nlrs(method,VP,Options)
%MPT_LRS Matlab implementation of the LRS algorithm
%
% [V,R] = mpt_nlrs(method, VP, Options)
%
% ---------------------------------------------------------------------------
% DESCRIPTION
% ---------------------------------------------------------------------------
% enu... |
github | ssketch/motorControl-master | contains.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/geometry/sets/@Polyhedron/contains.m | 11,357 | utf_8 | 654932a048e4288003574635cee33b45 | function tf = contains(P, x, fastbreak)
%
% CONTAINS: Test if a polyhedron/point is contained inside polyhedron.
% =====================================================================
%
%
% SYNTAX
% ------
%
% tf = P.contains(S)
% tf = P.contains(S, fastbreak)
% tf = contains(P, S, fastbre... |
github | ssketch/motorControl-master | mldivide.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/geometry/sets/@Polyhedron/mldivide.m | 8,869 | utf_8 | 54443c21575d7b4c18873bfeafef4a1c | function res = mldivide(P,Pn,noconstruction)
%
% MLDIVIDE: Set difference between polyhedra
% ===========================================
%
%
% SYNTAX
% ------
%
% R = P \ Q
% R = mldivide(P,Q)
%
%
% DESCRIPTION
% -----------
% Function computes the set difference between polyhedron ... |
github | ssketch/motorControl-master | toMatlab.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/geometry/unions/@BinTreePolyUnion/toMatlab.m | 5,384 | utf_8 | d6d4ae5963ec03ca9f11b6ef7d42a710 | function toMatlab(obj, filename, function_to_export, varargin)
% Generates pure Matlab code for evaluation of a particular function
%
% Syntax:
% ---
%
% obj.toMatlab(filename, function)
%
% Inputs:
% ---
%
% obj: single BinTreePolyUnion object
% filename: name of exported file (the '.m' extension will be adde... |
github | ssketch/motorControl-master | toPython.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/geometry/unions/@PolyUnion/toPython.m | 9,046 | utf_8 | 71d37f4ec622fa5032a152b789e3a3c4 | function toPython(obj, filename, function_to_export, tiebreak)
% Generates Python code for evaluation of a particular function
%
% Syntax:
% ---
%
% obj.toPython(filename, function, tiebreak)
%
% Inputs:
% ---
%
% obj: single PolyUnion or an array thereof
% filename: name of exported file (the '.py' extension ... |
github | ssketch/motorControl-master | toC.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/geometry/unions/@PolyUnion/toC.m | 27,440 | utf_8 | 62c624ed2ef075afe9ce4559d1278c79 | function toC(obj, function_name, file_name, tie_break_fcn)
%
% TOC: Export of PWA/PWQ function to C-code
% ==========================================
%
%
% SYNTAX
% ------
%
% controller.toC('function')
% controller.toC('function','filename')
% controller.toC('function','filename','tie_brea... |
github | ssketch/motorControl-master | locatePoint.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/geometry/unions/@PolyUnion/locatePoint.m | 7,961 | utf_8 | 18c301b439d6d8c7e3e172b0ac4d8ad7 | function [index, details] = locatePoint(U,x)
%
% LOCATEPOINT: Implementation of a graph search algorithm for a point location
% ============================================================================
% problem.
% =========
%
%
% SYNTAX
% ------
%
% [index, details] = locatePoint(U,x)
%
% ... |
github | ssketch/motorControl-master | toMatlab.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/geometry/unions/@PolyUnion/toMatlab.m | 8,363 | utf_8 | 49e865d18888dd0a91ad1b79e71e1977 | function toMatlab(obj, filename, function_to_export, tiebreak)
% Generates pure Matlab code for evaluation of a particular function
%
% Syntax:
% ---
%
% obj.toMatlab(filename, function, tiebreak)
%
% Inputs:
% ---
%
% obj: single PolyUnion or an array thereof
% filename: name of exported file (the '.m' extens... |
github | ssketch/motorControl-master | merge.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/geometry/unions/@PolyUnion/merge.m | 10,210 | utf_8 | 55cf19e9fec90401e497985db24e77ac | function U = merge(obj, function_name, optimal, optimal_merging)
%
% MERGE: Greedy merging of polyhedra
% ===================================
%
%
% SYNTAX
% ------
%
% U.merge
% merge(U)
%
%
% DESCRIPTION
% -----------
% Simplifies the union of polyhedra by merging the neighboring po... |
github | ssketch/motorControl-master | isConnected.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/geometry/unions/@PolyUnion/isConnected.m | 5,147 | utf_8 | 4e04c800cfc0ea4ae898b68fae4b79c6 | function ts = isConnected(obj)
%
% ISCONNECTED: Test if the union of polyhedra form a connected union.
% ====================================================================
%
%
% SYNTAX
% ------
%
% ts = U.isConnected
% ts = isConnected(U)
%
%
% DESCRIPTION
% -----------
% Return tr... |
github | ssketch/motorControl-master | mpt_constructMatrices.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/control/mpt_constructMatrices.m | 59,967 | utf_8 | ca2c80a92a2bc79a2c515398e2ad9637 | function [G,W,E,H,F,Y,Cf,Cx,Cc,symmetric,bndA,bndb,Pinvset]=mpt_constructMatrices(sysStruct,probStruct,Options,setHorizon)
%MPT_CONSTRUCTMATRICES Constructs matrices for the finite time constrained optimal control problem
%
% [G,W,E,H,F,Y,Cf,Cx,Cc,symmetric,bndA,bndb,Pinvset]=
% mpt_constructMatrices(sysStruct,probS... |
github | ssketch/motorControl-master | mpt_sys.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/control/mpt_sys.m | 26,373 | utf_8 | eebf71265be14acf4e1c7cb92b242250 | function [sysStruct, msg] = mpt_sys(obj, varargin)
% MPT_SYS Converts an object to sysStruct structure
%
% ---------------------------------------------------------------------------
% DESCRIPTION
% ---------------------------------------------------------------------------
% Converts a given object to MPT's system str... |
github | ssketch/motorControl-master | mpt_hyparr.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/hys2pwa/mpt_hyparr.m | 15,324 | utf_8 | a2a117282ddbf7c3a6058ec680d4b875 | %===============================================================================
%
% Title: hyparr
%
% Project: Transformation of HYSDEL model into PWA model
%
% Purpose: Dervive hyperplane arrangement
%
% Input: Hyp: hyperplanes Hyp.A... |
github | ssketch/motorControl-master | findFAS.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/hys2pwa/findFAS.m | 6,331 | utf_8 | c352163da8f00287b3b6fe9fd0afd5c2 | %===============================================================================
%
% Title: findFAS
%
% Project: Transformation of HYSDEL model into PWA model
%
% Purpose: find feedback arc set (FAS)
%
% Input: A: adjacency matrix
%
% ... |
github | ssketch/motorControl-master | remAL.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/hys2pwa/remAL.m | 13,159 | utf_8 | 42570cd56b2a6b3324363a344c6544f5 | %===============================================================================
%
% Title: remAL
%
% Project: Transformation of HYSDEL model into PWA model
%
% Purpose: Detect and remove algebraic loops
%
% Input: S: structure contain... |
github | ssketch/motorControl-master | hys2pwa.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/hys2pwa/hys2pwa.m | 46,959 | utf_8 | 00cecb86029f1380ae493f6169e713d1 | function pwa = hys2pwa(S, verbose, constr, plot)
% HYS2PWA Transformation of HYSDEL model into PWA model
%===============================================================================
%
% Title: hys2pwa
%
% Project: Transformation of HYSDEL mode... |
github | ssketch/motorControl-master | mpt_pwa2mld.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/hys2pwa/mpt_pwa2mld.m | 9,689 | utf_8 | 20ddf84ff711e74b8be89c8431530c73 | function S = mpt_pwa2mld(sysStruct)
%MPT_PWA2MLD Converts a PWA system into the MLD representation
%
% S = mpt_pwa2mld(sysStruct)
%
% ---------------------------------------------------------------------------
% DESCRIPTION
% ---------------------------------------------------------------------------
% Converts a PWA s... |
github | ssketch/motorControl-master | mpt_hyparr2.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/optmerge/mpt_hyparr2.m | 35,788 | utf_8 | 59d9a6cafaa380b6a992cf06435f24af | %===============================================================================
%
% Title: hyparr
%
% Project: Transformation of HYSDEL model into PWA model
%
% Purpose: Dervive hyperplane arrangement
%
% Input: Hyp: hyperplanes Hyp.A... |
github | ssketch/motorControl-master | mpt_optMerge.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/optmerge/mpt_optMerge.m | 17,376 | utf_8 | 4c0f25d2163690fc6cccf57e7399f829 | %===============================================================================
%
% function [PAmer, colorMer] = mpt_optMerge(PA, Opt)
%
% Title: mpt_optMerge
%
% Project: Optimal merging of a set of polyhedra
%
% Input: PA: polyhedral a... |
github | ssketch/motorControl-master | mpt_merge5.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/optmerge/mpt_merge5.m | 14,054 | utf_8 | 960c093b33de35f8ad41ecc5baf230ca | %===============================================================================
%
% Title: Merge5
%
% Project: Optimal merging of polyhedra with the same PWA dynamics
%
% Description: Merges the white polyhedra recursively by dividing the
% ... |
github | ssketch/motorControl-master | mpt_exHyperAdv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/optmerge/mpt_exHyperAdv.m | 27,808 | utf_8 | 54a276be3e10b7cd52b6e8a83bf6843c | %===============================================================================
%
% Title: mpt_exHyper
%
% Project: Optimal merging of polyhedra with the same PWA dynamics
%
% Input: Hi, Ki: definition of the polyhedral partition
% ... |
github | ssketch/motorControl-master | mpt_optMergeDivCon.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/optmerge/mpt_optMergeDivCon.m | 41,251 | utf_8 | d11bebe9a6e93f1882666a86f9662332 | %===============================================================================
%
% Title: mpt_optMergeDivCon
%
% Project: Optimal merging of a set of polyhedra using divide and
% conquer strategy
%
% Input: PA: polyhedral array
% ... |
github | ssketch/motorControl-master | mpt_solveQP_26.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/solvers/mpt_solveQP_26.m | 18,653 | utf_8 | 92e3ef366b8cc5a2f38cd4a8df18b0d7 | function [xopt,lambda,how,exitflag,objqp]=mpt_solveQP(H,f,A,B,Aeq,Beq,x0,solver,options,rescue)
%MPT_SOLVEQP Interface to various QP solvers
%
% [xopt,lambda,how,exitflag,objqp]=mpt_solveQP(H,f,A,B,Aeq,Beq,x0,solver,options);
%
% ---------------------------------------------------------------------------
% DESCRIPTION
... |
github | ssketch/motorControl-master | mpt_mplp_26.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/solvers/mpt_mplp_26.m | 66,196 | utf_8 | 2399cc22b5872b681729efc50e56732c | function [Pn,Fi,Gi,activeConstraints,Phard,details]=mpt_mplp_26(Matrices,Options)
%MPT_MPLP Explicitly solves the given linear program (LP)
%
% [Pn,Fi,Gi,activeConstraints,Phard,details]=mpt_mplp(Matrices,Options)
%
% ---------------------------------------------------------------------------
% DESCRIPTION
% ----------... |
github | ssketch/motorControl-master | mpt_solveLP_26.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/solvers/mpt_solveLP_26.m | 19,622 | utf_8 | 0cd4d924f93ff19516ae8e56deb838e1 | function [xopt,fval,lambda,exitflag,how]=mpt_solveLP_26(f,A,B,Aeq,Beq,x0,lpsolver)
%MPT_SOLVELPi Interface to various LP solvers (version without errorchecks)
%
% [xopt,fval,lambda,exitflag,how]=mpt_solveLPi(f,A,B,Aeq,Beq,x0,lpsolver);
%
% ---------------------------------------------------------------------------
% DE... |
github | ssketch/motorControl-master | mpt_mpqp_26.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/compatibility/solvers/mpt_mpqp_26.m | 52,273 | utf_8 | 80cf689c8292ed7a389568c16989288d | function [Pn,Fi,Gi,activeConstraints,Phard,details]=mpt_mpqp(Matrices,Options)
%MPT_MPQP Explicitly solves the given quadratic program (QP)
%
% [Pn,Fi,Gi,activeConstraints,Phard,details]=mpt_mpqp(Matrices,Options)
%
% ---------------------------------------------------------------------------
% DESCRIPTION
% ----------... |
github | ssketch/motorControl-master | mpt_import.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/mpt_import.m | 11,123 | utf_8 | b7d279c522701ef06ec8a1fd2f0516b2 | function out = mpt_import(varargin)
%
% MPT_IMPORT: Converts sysStruct and probStruct into an MPT3 prediction model
% ============================================================================
%
%
% SYNTAX
% ------
%
% model = mpt_import(sysStruct, probStruct)
%
%
% DESCRIPTION
% ----------... |
github | ssketch/motorControl-master | filter_integrator.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@LTISystem/filter_integrator.m | 2,169 | utf_8 | 61b643e9b08a894cbe1257c5b83710ba | function filter = filter_integrator(varargin)
% Adds a stedy-state-based integrator for LTI systems
% set up the filter
filter = FilterSetup;
filter.addField('value', true, @islogical);
% the filter impacts the following calls:
filter.callback('addFilter') = @on_addFilter;
filter.callback('constraints') = @on_constra... |
github | ssketch/motorControl-master | filter_min.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_min.m | 2,244 | utf_8 | 49d124f587ac372b841098b7e1ebe3ce | function filter = filter_min(obj)
%
% MIN: Lower bound on a signal
% =============================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter introduces the lower bound lb on the signal s, i.e. lb <= s_k .
%
% AUTHOR(s)
% ---------
%
%
% (c) ... |
github | ssketch/motorControl-master | filter_softMax.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_softMax.m | 5,391 | utf_8 | bf0b052bc88113dab3ec85bdf1e6f3c1 | function filter = filter_softMax(obj)
%
% SOFTMAX: Soft upper bound constraint
% =====================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter will soften the upper bound constraint on a selected signal in
% the MPC setup. Without this fil... |
github | ssketch/motorControl-master | filter_PWApenalty.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_PWApenalty.m | 4,526 | utf_8 | 01a09c74d48409fadb74d3b8ea0d2a35 | function filter = filter_PWApenalty(varargin)
% PWA penalty
%
% Adds a PWA penalty on the k-th step of the prediction horizon. The
% penalty function must be scalar-valued.
%
% This example adds a PWA penalty on the final predicted state, assumes the
% PWA function is given as the function 'obj' of polyunion "PU".
%
% ... |
github | ssketch/motorControl-master | filter_deltaPenalty.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_deltaPenalty.m | 3,742 | utf_8 | 30a1601aad291fcb3db7da3e067971e8 | function filter = filter_deltaPenalty(varargin)
%
% DELTAPENALTY: Penalizes the increment of a signal
% ==================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% s_k-1 where s is the system signal and k is the time instant. The filter i... |
github | ssketch/motorControl-master | filter_reference.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_reference.m | 6,184 | utf_8 | 7f8adfe7df2b19ef7e53fb7990307fd3 | function filter = filter_reference(obj)
%
% REFERENCE: Penalizes difference of a signal from a given reference level
% =========================================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% Adding this filter to an MPC setup ... |
github | ssketch/motorControl-master | filter_previous.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_previous.m | 2,135 | utf_8 | 4b00af85363098c87ab929d914d3bf9a | function filter = filter_previous(varargin)
% Value of a signal in the previous time step
% set up the filter
filter = FilterSetup;
filter.hidden = true;
filter.transient = true; % transient filters are not saved
filter.addField('value', {});
% the filter impacts the following calls:
filter.callback('instantiate') = ... |
github | ssketch/motorControl-master | filter_deltaMax.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_deltaMax.m | 3,924 | utf_8 | ccb2e9e58dc75bd15e285d5a71e8094a | function filter = filter_deltaMax(obj)
%
% DELTAMAX: Upper bound on the increment of a signal
% ===================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter introduces the upper bound ub on the difference of a signal
% Del... |
github | ssketch/motorControl-master | filter_block.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_block.m | 2,647 | utf_8 | a3f050af887d2a82ac4db0522c676ace | function filter = filter_block(varargin)
%
% BLOCK: Adds a move blocking constraint
% =======================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% Adding this filter to an MPC setup will modify the constraints in such a way
% that the differences b... |
github | ssketch/motorControl-master | filter_terminalPenalty.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_terminalPenalty.m | 3,377 | utf_8 | 83260003ef62d2ffe528eb5b03e0a899 | function filter = filter_terminalPenalty(obj)
%
% TERMINALPENALTY: Penalizes the final predicted state in the MPC problem
% ========================================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter adds the term || Q... |
github | ssketch/motorControl-master | filter_setConstraint.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_setConstraint.m | 3,475 | utf_8 | 3b020db58531bf20ad4877308bf6dcb1 | function filter = filter_setConstraint(obj)
%
% SETCONSTRAINT: Adds a polyhedral constraint
% ============================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter adds polyhedral constraints z_k in P for all k = 0, ..., N-1 to
% the MPC ... |
github | ssketch/motorControl-master | filter_deltaMin.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_deltaMin.m | 3,924 | utf_8 | f0d72ec976cf4633ce4361397b734199 | function filter = filter_deltaMin(obj)
%
% DELTAMIN: Lower bound on the increment of a signal
% ===================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter introduces the lower bound lb on the difference of a signal lb
% <... |
github | ssketch/motorControl-master | filter_max.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_max.m | 2,256 | utf_8 | f875b35e66a58b87834316372963ebfd | function filter = filter_max(obj)
%
% MAX: Upper bound on a signal
% =============================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter introduces the upper bound ub on the signal s, i.e. s_k <= ub .
%
%
% AUTHOR(s)
% ---------
%
%
% ... |
github | ssketch/motorControl-master | filter_softMin.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_softMin.m | 5,392 | utf_8 | 0b003a9b3d502be9080e84b4b4235f06 | function filter = filter_softMin(obj)
%
% SOFTMIN: Soft lower bound constraint
% =====================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter will soften the lower bound constraint on a selected signal in
% the MPC setup. Without this fil... |
github | ssketch/motorControl-master | filter_initialSet.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_initialSet.m | 1,229 | utf_8 | 117a9844aaec8188bf3bb2029f06ab5f | function filter = filter_initialSet(obj)
% Polyhedral set on the first prediction step
% set up the filter
filter = FilterSetup;
filter.addField('value', Polyhedron, @validate_polyhedron);
% the filter impacts the following calls:
filter.callback('constraints') = @on_constraints;
filter.callback('set') = @on_set;
en... |
github | ssketch/motorControl-master | filter_binary.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_binary.m | 2,792 | utf_8 | c3bb73cbb4f73fe7fb537cdb63f2c8a5 | function filter = filter_binary(obj)
%
% BINARY: Constraints variable to be binary (0/1)
% ================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% Adding this filter will constraint some (or all) elements of a given variable
% to take... |
github | ssketch/motorControl-master | filter_penalty.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_penalty.m | 3,739 | utf_8 | 994fa29b809b2b353a7b9746debb10bd | function filter = filter_penalty(varargin)
%
% PENALTY: Penalizes the signal in the MPC cost function
% =======================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter, which is enabled by default, allows to penalize a parti... |
github | ssketch/motorControl-master | filter_terminalSet.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/ui/@SystemSignal/filter_terminalSet.m | 3,294 | utf_8 | f204792cc026a4f202d130b2ae7f9780 | function filter = filter_terminalSet(obj)
%
% TERMINALSET: Adds a polyhedral constraint on the final predicted state
% =======================================================================
%
%
% SYNTAX
% ------
%
%
%
%
% DESCRIPTION
% -----------
% This filter adds a polyhedral constra... |
github | ssketch/motorControl-master | mpt_plcp.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/solvers/mpt_plcp.m | 94,822 | utf_8 | a2da59e3dfeefe75f7e2d14124ff0e12 | function sol = mpt_plcp(opt)
%
% MPT_PLCP: Parametric linear complementarity solver (PLCP) (without errorchecks)
% ================================================================================
%
%
% SYNTAX
% ------
%
% R = mpt_plcp(S)
%
%
% DESCRIPTION
% -----------
% Implementation of... |
github | ssketch/motorControl-master | mpt_call_nag.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/solvers/mpt_call_nag.m | 15,261 | utf_8 | 927213acd8bc96f841b97152cc98c4f5 | function R = mpt_call_nag(S)
%
% MPT_CALL_NAG: A gateway function to the NAG Toolbox LP and QP solvers
% ======================================================================
%
%
% SYNTAX
% ------
%
% R = mpt_call_nag(S)
%
%
% DESCRIPTION
% -----------
% The function implements call to N... |
github | ssketch/motorControl-master | mpt_solve.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/solvers/mpt_solve.m | 34,314 | utf_8 | ca889cfbc308f884f492b847d8c79319 | function R=mpt_solve(Sin, param_value)
%
% MPT_SOLVE: A gateway function to solve non-parametric optimization problems
% ===========================================================================
% (without errorchecks)
% ======================
%
%
% SYNTAX
% ------
%
% R = mpt_solve(S)
%
%
... |
github | ssketch/motorControl-master | mpt_enum_plcp.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/solvers/mpt_enum_plcp.m | 9,489 | utf_8 | b1a45c0ef6726993c3d54d683c6215e9 | function sol = mpt_enum_plcp(problem)
%
% enumeration based PLCP solver for parametric linear complementarity
% problems (PLCP) of the form
%
% find w, z
% s.t. w - M*z = q + Q*th
% w(th)'*z(th) = 0
% w(th) >= 0
% z(th) >= 0
% Ath*th <= bth
%
% where w, ... |
github | ssketch/motorControl-master | mpt_detect_solvers.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/mpt/3.1.5/all/mpt3-3_1_5/mpt/modules/solvers/mpt_detect_solvers.m | 10,685 | utf_8 | 78a0c0b2ab5b64ca95b9a74608bc5235 | function solvers=mpt_detect_solvers
%
% MPT_DETECT_SOLVERS: Searches for installed solvers on the path.
% ================================================================
%
%
% SYNTAX
% ------
%
% s = mpt_detect_solvers
%
%
% DESCRIPTION
% -----------
% Searches for installed solvers on t... |
github | ssketch/motorControl-master | glpk.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/glpkmex/1.0/glnxa64/glpkmex_1_0_glnxa64/glpk.m | 20,365 | utf_8 | d8e67c6977ba79760299289ebfca225f | % Matlab MEX interface for the GLPK library
%
% [xopt, fmin, status, extra] = glpk (c, a, b, lb, ub, ctype, vartype,
% sense, param)
%
% Solve an LP/MILP problem using the GNU GLPK library. Given three
% arguments, glpk solves the following standard LP:
%
% min C'*x subject to A*x <= b
%
% but may also solve problems... |
github | ssketch/motorControl-master | glpk.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/glpkmex/1.0/maci64/glpkmex_1_0_maci64/glpk.m | 20,365 | utf_8 | d8e67c6977ba79760299289ebfca225f | % Matlab MEX interface for the GLPK library
%
% [xopt, fmin, status, extra] = glpk (c, a, b, lb, ub, ctype, vartype,
% sense, param)
%
% Solve an LP/MILP problem using the GNU GLPK library. Given three
% arguments, glpk solves the following standard LP:
%
% min C'*x subject to A*x <= b
%
% but may also solve problems... |
github | ssketch/motorControl-master | yalmiptest.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/yalmiptest.m | 17,133 | utf_8 | 6330fc4dd8d0c53fad9f39602bd53158 | function out = yalmiptest(prefered_solver,auto)
%YALMIPTEST Runs a number of test problems.
%
% YALMIPTEST is recommended when a new solver or a new version
% of YALMIP installed.
%
% EXAMPLES
% YALMIPTEST % Without argument, default solver used
% YALMIPTEST('solver tag') % Test with specified... |
github | ssketch/motorControl-master | deriveBasis.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/sos/deriveBasis.m | 323 | utf_8 | 0401f866c43215ad1c43d68dd8499dd3 | function H = deriveBasis(A_equ)
[L,U,P] = lu(A_equ);
[L,U,P] = lu(A_equ');
r = colspaces(L');
AA = L';
H1 = AA(:,r);
H2 = AA(:,setdiff(1:size(AA,2),r));
H = P'*[-H1\H2;speye(size(H2,2))];
function [indx]=colspaces(A)
indx = [];
for i = 1:size(A,2)
s = max(find(A(:,i)));
indx = [indx s];
end
indx = unique(indx)... |
github | ssketch/motorControl-master | postprocesssos.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/sos/postprocesssos.m | 3,702 | utf_8 | 6716cb77d4d92dcbb793f478d7c47993 | function [BlockedQ,residuals] = postprocesssos(BlockedA,Blockedb,BlockedQ,sparsityPattern,options);
BlockedQ=applysparsity(BlockedQ,sparsityPattern);
for passes = 1:1:options.sos.postprocess
for constraint = 1:length(BlockedQ)
mismatch = computeresiduals(BlockedA,Blockedb,BlockedQ,constraint);
[ii... |
github | ssketch/motorControl-master | generate_kernel_representation_data.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/sos/generate_kernel_representation_data.m | 9,746 | utf_8 | 408c65ea2806342ae7e7998a85c98ba7 | function [A,b] = generate_kernel_representation_data(N,N_unique,exponent_m2,exponent_p,p,options,p_base_parametric,ParametricIndicies,MonomIndicies,FirstRun)
persistent saveData
exponent_p_parametric = exponent_p(:,ParametricIndicies);
exponent_p_monoms = exponent_p(:,MonomIndicies);
pcoeffs = getbase(p);
if any(expo... |
github | ssketch/motorControl-master | solvebilevel.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/bilevel/solvebilevel.m | 28,584 | utf_8 | ca5553a39360503959e1ef8141c91ee0 | function [sol,info] = solvebilevel(OuterConstraints,OuterObjective,InnerConstraints,InnerObjective,InnerVariables,options)
%SOLVEBILEVEL Simple global bilevel solver
%
% min CO(x,y)
% subject to OO(x,y)>0
% y = arg min OI(x,y)
% subject to CI(x,y)>0
%
% [DIAGNOSTIC,INFO] = SOLVEBI... |
github | ssketch/motorControl-master | robust_classify_variables_newest.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/robust/robust_classify_variables_newest.m | 5,032 | utf_8 | 71ff61f98a9e321589e7b9db9f902871 | function [VariableType,F_x,F_w,F_xw,h] = robust_classify_variables_newest(F,h,ops,w);
Dependency = iterateDependance( yalmip('monomtable') | yalmip('getdependence') | yalmip('getdependenceUser'));
DependsOnw = find(any((Dependency(:,getvariables(w))),2));
h_variables = getvariables(h);
h_w = find(ismember(h_variable... |
github | ssketch/motorControl-master | filter_polya.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/robust/filter_polya.m | 5,003 | utf_8 | 55fbd1c40e70d698b82c42d8aee3287f | function [F_xw,F_polya] = filter_polya(F_xw,w,N)
F_polya = [];
Fvars = getvariables(F_xw);
wvars = getvariables(w);
[mt,vt] = yalmip('monomtable');
if ~(N==ceil(N)) & (N>=0)
error('The power in robust.polya must be a non-negative integer');
end
F_new = [];
if any(sum(mt(Fvars,wvars),2)>1)
removeF = zeros(lengt... |
github | ssketch/motorControl-master | dualtososrobustness.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/robust/dualtososrobustness.m | 4,155 | utf_8 | 8310b49ac50ada5e4b4f62d20477827d | function SOSModel = dualtososrobustness(UncertainConstraint,UncertaintySet,UncertainVariables,DecisionVariables,p_tau_degree,localizer_tau_degree,Z_degree)
[E,F] = getEFfromSET(UncertaintySet);
[F0,Fz,Fx,Fxz] = getFzxfromSET(UncertainConstraint,UncertainVariables,DecisionVariables);
if is(UncertainConstraint,'sdp')... |
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