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 | filter_duality.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/robust/filter_duality.m | 8,603 | utf_8 | 91b1d25b80045a73fe70a694f9784e1a | function [F,feasible] = filter_duality(F_xw,Zmodel,x,w,ops)
% Creates robustified version of the uncertain set of linear inequalities
% s.t A(w)*x <= b(w) for all F(w) >= 0 where F(w) is a conic set, here
% given in YALMIP numerical format.
%
% Based on Robust Optimization - Methodology and Applications. A. Ben-Tal
% ... |
github | ssketch/motorControl-master | filter_enumeration.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/robust/filter_enumeration.m | 7,383 | utf_8 | fd994fa46ec75e11eb5b4480d7d81510 | function [F,mptmissing] = filter_enumeration(F_xw,Zmodel,x,w,ops,uncertaintyTypes,separatedZmodel,VariableType)
mptmissing = 0;
if length(F_xw) == 0
F = [];
return;
else
if any(Zmodel.K.q) | any(Zmodel.K.s)
error('Only polytope uncertainty supported in duality based robustification');
else... |
github | ssketch/motorControl-master | decomposeUncertain.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/robust/decomposeUncertain.m | 25,652 | utf_8 | fc9895076f3c5a34e5ebae8bdd5ba81b | function [UncertainModel,Uncertainty,VariableType,ops,failure] = decomposeUncertain(F,h,w,ops)
failure = 0;
% Do we have any uncertainty declarations variables?
[F,w] = extractUncertain(F,w);
if isempty(w)
error('There is no uncertainty in the model.');
end
% Partition the model into
% F_x : Constraints in de... |
github | ssketch/motorControl-master | convexhullConcave2D.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/convexhullConcave2D.m | 1,288 | utf_8 | d02c5e581867d684ec4c32eefa59cc88 | function [Ax,Ay,b,K] = convexhullConcave(x1,f1,df1,x2,f2,df2,x3,f3,df3,x4,f4,df4,x5,f5,df5)
% x1-x4 corner points, 5 point in center
% Lower bounds from tangents
% z < f(x1) + (x-x1)*df(x1)
% z < f(x2) + (x-x2)*df(x2)
% z < f(x3) + (x-x3)*df(x3)
% z < f(x4) + (x-x4)*df(x4)
% z < f(x5) + (x-x5)*df(x5)
% Possible upper... |
github | ssketch/motorControl-master | root_node_tighten.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/root_node_tighten.m | 4,115 | utf_8 | 31025955e4d5e04ba8278308ce6235f5 | % *************************************************************************
% Tighten bounds at root
% *************************************************************************
function p = root_node_tighten(p,upper);
p.feasible = all(p.lb<=p.ub) & p.feasible;
if p.options.bmibnb.roottight & p.feasible
pin = p;
... |
github | ssketch/motorControl-master | update_sumsepquad_bounds.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/update_sumsepquad_bounds.m | 2,079 | utf_8 | 88e62143dd9ee6975b8f13423f79f346 | function p = update_sumsepquad_bounds(p);
% Looking for case z = b+ q1(x1) + q2(x2) + ... where q quadratic
if p.boundpropagation.sepquad
found = 0;
for j = 1:p.K.f
a = p.F_struc(j,2:end);
b = p.F_struc(j,1);
used = find(a);
data = [];
if nnz(a) > 2 && all(p.variabletype... |
github | ssketch/motorControl-master | convexhullConvex2D.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/convexhullConvex2D.m | 1,601 | utf_8 | 87d494fc8c247891f8732fa1d9ff2251 | function [Ax,Ay,b,K] = convexhullConvex2D(x1,f1,df1,x2,f2,df2,x3,f3,df3,x4,f4,df4,x5,f5,df5)
% Lower bounds from tangents
% z > f(x1) + (x-x1)*df(x1)
% z > f(x2) + (x-x2)*df(x2)
% z > f(x3) + (x-x3)*df(x3)
% z > f(x4) + (x-x4)*df(x4)
% z > f(x5) + (x-x5)*df(x5)
% Possible upper bound from creatin hyperplane from thre... |
github | ssketch/motorControl-master | updateonenonlinearbound.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/updateonenonlinearbound.m | 805 | utf_8 | 97d5341706cf3ef397ec3383332f38ee | % *************************************************************************
% Code for setting the numerical values of nonlinear terms
% *************************************************************************
function p = updateonenonlinearbound(p,changed_var)
if ~isempty(p.bilinears)
impactedVariables = find((p.... |
github | ssketch/motorControl-master | dmpermblockeig.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/dmpermblockeig.m | 3,417 | utf_8 | 7b1470816ba1634bcc2b8457f9a98036 | function [V,D,permutation,failure] = dmpermblockeig(X,switchtosparse)
[permutation,aux1,aux2,blocks] = dmperm(X+speye(length(X)));
Xpermuted = X(permutation,permutation);
V = [];
D = [];
V = zeros(size(X,1),1);
top = 1;
left = 1;
anycholfail = 0;
failure = 0;
for i = 1:length(blocks)-1
Xi = Xpermuted(blocks(... |
github | ssketch/motorControl-master | evaluate_nonlinear.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/evaluate_nonlinear.m | 1,184 | utf_8 | 6cee29d0c8963567fd541ab3ee434dcf | function x = evaluate_nonlinear(p,x,qq)
% FIX: We have to apply computations to make sure we are evaluating
% expressions such as log(1+sin(x.^2).^2) correctly
if ~isempty(p.bilinears) & all(p.variabletype <= 2) & length(p.evalMap)==0
x(p.bilinears(:,1)) = x(p.bilinears(:,2)).*x(p.bilinears(:,3));
else
oldx =... |
github | ssketch/motorControl-master | cutsdp.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/cutsdp.m | 26,156 | utf_8 | b0da964912e005a872def387efd1ee2c | function output = cutsdp(p)
% CUTSDP
%
% See also OPTIMIZE, BNB, BINVAR, INTVAR, BINARY, INTEGER
% *************************************************************************
%% INITIALIZE DIAGNOSTICS IN YALMIP
% *************************************************************************
bnbsolvertime = clock;
showprogres... |
github | ssketch/motorControl-master | bnb_solvelower.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/bnb_solvelower.m | 6,288 | utf_8 | 818775f03856e7052151184b74a3e5d2 | function output = bnb_solvelower(lowersolver,relaxed_p,upper,lower)
if all(relaxed_p.lb==relaxed_p.ub)
x = relaxed_p.lb;
if checkfeasiblefast(relaxed_p,relaxed_p.lb,relaxed_p.options.bnb.feastol)
output.problem = 0;
else
output.problem = 1;
end
output.Primal = x;
return
end
p ... |
github | ssketch/motorControl-master | addEvalVariableCuts.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/addEvalVariableCuts.m | 3,589 | utf_8 | e372e483ffe3ff808d8afc384a9aed2e | function pcut = addEvalVariableCuts(p)
pcut = p;
if ~isempty(p.evalMap)
pcut = emptyNumericalModel;
for i = 1:length(p.evalMap)
y = p.evalVariables(i);
x = p.evalMap{i}.variableIndex;
xL = p.lb(x);
xU = p.ub(x);
% Generate a convex hull polytope
if xL<x... |
github | ssketch/motorControl-master | branch_and_bound.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/branch_and_bound.m | 27,840 | utf_8 | 9c05da945a8e634cb1ddb18dac80bbc0 | function [x_min,solved_nodes,lower,upper,lower_hist,upper_hist,timing,counter] = branch_and_bound(p,x_min,upper,timing)
% *************************************************************************
% Create handles to solvers
% *************************************************************************
lowersolver = p.sol... |
github | ssketch/motorControl-master | propagate_bounds_from_equalities.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/propagate_bounds_from_equalities.m | 10,599 | utf_8 | 0b92e3f86afb808b84cd37e29ff8c766 | function p = propagate_bounds_from_equalities(p)
LU = [p.lb p.ub];
p_F_struc = p.F_struc;
n_p_F_struc_cols = size(p_F_struc,2);
fixedVars = find(p.lb == p.ub & p.variabletype(:) == 0);
if ~isempty(fixedVars)
p_F_struc_forbilin = p_F_struc;
p_F_struc_forbilin(:,1) = p_F_struc(:,1) + p_F_struc(:,1+fixedVars)*p... |
github | ssketch/motorControl-master | bnb.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/bnb.m | 44,352 | utf_8 | f914518e67ae6b93a8cf36f9b0fabdf0 | function output = bnb(p)
%BNB General branch-and-bound scheme for conic programs
%
% BNB applies a branch-and-bound scheme to solve mixed integer
% conic programs (LP, QP, SOCP, SDP) and mixed integer geometric programs.
%
% BNB is never called by the user directly, but is called by
% YALMIP from SOLVESDP, by ... |
github | ssketch/motorControl-master | update_monomial_bounds.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/update_monomial_bounds.m | 2,544 | utf_8 | d5ad776f01d587f1e7c5b70478d633e6 | function model = update_monomial_bounds(model,these)
if nargin == 1 & all(model.variabletype<=2) & any(model.variabletype)
% Fast code for purely quadratic case
x = model.bilinears(:,2);
y = model.bilinears(:,3);
z = model.bilinears(:,1);
corners = [model.lb(x).*model.lb(y) model.ub(x).*model.lb(y)... |
github | ssketch/motorControl-master | updatebounds_recursive_evaluation.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/updatebounds_recursive_evaluation.m | 1,128 | utf_8 | ea7474325c03f63f6c8e286a9ab08de8 | function p = updatebounds_recursive_evaluation(p)
if p.changedbounds
if isempty(p.evalMap) & all(p.variabletype <= 2)
% Bilinear/quadratic case can be done much faster
p = updatemonomialbounds(p);
else
for i = 1:length(p.evaluation_scheme)
switch p.evaluation_scheme{i}.group... |
github | ssketch/motorControl-master | rounder.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/rounder.m | 5,889 | utf_8 | 88ad60f43086ef44b94f4f9d1011a82a | function [upper,x_min] = rounder(p,relaxedsolution,prelaxed)
% Extremely simple heuristic for finding integer
% solutions.
%
% Rounds up and down, fixes etc.
% This was the relaxed solution
x = relaxedsolution.Primal;
% Assume we fail
upper = inf;
x_min = x;
% These should be integer
intvars = [p.integer_variables(... |
github | ssketch/motorControl-master | initializesolution.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/global/initializesolution.m | 2,998 | utf_8 | 792f46b6b802380d0b130505eeda93a4 | function [p,x_min,upper] = initializesolution(p);
x_min = zeros(length(p.c),1);
upper = inf;
if p.options.usex0
x = p.x0;
z = evaluate_nonlinear(p,x);
residual = constraint_residuals(p,z);
relaxed_feasible = all(residual(1:p.K.f)>=-p.options.bmibnb.eqtol) & all(residual(1+p.K.f:end)>=p.options.bmibnb.p... |
github | ssketch/motorControl-master | mpt_solvenode.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/parametric/mpt_solvenode.m | 4,757 | utf_8 | 5ba2e2ea43c2ecbf8cfb0336f50e41a9 | function model = mpt_solvenode(Matrices,lower,upper,OriginalModel,model,options)
% This is the core code. Lot of pre-processing to get rid of strange stuff
% arising from odd problems, big-M etc etc
Matrices.lb = lower;
Matrices.ub = upper;
% Remove equality constraints and trivial stuff from big-M
[equalities,redund... |
github | ssketch/motorControl-master | mpt_parbb.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/parametric/mpt_parbb.m | 5,172 | utf_8 | 9ed244f3afde3125092cc9cd08a5feb0 | function model = mpt_parbb(Matrices,options)
% For simple development, the code is currently implemented in high-level
% YALMIP and MPT code. Hence, a substantial part of the computation time is
% stupid over-head.
[Matrices.lb,Matrices.ub] = mpt_detect_and_improve_bounds(Matrices,Matrices.lb,Matrices.ub,Matrices.bin... |
github | ssketch/motorControl-master | mpt_appendmodel.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/modules/parametric/mpt_appendmodel.m | 9,545 | utf_8 | 1d7ce75903476d3b64c70bdd45442498 | function model = savemptmodel(model,Pfinal,Pn,Fi,Gi,details);
if length(Fi)>0
if length(model) == 0
model{1} = fakemptmodel(Pfinal, Pn, Fi, Gi, details.Ai, details.Bi, details.Ci);
[H,K] = double(Pfinal);
model{1}.epicost = [];
model{1}.convex = 1;
else
anyqp = nnz([deta... |
github | ssketch/motorControl-master | dualize.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/dualize.m | 24,839 | utf_8 | 95f053810de0314bbbbff10c9d8c9125 | function [Fdual,objdual,X,t,err,complexInfo] = dualize(F,obj,auto,extlp,extend,options)
% DUALIZE Create the dual of an SDP given in primal form
%
% [Fd,objd,X,t,err] = dualize(F,obj,auto)
%
% Input
% F : Primal constraint in form AX=b+dt, X>0, t free.
% obj : Primal cost CX+ct
% auto : If set to 0, YALMIP will ... |
github | ssketch/motorControl-master | polyprint.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/polyprint.m | 2,602 | utf_8 | 98455d0a41ce36cf7c72c346fa924f64 | function symb_pvec = polyprint(pvec)
%POLYPRINT Pretty print polynomial expression
%
% POLYPRINT is obsolete. Use SDISPLAY instead.
for pi = 1:size(pvec,1)
for pj = 1:size(pvec,2)
p = pvec(pi,pj);
if isa(p,'double')
symb_p = num2str(p);
else
LinearVariables ... |
github | ssketch/motorControl-master | sdd.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/sdd.m | 478 | utf_8 | 1e88bdde340f1e917f70ca6ea28f36f3 | function Constraint = sdd(X)
if issymmetric(X)
Constraint = [];
n = size(X,1);
M = 0;
for ii = 1:n
for jj = [1:1:ii-1 ii+1:1:n]
Mij = sdpvar(2);
Constraint = Constraint + sdp2socp(Mij);
M = M + sparse([ii jj ii jj],[ii ii jj jj],Mij(:),n,n);
end
end... |
github | ssketch/motorControl-master | variable_replace.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/variable_replace.m | 2,976 | utf_8 | 24789bb29ef27f6c6f2e20d6ea39217f | function Z = variable_replace(X,Y,W)
% Check so that Y is a simple unit variable
Ybase = getbase(Y);
Yvariables = getvariablesSORTED(Y);
Xbase = getbase(X);
Xvariables = getvariables(X);
[i,j,k] = find(Ybase);
if ~isequal(sort(i),1:length(i))
end
if ~isequal(sort(j),2:(length(i)+1))
end
if ~all(k == 1)
end
[mt,variab... |
github | ssketch/motorControl-master | separable.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/separable.m | 1,525 | utf_8 | 10bbf0c3ce778c85f88b4dde2c05da0b | function exponent_m = separable(exponent_m,exponent_p,options);
%SEPARABLE Internal function, not used
% %exponent_m(sum((exponent_m>0),2)>2,:)=[];
%
% card = max(sum((exponent_p>0),2));
%
% n_less = exponent_m(sum((exponent_m>0),2)<card,:);
% n_equ = exponent_m(sum((exponent_m>0),2)==card,:);
% n_larg = exponent_... |
github | ssketch/motorControl-master | convert_polynomial_to_sdpfun.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/convert_polynomial_to_sdpfun.m | 5,293 | utf_8 | 1282b1c3b7f96c19912ea8bbbc911873 | function [model,changed] = convert_polynomial_to_sdpfun(model)
% Assume we don't do anything
changed = 0;
found_and_converted = [];
if any(model.variabletype > 2)
% Bugger...
changed = 1;
% Find a higher order term
sigmonials = find(model.variabletype == 3);
model = update_monomial_bounds(model)... |
github | ssketch/motorControl-master | apply_recursive_evaluation.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/apply_recursive_evaluation.m | 4,180 | utf_8 | 82ec59b307f369541a2702e44e03bb2b | function xevaled = apply_recursive_evaluation(p,xevaled)
xevaled = xevaled(:)';
for i = 1:length(p.evaluation_scheme)
switch p.evaluation_scheme{i}.group
case 'eval'
xevaled = process_evals(p,xevaled,p.evaluation_scheme{i}.variables);
case 'monom'
xevaled = process_monomials... |
github | ssketch/motorControl-master | sdpt3struct2sdpt3block.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/sdpt3struct2sdpt3block.m | 1,867 | utf_8 | dc8d29d2e8699f12a49253ce3dc1c69d | function [C,A,b,blk] = sdpt3struct2sdpt3block(F_struc,c,K)
%SDPT3STRUCT2SDPT3BLOCK Internal function to convert data to SDPT3 format
nvars = size(F_struc,2)-1;
block = 1;
top = 1;
block = 1;
blksz = 100;
if K.l>0
blk{block,1} = 'l';
blk{block,2} = K.l;
C{block,1} = sparse(F_struc(top:top+K.l-1,1));
for var_index... |
github | ssketch/motorControl-master | coefficients.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/coefficients.m | 6,992 | utf_8 | 071772bad3d379ac9c6bdfa2a59483c8 | function [base,v] = coefficients(p,x,vin)
%COEFFICIENTS Extract coefficients and monomials from polynomials
%
% [c,v] = COEFFICIENTS(p,x) extracts the coefficents
% of a scalar polynomial p(x) = c'*v(x)
%
% c = COEFFICIENTS(p,x) extracts the all coefficents
% of a matrix polynomial.
%
% INPUT
% p : SDPVAR... |
github | ssketch/motorControl-master | shadowjacobian.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/shadowjacobian.m | 2,364 | utf_8 | f46a1b7f9bb3d8e236fea4f759ca7036 | function dfdx = shadowjacobian(f,x)
% See SDPVAR/jacobian
if isa(f,'double')
dfdx = zeros(size(f,1),length(x));
return
end
if ~isempty(intersect(deepdepends(f),depends(x)))
% Under development
end
if nargin==1
if isa(f,'sdpvar')
x = recover(depends(f));
else
x = 0;
end
... |
github | ssketch/motorControl-master | convert_sigmonial_to_sdpfun.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/convert_sigmonial_to_sdpfun.m | 9,554 | utf_8 | 0fc74a0f354cc96d27758fef13e848ac | function [model,changed] = convert_sigmonial_to_sdpfun(model)
% Always add this dummy struct
model.high_monom_model = [];
% Assume we don't do anything
changed = 0;
found_and_converted = [];
if any(model.variabletype > 3)
% Bugger...
changed = 1;
% Find a higher order term
sigmonials = find(model.va... |
github | ssketch/motorControl-master | expandmodel.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/expandmodel.m | 14,898 | utf_8 | d969c77d2766c9985e6935c762569593 | function [F,failure,cause,ALREADY_MODELLED] = expandmodel(F,h,options,w)
% FIX : Current code experimental, complex, conservative, has issues with
% nonlinearities and is slow...
%
% If it wasn't for polynomials and sigmonials, it would be trivial, but the
% code is extremely messy since we want to have this functiona... |
github | ssketch/motorControl-master | loadsedumidata.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/loadsedumidata.m | 2,549 | utf_8 | bd6523935b1fd7c5c70b5bf8db27e0a7 | function [F,h] = loadsedumidata(varargin)
%LOADSEDUMIDATA Loads a problem definition in the SeDuMi format
%
% [F,h] = loadsedumidata('filename') Loads the problem min(h(x)), F(x)>0 from file 'filename'
% [F,h] = loadsedumidata An "Open" - box will be opened
filename = varargin{1};
% Does the file ... |
github | ssketch/motorControl-master | convert_polynomial_to_quadratic.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/convert_polynomial_to_quadratic.m | 6,093 | utf_8 | e42036044ee1903d0c693160c460a838 | function [model,changed] = convert_polynomial_to_quadratic(model)
% Assume we don't do anything
changed = 0;
% Are there really any non-quadratic terms?
already_done = 0;
while any(model.variabletype > 2)
% Bugger...
changed = 1;
% Find a higher order term
polynomials = find(model.variabletype >= 3);... |
github | ssketch/motorControl-master | convert_perspective_log.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/convert_perspective_log.m | 5,164 | utf_8 | 8e4d2ae723ef8d67f6f5029200ce2985 | function p = convert_perspective_log(p)
p.kept = 1:length(p.c);
if isempty(p.evalMap)
return
end
if ~any(p.variabletype == 4)
return
end
variableIndex = [];
for i=1:length(p.evalMap)
variableIndex = [variableIndex p.evalMap{i}.variableIndex];
end
removable = [];
for i = 1:length(p.evalMap)
if strcmp... |
github | ssketch/motorControl-master | yalmiptable.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/yalmiptable.m | 1,761 | utf_8 | 9d3d69d9a7db32cbea823623e730f309 | function yalmiptable(superheader,header,data,formats)
%TABLE Internal function to display tables
[nheadersy,nheadersx] = size(header);
[ndatay,ndatax] = size(data);
datasizes = zeros(ndatay,ndatax);
for i = 1:ndatay
for j = 1:ndatax
if isa(data{i,j},'double')
data{i,j} = num2str(data{i,j});
... |
github | ssketch/motorControl-master | sdisplay2.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/sdisplay2.m | 7,460 | utf_8 | 1580149b36a2d9dad048527aa6633013 | function symb_pvec = sdisplay2(p,names)
% TODO: sdpvar a b
% x = (a+b)^0.3 -- writes "mpower_internal"
%
% TODO: sdpvar h x k
% sdisplay2(h*x - k) -- misses the minus in front of "k"
if nargin < 2
LinearVariables = 1:yalmip('nvars');
x = recover(LinearVariables);
names = cell(length(x... |
github | ssketch/motorControl-master | dissect.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/dissect.m | 2,898 | utf_8 | 287c87ea98e36a7d4b0f42fb58700649 | function varargout = dissect(X);
% DISSECT Dissect SDP constraint
%
% G = unblkdiag(F) Converts SDP to several smaller SDPs with more variables
%
% See also UNBLKDIAG
if isa(X,'constraint')
X = lmi(X);
end
switch class(X)
case 'sdpvar'
% Get sparsity pattern
Z=spy(X);
% Partition as
... |
github | ssketch/motorControl-master | fmincon_con.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/fmincon_con.m | 3,980 | utf_8 | bb638cd9a153556cf293b5b1615934b5 | function [g,geq,dg,dgeq,xevaled] = fmincon_con(x,model,xevaled)
global latest_xevaled
global latest_x_xevaled
% Early bail for linear problems
g = [];
geq = [];
dg = [];
dgeq = [];
if model.linearconstraints
xevaled = [];
return
end
if nargin<3
if isequal(x,latest_x_xevaled)
xevaled = latest_xeval... |
github | ssketch/motorControl-master | sedumi2sdpt3.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/sedumi2sdpt3.m | 4,093 | utf_8 | 8f142cc073201468ac59c3aab8d61e4b | %SEDUMI2SDPT3 Internal function, obsolete
%%*******************************************************************
%% Converts from SeDuMi format.
%%
%% [blk,A,C,b] = sedumi2sdpt3(c,A,b,K)
%%
%% Input: fname.mat = name of the file containing SDP data in
%% SeDuMi format.
%%
%% Important note: Sedum... |
github | ssketch/motorControl-master | compress_evaluation_scheme.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/compress_evaluation_scheme.m | 2,228 | utf_8 | ccf30e513f35e6ac7a6dc02416d6fae8 | function model = compress_evaluation_scheme(model);
scalars = {'erf','exp','log','sin','cos','log2','log10','slog','power_internal2','inverse_internal2','sqrtm_internal'};
for i = 1:length(model.evaluation_scheme)
if strcmp(model.evaluation_scheme{i}.group,'eval')
clear fun
for k = 1:length(scalars)... |
github | ssketch/motorControl-master | sdpvar2str.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/sdpvar2str.m | 2,503 | utf_8 | dcd7bff7503ead1c19e49a6497f6e84b | function symb_pvec = sdpvar2str(pvec)
%SDPVAR2STR Converts an SDPVAR object to MATLAB string representation
%
% S = SDPVAR2STR(P)
%
% S : String
% P : SDPVAR object
for pi = 1:size(pvec,1)
for pj = 1:size(pvec,2)
p = pvec(pi,pj);
if isa(p,'double')
symb_p = num2str(p);
... |
github | ssketch/motorControl-master | compileinterfacedata.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/compileinterfacedata.m | 50,288 | utf_8 | afc44e995cea6d95fd64cf8a158b0c41 | function [interfacedata,recoverdata,solver,diagnostic,F,Fremoved,ForiginalQuadratics] = compileinterfacedata(F,aux_obsolete,logdetStruct,h,options,findallsolvers,parametric)
persistent CACHED_SOLVERS
persistent allsolvers
persistent EXISTTIME
persistent NCHECKS
%% Initilize default empty outputs
diagnostic = [];
inte... |
github | ssketch/motorControl-master | selectsolver.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/selectsolver.m | 23,046 | utf_8 | 1cf76f327e2fcc2f98d45d6024ced027 | function [solver,problem,forced_choice] = selectsolver(options,ProblemClass,solvers,socp_are_really_qc,allsolvers);
%SELECTSOLVER Internal function to select solver based on problem category
problem = 0;
% UNDOCUMENTED
force_solver = yalmip('solver');
if length(force_solver)>0
options.solver = force_solver;
end
... |
github | ssketch/motorControl-master | build_recursive_scheme.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/build_recursive_scheme.m | 4,788 | utf_8 | cc087abecc5e343a16c095e07dc5b733 | function model = build_recursive_scheme(model);
model.evaluation_scheme = [];
model.deppattern = model.monomtable | model.monomtable;
% Figure out arguments in all polynomials & sigmonials. This info is
% used on several places, so we might just as well save it
model.monomials = find(model.variabletype);
model.monomi... |
github | ssketch/motorControl-master | dual2cell.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/dual2cell.m | 546 | utf_8 | 18deb951cf9dacb4b2e3d2faf4166ccd | function X = dual2cell(dual_vec,K)
%DUAL2CELL Internal function for organizing dual data
row = 1;
X.f = dual_vec(row:row+K.f-1);
row = row + K.f;
X.l = dual_vec(row:row+K.l-1);
row = row + K.l;
for k = 1:length(K.q)
X.q{k} = dual_vec(row:row+K.q(k)-1);
row = row + K.q(k);
end
for k = 1:length(K.r)
X.r... |
github | ssketch/motorControl-master | amplexpr.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/amplexpr.m | 2,162 | utf_8 | 0a47dd2e95c44a17fd78af99ed8950d6 | function symb_pvec = amplexpr(pvec)
%AMPLEXPR Converts SDPVAR variable to AMPL string
for pi = 1:size(pvec,1)
for pj = 1:size(pvec,2)
p = pvec(pi,pj);
if isa(p,'double')
symb_p = num2str(p);
else
LinearVariables = depends(p);
x = recover(LinearVariables)... |
github | ssketch/motorControl-master | saveampl.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/saveampl.m | 7,486 | utf_8 | 0b44bf1f619d5b35fc97f2c1e9b865f5 | function solution = saveampl(varargin)
%SAVEAMPL Saves a problem definition in AMPL format
%
% SAVEAMPL(F,h,'filename') Saves the problem min(h(x)), F(x)>0 to the file filename
% SAVEAMPL(F,h) A "Save As"- box will be opened
%
% YALMIP is currently able to save problems with linear and non-linear... |
github | ssketch/motorControl-master | plotInternalModel.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/plotInternalModel.m | 6,539 | utf_8 | dd4ba77a4a15fc73821420df4884d25f | function x_opt = PlotInternalModel(internalmodel,x,n,localindex,color,opts)
% Code used by both lmi/plot and optimizer/plot
if isempty(internalmodel.binary_variables)
[x_opt{1},errorstatus] = generateBoundary(internalmodel,x,n,localindex);
else
if strcmp(internalmodel.solver.tag,'BNB')
internalmodel.so... |
github | ssketch/motorControl-master | monolist.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/monolist.m | 7,193 | utf_8 | dfe7495e41d589eb47d0d0df0acc3890 | function new_x = monolist(x,dmax,dmin)
% MONOLIST Generate monomials
%
% y = MONOLIST(x,dmax,dmin)
%
% Returns the monomials [1 x(1) x(1)^2 ... x(1)^dmax(1) x(2) x(1)x(2) etc...]
%
% >>sdpvar x y z
% >>sdisplay(monolist([x y z],4))
%
% Input
% x : Vector with SDPVAR variables
% dmax : Integers > 0
%
% ... |
github | ssketch/motorControl-master | eliminatevariables.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/eliminatevariables.m | 12,054 | utf_8 | b55cf541bd9397c940a02e4ee9694e0c | function [model,keptvariablesIndex] = eliminatevariables(model,removedparameters,value,parameters)
if isempty(removedparameters)
keptvariablesIndex = 1:length(model.c);
return
end
keptvariablesIndex = 1:length(model.c);
rmvmonoms = model.rmvmonoms;
newmonomtable = model.newmonomtable;
% Assign evaluati... |
github | ssketch/motorControl-master | savecplexlp.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/savecplexlp.m | 3,862 | utf_8 | d62ee5da3ba7f3c01ad267cdafef9bf6 | function filename = savecplexlp(varargin)
%SAVCPLEXLP Saves a problem definition in CPLEX-LP format
%
% SAVCPLEXLP(F,h,'filename') Saves the problem min(h(x)), F(x)>0 to the file filename
% SAVCPLEXLP(F,h) A "Save As"- box will be opened
%
F = varargin{1};
h = varargin{2};
[aux1,aux2,aux3,model... |
github | ssketch/motorControl-master | solvesdp_multiple.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/solvesdp_multiple.m | 5,574 | utf_8 | c5412bd27722e2bcb8fe758c99a95fb7 | function diagnostic = solvesdp_multiple(varargin);
yalmiptime = clock;
h = varargin{2};
varargin{2} = sum(recover(depends(h)));
if ~is(h,'linear')
error('Parts of your matrix objective is not linear (multiple solutions can currently only be obtained for linear objectives)');
end
if is(h,'complex')
error('Par... |
github | ssketch/motorControl-master | computedimacs.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/computedimacs.m | 2,052 | utf_8 | 87d06eb1f6270fd74593f205c3343f1d | function dimacs = computedimacs(b,c,A,xin,y,s,K);
% COMPUTEDIMACS
%
% min <C,X> s.t AX = b, X > 0
% max b'y s.t S-C+A'y =0, S > 0
% If no primal exist, fake till later
if isempty(xin)
x = c*0;
else
x = xin;
end
if isempty(s)
s = c-A'*y;
end
xres = inf;
sres = inf;
% Not officially defined in DIMAC... |
github | ssketch/motorControl-master | binmodel.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/binmodel.m | 9,313 | utf_8 | 0128e2f618a9bc78ea94707dd7fa1499 | function varargout = binmodel(varargin)
%BINMODEL Converts nonlinear mixed binary expression to linear model
%
% Applied to individual terms p defined on domain D
% [plinear1,..,plinearN,Cuts] = BINMODEL(p1,...,pN,D)
%
% Alternative on complete set of constraint
% F = BINMODEL(F)
%
% binmodel is used to convert nonl... |
github | ssketch/motorControl-master | derivedualBoundsParameterFree.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/derivedualBoundsParameterFree.m | 2,514 | utf_8 | 56f518715fc81d312aae626a72ea92bb | function [dualUpper,L,U] = derivedualBoundsParameterFree(H,c,A,b,E,f,ops,parametricDomain)
if isempty(A)
dualUpper = [];
L = [];
U = [];
return
end
n = length(c);
m = length(b);
me = length(f);
x = sdpvar(n,1);
Lambda = sdpvar(m,1);
mu = sdpvar(me,1);
% Homogenization
alpha = sdpvar(1);
F = [];
% ... |
github | ssketch/motorControl-master | derandomize.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/derandomize.m | 3,645 | utf_8 | 14a3a6bc4823e6b81182566b82f8e393 | function Fderandomized = derandomize(F)
chanceDeclarations = find(is(F,'chance'));
randomDeclarations = find(is(F,'random'));
if isempty(randomDeclarations)
error('Cannot derandomize, cannot find declaration of random variables');
end
keep = ones(length(F),1);
keep(randomDeclarations)=0;
keep(chanceDeclarations)=... |
github | ssketch/motorControl-master | solvesdp.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/solvesdp.m | 16,184 | utf_8 | db8e6b46b38fd31dd106574e02038c5a | function diagnostic = solvesdp(varargin)
%SOLVESDP Obsolete command, please use OPTIMIZE
yalmiptime = clock; % Let us see how much time we spend
% *********************************
% CHECK INPUT
% *********************************
nargin = length(varargin);
% First check of objective for early transfer to multiple s... |
github | ssketch/motorControl-master | sdisplay.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/sdisplay.m | 10,497 | utf_8 | f90455026b9451c20d71013181d0348a | function symb_pvec = sdisplay(pvec,symbolicname)
%SDISPLAY Symbolic display of SDPVAR expression
%
% Note that the symbolic display only work if all
% involved variables are explicitely defined as
% scalar variables.
%
% Variables that not are defined as scalars
% will be given the name ryv(i). ryv means
% recovered YA... |
github | ssketch/motorControl-master | yalmip.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/yalmip.m | 55,609 | utf_8 | b7c479f7ee714fe7b7c3108950253015 | function varargout = yalmip(varargin)
%YALMIP Returns various information about YALMIP
%
% YALMIP can be used to check version numbers and find the SDPVAR and SET
% objects available in workspace
%
% EXAMPLES
% V = YALMIP('version') % Returns version
% YALMIP('nvars') % Returns total number ... |
github | ssketch/motorControl-master | gams2yalmip.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/gams2yalmip.m | 13,976 | utf_8 | 4e1639693ca899bd14a7436ffb74839c | function varargout = gams2yalmip(fileName,filenameOut);
% GAMS2YALMIP Converts GAMS model to YALMIP
%
% [F,h] = GAMS2YALMIP(gamsfile,yalmipfile) converts the GAMS model in
% the file 'gamsfile' to a YALMIP mpodel
%
% Input
% GAMSFILE : Char with filename for GAMS model
% YALMIPFILE : Char with filenam... |
github | ssketch/motorControl-master | sdpsettings.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/sdpsettings.m | 32,067 | utf_8 | 1b353c15d097ac0ef1f42cafcb8846d7 | function options = sdpsettings(varargin)
%SDPSETTINGS Create/alter solver options structure.
%
% OPTIONS = SDPSETTINGS with no input arguments returns
% setting structure with default values
%
% OPTIONS = SDPSETTINGS('NAME1',VALUE1,'NAME2',VALUE2,...) creates a
% solution options structure OPTIONS in which the ... |
github | ssketch/motorControl-master | findulb.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/findulb.m | 1,661 | utf_8 | 01608ade93f5720dd1ed28fbb581df02 | function [lb,ub,cand_rows_eq,cand_rows_lp] = findulb(F_struc,K,lb,ub)
%FINDULB Internal function to extract upper and lower variable bounds
n = size(F_struc,2)-1;
if nargin < 3
lb = -inf*ones(n,1);
ub = inf*ones(n,1);
end
cand_rows_eq = [];
cand_rows_lp = [];
ub2 = ub;
lb2 = lb;
if (K.f ~=0)
A = -F_struc(1... |
github | ssketch/motorControl-master | optimizer.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@optimizer/optimizer.m | 11,249 | utf_8 | aca5aefd5cbc9356b5c08f149b0d8651 | function sys = optimizer(Constraints,Objective,options,x,u)
%OPTIMIZER Container for optimization problem
%
% OPT = OPTIMIZER(Constraints,Objective,options,x,u) exports an object that
% contains precompiled numerical data to be solved for varying arguments
% x, returning the optimal value of the expression u.
%
... |
github | ssketch/motorControl-master | horzcat.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@optimizer/horzcat.m | 4,742 | utf_8 | 87422557b7a3a098093c81452da4d179 | function P = horzcat(varargin)
if isempty(varargin{1}) && isa(varargin{2},'optimizer')
P = varargin{2};
return
end
% Are they similiar objects (same parameterization).
% FIXME: Check will be strengthened
for i = 1:nargin
if isa(varargin{i},'optimizer') && isequal(varargin{i}.diminOrig,varargin{1}.diminOr... |
github | ssketch/motorControl-master | or.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@constraint/or.m | 2,713 | utf_8 | b9d25d1edf0b5f6d345264d39d3ffd90 | function varargout = or(varargin)
%OR (overloaded)
% Prune empty clauses
varargin = {varargin{find(~cellfun('isempty',varargin))}};
% Models OR using a nonlinear operator definition
switch class(varargin{1})
case 'char'
z = varargin{2};
X = varargin{3};
Y = varargin{4};
... |
github | ssketch/motorControl-master | groupchanceconstraints.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@lmi/groupchanceconstraints.m | 710 | utf_8 | 11836c904991112de5ae44d3a433fe11 | function S = groupchanceconstraints(F)
G = {};
S = {};
F = flatten(F);
for i = 1:length(F.clauses)
if ~isempty(F.clauses{i}.confidencelevel)
G = addgroup(G,F.clauses{i}.jointprobabilistic);
end
end
for i = 1:length(G)
S{i} = [];
end
for i = 1:length(F.clauses)
for j = 1:length(G)
if ise... |
github | ssketch/motorControl-master | display.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@lmi/display.m | 4,251 | utf_8 | faa1a9761a6adc79bf84740db5d5d064 | function sys = display(X)
%display Displays a SET object.
X = flatten(X);
nlmi = length(X.LMIid);
if (nlmi == 0)
disp('empty SET')
return
end
lmiinfo{1} = 'Matrix inequality';
lmiinfo{2} = 'Element-wise inequality';
lmiinfo{3} = 'Equality constraint';
lmiinfo{4} = 'Second order cone constraint';
lm... |
github | ssketch/motorControl-master | check.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@lmi/check.m | 7,708 | utf_8 | 0d2bdf575bdb875d9478d5715aa2eca9 | function [pres,dres] = check(F)
% CHECK(F) Displays/calculates constraint residuals on constraint F
%
% [pres,dres] = check(F)
%
% pres : Primal constraint residuals
% dres : Dual constraint residuals
%
% If no output argument is supplied, tabulated results are displayed
%
% Primal constraint residuals are calculated ... |
github | ssketch/motorControl-master | kkt.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@lmi/kkt.m | 7,682 | utf_8 | ea07f23f01d1dfab399aaaf73173effd | function [KKTConstraints, details] = kkt(F,h,parametricVariables,ops);
%KKT Create KKT system
%
% [KKTConstraints, details] = kkt(Constraints,Objective,parameters,options)
if ~isempty(F)
if any(is(F,'sos2'))
error('SOS2 structures not allowed in KKT');
end
end
[aux1,aux2,aux3,model] = export(F,h,sdpse... |
github | ssketch/motorControl-master | getvariables.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@lmi/getvariables.m | 905 | utf_8 | ef689619cd74e765cfe444b697d69eb0 | function used = getvariables(F)
F = flatten(F);
if length(F.clauses) == 0
used = [];
return
end
if isa(F.clauses{1},'cell')
F = flatten(F);
end
used = recursivegetvariables(F,1,length(F.clauses));
function used = recursivegetvariables(F,startindex,endindex)
if endindex-startindex>50
newstart = star... |
github | ssketch/motorControl-master | depends.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@lmi/depends.m | 826 | utf_8 | 9d357105527d2957bed1f995761d9b8f | function LinearVariables = depends(F)
F = flatten(F);
% Get all used variables in this LMI object
used = recursivedepends(F.clauses);
% Now, determine the involved linear variables
[mt,variabletype] = yalmip('monomtable');
if any(variabletype)%1%~isempty(nlv) & any(ismembc(used,nlv(1,:)))
LinearVariables = find(... |
github | ssketch/motorControl-master | polytope.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@lmi/polytope.m | 2,367 | utf_8 | 936949134726945ac12d1cf313b998c3 | function [P,x] = polytope(X,options)
% polytope Converts constraints to polytope object
%
% P = polytope(F)
% [P,x] = polytope(F)
%
% P : polytope object (Requires the Multi-parametric Toolbox)
% x : sdpvar object defining the variables in the polytope P.H*x<=P.K
% F : Constraint object with linear inequal... |
github | ssketch/motorControl-master | pwamodel.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@lmi/pwamodel.m | 1,084 | utf_8 | b0d6a88e6f4c02018d6c85b072b057de | function [A,b] = pwamodel(F,x)
[dummy,aux,s,model] = export(F,[]);
A = -model.F_struc(:,2:end);
b = model.F_struc(:,1);
keep_these = find(ismember(aux.used_variables,getvariables(x)));
A = [A(:,keep_these) A(:,setdiff(1:size(A,2),keep_these))];
[A,b] = fourier_motzkin(A,b,length(keep_these));
function [A,b] = four... |
github | ssketch/motorControl-master | categorizeproblem.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@lmi/categorizeproblem.m | 19,332 | utf_8 | cb847f4dd0e23678eb65446022b33f87 | function [problem,integer_variables,binary_variables,parametric_variables,uncertain_variables,semicont_variables,quad_info] = categorizeproblem(F,P,h,relax,parametric,evaluation,F_vars,exponential_cone)
%categorizeproblem Internal function: tries to determine the type of optimization problem
F = flatten(F);
C... |
github | ssketch/motorControl-master | Polyhedron.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@lmi/Polyhedron.m | 2,402 | utf_8 | 30f5cf13a964070f9b800e10d49a372f | function [P,x] = polyhedron(X,options)
% polyhedron Converts constraint to MPT polyhedron object
%
% P = polyhedron(F)
% [P,x] = polyhedron(F)
%
% P : polyhedron object (Requires the Multi-parametric Toolbox)
% x : sdpvar object defining the variables in the polyhedron
% F : Constraint object with linear i... |
github | ssketch/motorControl-master | lmi2sedumistruct.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@lmi/lmi2sedumistruct.m | 20,660 | utf_8 | 29d3ff75fe3b58db06487e773878882b | function [F_struc,K,KCut,schur_funs,schur_data,schur_variables] = lmi2sedumistruct(F)
%lmi2sedumistruct Internal function: Converts LMI to format needed in SeDuMi
nvars = yalmip('nvars'); %Needed lot'sa times...
% We first browse to see what we have got and the
% dimension of F_struc (massive speed improvement)
F =... |
github | ssketch/motorControl-master | plot.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@ncvar/plot.m | 3,229 | utf_8 | dfbeaac5398f6b4128ffe8d0b28117f3 | function Y=plot(varargin)
%PLOT (overloaded)
% Fast version for plotting simple PWA objects
if nargin == 1
X = varargin{1};
if isa(varargin{1},'sdpvar')
if length(X) == 1
if isequal(full(getbase(X)),[0 1])
extstruct = yalmip('extstruct',getvariables(X));
if ~... |
github | ssketch/motorControl-master | subsasgn.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@ncvar/subsasgn.m | 7,395 | utf_8 | 0dc57809e264cdd2678ba09ef96ecf94 | function y = subsasgn(X,I,Y)
%SUBASGN (overloaded)
try
if strcmp('()',I.type)
X_is_spdvar = isa(X,'sdpvar');
Y_is_spdvar = isa(Y,'sdpvar');
if any(I.subs{1} <=0)
error('Index into matrix is negative or zero.');
end
switch 2*X_is_spdvar+Y_is_spdvar
cas... |
github | ssketch/motorControl-master | sym.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@ncvar/sym.m | 3,154 | utf_8 | 07ae0f26ffe548a4af2b632bd01c0bdf | function symb_pvec = sdisplay(pvec,symbolicname)
%SDISPLAY Symbolic display of SDPVAR expression
%
% Note that the symbolic display only work if all
% involved variables are explicitely defined as
% scalar variables.
%
% Variables that not are defined as scalars
% will be given the name ryv(i). ryv means
% recovered YA... |
github | ssketch/motorControl-master | or.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@ncvar/or.m | 2,236 | utf_8 | 68a1641f6a288ec6b04d2e6630a99bd9 | function varargout = or(varargin)
%OR (overloaded)
%
% z = or(x,y)
% z = x | y
%
% The OR operator is implemented using the concept of nonlinear operators
% in YALMIP. X|Y defines a new so called derived variable that can be
% treated as any other variable in YALMIP. When SOLVESDP is issued,
% constraints are ... |
github | ssketch/motorControl-master | repmat.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@ncvar/repmat.m | 2,094 | utf_8 | 695991712637a5274ff19d51a5fa40d2 | function Y=repmat(varargin)
%REPMAT (overloaded)
try
X = varargin{1};
Y = X;
Y.basis = [];
n = Y.dim(1);
m = Y.dim(2);
for i = 1:length(Y.lmi_variables)+1
temp = repmatfixed(reshape(X.basis(:,i),n,m),varargin{2:end});
Y.basis(:,i) = temp(:);
end
Y.dim(1) = size(temp,1);
Y.dim(2) = size(temp,2... |
github | ssketch/motorControl-master | subsref.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@ncvar/subsref.m | 4,658 | utf_8 | 844eb9433dfa4b2c8de950579397cde2 | function varargout = subsref(varargin)
%SUBSREF (overloaded)
% Stupid first slice call (supported by MATLAB)
if length(varargin{2}.subs) > 2
i = 3;
ok = 1;
while ok & (i <= length(varargin{2}.subs))
ok = ok & (isequal(varargin{2}.subs{i},1) | isequal(varargin{2}.subs{i},':'));
i = i + 1;
... |
github | ssketch/motorControl-master | pwa.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@ncvar/pwa.m | 4,373 | utf_8 | 22c949c81c11c00407c9edb6dab6066e | function [p,Bi,Ci,Pn,Pfinal] = PWA(h,Xdomain)
% PWA Tries to create a PWA description
%
% [p,Bi,Ci,Pn,Pfinal] = PWA(h,X)
%
% Input
% h : scalar SDPVAR object
% X : Constraint object
%
% Output
%
% p : scalar SDPVAR object representing the PWA function
% Bi,Ci,Pn,Pfinal : Data in MPT format
%
% The command tries ... |
github | ssketch/motorControl-master | mtimes.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@ncvar/mtimes.m | 5,659 | utf_8 | 70cfba01103b6fc708e8b37cbf17df2e | function Z = mtimes(X,Y)
%MTIMES (overloaded)
% Brute-force implementation of multiplication of noncommuting variables
% (with possible commuting variables involved)
% Check classes
X_is_spdvar = isa(X,'sdpvar');
Y_is_spdvar = isa(Y,'sdpvar');
X_is_ncvar = isa(X,'ncvar');
Y_is_ncvar = isa(Y,'ncvar');
% Get all the ... |
github | ssketch/motorControl-master | and.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/extras/@ncvar/and.m | 2,197 | utf_8 | e574e35b982582324eb3c78d9d965cab | function varargout = and(varargin)
%AND (overloaded)
%
% z = and(x,y)
% z = x & y
%
% The AND operator is implemented using the concept of nonlinear operators
% in YALMIP. X|Y defines a new so called derived variable that can be
% treated as any other variable in YALMIP. When SOLVESDP is issued,
% constraints ... |
github | ssketch/motorControl-master | addfactors.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/@sdpvar/addfactors.m | 2,579 | utf_8 | 1a0e68ae8acfbe591015380fb18a28ad | function Z = addfactors(Z,X,Y)
if isa(X,'double') || isa(X,'logical')
if length(Y.midfactors)==0
return
end
% Y = refactor(Y);
Z.midfactors = Y.midfactors;
Z.leftfactors = Y.leftfactors;
Z.rightfactors = Y.rightfactors;
Z.midfactors{end+1} = X;
if length(X)>1
Z.leftfact... |
github | ssketch/motorControl-master | asec.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/@sdpvar/asec.m | 881 | utf_8 | 210ec08cb20380016ffc9ab743ade4e9 | function varargout = asec(varargin)
%ASEC (overloaded)
switch class(varargin{1})
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
operator = struct('convexity','none','monotonicity','none','definiteness','none','model','callback');
operator.conv... |
github | ssketch/motorControl-master | norm.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/@sdpvar/norm.m | 12,678 | utf_8 | 833cfcffac8a86284f26c75e3bec8bc9 | function varargout = norm(varargin)
%NORM (overloaded)
%
% t = NORM(x,P)
%
% The variable t can only be used in convexity preserving
% operations such as t<=1, max(t,y)<=1, minimize t etc.
%
% For matrices...
% NORM(X) models the largest singular value of X, max(svd(X)).
% NORM(X,2) is the same a... |
github | ssketch/motorControl-master | pow10.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/@sdpvar/pow10.m | 979 | utf_8 | 3c67d739166aa630ae6b9939611ab49c | function varargout = pow10(varargin)
%POW10 (overloaded)
switch class(varargin{1})
case 'double'
error('Overloaded SDPVAR/POW10 CALLED WITH DOUBLE. Report error')
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
operator = struct('convexity... |
github | ssketch/motorControl-master | tan.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/@sdpvar/tan.m | 841 | utf_8 | af58a56ca9dea8449e2c6fef9202be16 | function varargout = tan (varargin)
%TAN (overloaded)
switch class(varargin{1})
case 'double'
error('Overloaded SDPVAR/TAN CALLED WITH DOUBLE. Report error')
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
operator = struct('convexity','no... |
github | ssketch/motorControl-master | asinh.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/@sdpvar/asinh.m | 677 | utf_8 | e3f8453d9133b82d52664494918be4c5 | function varargout = asinh(varargin)
%ASINH (overloaded)
switch class(varargin{1})
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
operator = struct('convexity','none','monotonicity','increasing','definiteness','none','model','callback');
opera... |
github | ssketch/motorControl-master | plot.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/@sdpvar/plot.m | 4,864 | utf_8 | 0e3843abf5f44e3a2a5e011a093f9bc3 | function Y=plot(varargin)
%PLOT (overloaded)
% Fast version for plotting simple PWA objects
if nargin == 1
X = varargin{1};
if isa(varargin{1},'sdpvar')
if length(X) == 1
if isequal(full(getbase(X)),[zeros(length(X),1) eye(length(X))])
extstruct = yalmip('extstruct',getvaria... |
github | ssketch/motorControl-master | ismember_internal.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/@sdpvar/ismember_internal.m | 3,293 | utf_8 | 5c70c86d0d39f66f8b69c3e2f83b0508 | function YESNO = ismember_internal(x,p)
%ISMEMBER_INTERNAL Helper for ISMEMBER
if isa(x,'sdpvar') & (isa(p,'polytope') | isa(p,'Polyhedron'))
if length(p) == 1
[H,K,Ae,be] = poly2data(p);
if min(size(x))>1
error('first argument should be a vector');
end
if length(x) == ... |
github | ssketch/motorControl-master | sqrtm_internal.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/@sdpvar/sqrtm_internal.m | 1,323 | utf_8 | b33f0b07880e3a33d7952c5da2aaf17b | function varargout = sqrtm_internal(varargin)
%SQRTM (overloaded)
switch class(varargin{1})
case 'double'
varargout{1} = sqrt(varargin{1});
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
X = varargin{3};
F = (X >= eps);
... |
github | ssketch/motorControl-master | invsathub.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/@sdpvar/invsathub.m | 3,871 | utf_8 | 36f5bf3e2525f27b871df12fa5223c98 | function varargout = invsathub (varargin)
%INVSATHUB (overloaded)
switch class(varargin{1})
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
operator = struct('convexity','none','monotonicity','none','definiteness','positive','model','callback');
... |
github | ssketch/motorControl-master | tanh.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20160930/all/YALMIP-master/@sdpvar/tanh.m | 783 | utf_8 | 30538db981e451f6b520b7c7895a8e3d | function varargout = tanh(varargin)
%TANH (overloaded)
switch class(varargin{1})
case 'double'
error('Overloaded SDPVAR/TANH CALLED WITH DOUBLE. Report error')
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
operator = struct('convexity','... |
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