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 | log.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/log.m | 2,585 | utf_8 | 39c91997bea9e861421411a1caa9ff54 | function varargout = log(varargin)
%LOG (overloaded)
switch class(varargin{1})
case 'double'
error('Overloaded SDPVAR/LOG CALLED WITH DOUBLE. Report error')
case 'sdpvar'
% Try to detect logsumexp construction etc
varargout{1} = check_for_special_cases(varargin{:});
% Nope, t... |
github | ssketch/motorControl-master | subsref.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/subsref.m | 9,032 | utf_8 | 2f2b19b258a84e0cc39f6afdf6d64c31 | function varargout = subsref(varargin)
%SUBSREF (overloaded)
% Stupid first slice call (supported by MATLAB)
% x = sdpvar(2);x(1,:,:)
Y = varargin{2};
if length(Y)==1
if length(Y.subs) > 2 && isequal(Y.type,'()')
i = 3;
ok = 1;
while ok && (i <= length(Y.subs))
ok = ok && (iseq... |
github | ssketch/motorControl-master | sinh.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/sinh.m | 738 | utf_8 | 167ff99de55c2333af9b1e2479b71a75 | function varargout = sinh(varargin)
%SINH (overloaded)
switch class(varargin{1})
case 'double'
error('Overloaded SDPVAR/ACOT CALLED WITH DOUBLE. Report error')
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
operator = struct('convexity','... |
github | ssketch/motorControl-master | pwa.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/pwa.m | 4,366 | utf_8 | 47c565d662055a330df89467ca9366bd | 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 : SET object
%
% Output
%
% p : scalar SDPVAR object representing the PWA function
% Bi,Ci,Pn,Pfinal : Data in MPT format
%
% The command tries to expa... |
github | ssketch/motorControl-master | max.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/max.m | 4,345 | utf_8 | 513e8918b0e1fb1684e2ddcd491cbeb8 | function y = max(varargin)
%MAX (overloaded)
%
% t = max(X)
% t = max(X,Y)
% t = max(X,[],DIM)
%
% Creates an internal structure relating the variable t with convex
% operator max(X).
%
% The variable t is primarily meant to be used in convexity preserving
% operations such as t<=..., minimize t etc.
%
% If the variabl... |
github | ssketch/motorControl-master | deadhub.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/deadhub.m | 1,425 | utf_8 | 19c2ad46cb40a73e2e3512d91f306a52 | function varargout = deadhub(varargin)
switch class(varargin{1})
case 'double'
error('Overloaded SDPVAR/SIN CALLED WITH DOUBLE. Report error')
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
operator = struct('convexity','convex','monotoni... |
github | ssketch/motorControl-master | mtimes.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/mtimes.m | 30,871 | utf_8 | a02bcbc2cab008ade86fac60c7baef00 | function Z = mtimes(X,Y)
%MTIMES (overloaded)
% Cannot use isa here since blkvar is marked as sdpvar
X_class = class(X);
Y_class = class(Y);
X_is_spdvar = strcmp(X_class,'sdpvar');
Y_is_spdvar = strcmp(Y_class,'sdpvar');
% Convert block objects
if ~X_is_spdvar
if isa(X,'blkvar')
X = sdpvar(X);
X_i... |
github | ssketch/motorControl-master | cosh.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/cosh.m | 867 | utf_8 | c13a2d8c9f1f455224d9d5fc5a232af4 | function varargout = cosh(varargin)
%COSH (overloaded)
switch class(varargin{1})
case 'double'
error('Overloaded SDPVAR/COSH CALLED WITH DOUBLE. Report error')
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
operator = struct('convexity','... |
github | ssketch/motorControl-master | det.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/det.m | 2,020 | utf_8 | c62ed564f88ca694ab3f483f7c7664ef | function varargout = det(varargin)
%DET (overloaded)
%
% t = DET(X)
switch class(varargin{1})
case 'sdpvar' % Overloaded operator for SDPVAR objects. Pass on args and save them.
X = varargin{1};
[n,m] = size(X);
if n~=m
error('Matrix must be square.')
en... |
github | ssketch/motorControl-master | value.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/value.m | 11,462 | utf_8 | ec8d9598bf4fccc447aff873eb963275 | function [sys,values] = value(X,allextended,allevaluators,allStruct,mt,variabletype,solution,values)
%VALUE Returns current numerical value of an SDPVAR object
%
% After solving an optimization problem, we can extract the current
% solution by applying VALUE on a variable of interest
%
% xvalue = value(x)
%
% If you h... |
github | ssketch/motorControl-master | cos.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/cos.m | 1,708 | utf_8 | 8f6b7d263e781c2959afd94381b1a131 | function varargout = cos(varargin)
%COS (overloaded)
switch class(varargin{1})
case 'double'
error('Overloaded SDPVAR/COS CALLED WITH DOUBLE. Report error')
case 'sdpvar'
varargout{1} = InstantiateElementWiseUnitary(mfilename,varargin{:});
case 'char'
operator = ... |
github | ssketch/motorControl-master | erfcx.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/erfcx.m | 674 | utf_8 | 1f0ede69a805c09aa20815d4ee2aa46b | function varargout = erfcx(varargin)
%ERFCX (overloaded)
switch class(varargin{1})
case 'double'
error('Overloaded SDPVAR/ERFCX CALLED WITH DOUBLE. Report error')
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
operator = struct('convexity... |
github | ssketch/motorControl-master | sin.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/sin.m | 1,835 | utf_8 | 70d381366a829f9cd6b32d6075ea3ce2 | function varargout = sin(varargin)
%SIN (overloaded)
switch class(varargin{1})
case 'double'
error('Overloaded SDPVAR/SIN CALLED WITH DOUBLE. Report error')
case 'sdpvar'
varargout{1} = InstantiateElementWiseUnitary(mfilename,varargin{:});
%varargout{1} = InstantiateElementWise(mfilen... |
github | ssketch/motorControl-master | min.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/min.m | 4,676 | utf_8 | 3e49b9ee5fa32b5c1891a289f51da69d | function y=min(varargin)
%MIN (overloaded)
%
% t = MIN(X)
% t = MIN(X,Y)
% t = MIN(X,[],DIM)
%
% Creates an internal structure relating the variable t with concave
% operator MIN(X).
%
% The variable t is primarily meant to be used in convexity preserving
% operations such as t>=0, maximize t etc.
%
% If the variable i... |
github | ssketch/motorControl-master | pow2.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/pow2.m | 975 | utf_8 | 39f0baec231cb6e3e01ff432c5ec3237 | function varargout = pow2(varargin)
%POW2 (overloaded)
switch class(varargin{1})
case 'double'
error('Overloaded SDPVAR/POW2 CALLED WITH DOUBLE. Report error')
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
operator = struct('conv... |
github | ssketch/motorControl-master | acosh.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/acosh.m | 716 | utf_8 | b0d93d0f408c0c67ffbc9791f4e52e1b | function varargout = acosh(varargin)
%ACOSH (overloaded)
switch class(varargin{1})
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
operator = struct('convexity','none','monotonicity','none','definiteness','positive','model','callback');
operato... |
github | ssketch/motorControl-master | diff.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/diff.m | 2,025 | utf_8 | 2a39574fd1ff1b4b733230eeead686ba | function Y=diff(varargin)
%DIFF (overloaded)
X = varargin{1};
n = X.dim(1);
m = X.dim(2);
switch nargin
case 1
if n == 1
% Default is diff along first dimension, unless we only have
% one row. This happens to be the case in which the core function operates
Y... |
github | ssketch/motorControl-master | erfinv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/@sdpvar/erfinv.m | 803 | utf_8 | 810f64595d183f3910c960d722dcc702 | function varargout = erfinv(varargin)
%ERFINV (overloaded)
switch class(varargin{1})
case 'double'
error('Overloaded SDPVAR/ERFINV CALLED WITH DOUBLE. Report error')
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
X = varargin{3};
... |
github | ssketch/motorControl-master | callkypd.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callkypd.m | 4,451 | utf_8 | 62267054f26da5f4af3119e87fecc8f8 | function diagnostic = callkypd(F,h,options)
%F = constraint2kyp(F);
kyps = is(F,'kyp');
if all(kyps)
kypConstraints = F;
otherConstraints = lmi;
else
kypConstraints = F(find(kyps));
otherConstraints = F(find(~kyps));
end
% Trivial case
if length(kypConstraints) == 0
if ~isempty(options)
... |
github | ssketch/motorControl-master | callscs.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callscs.m | 5,222 | utf_8 | f7780f5b754144a484627c8bbc36f191 | function output = callscs(model)
% Retrieve needed data
options = model.options;
F_struc = model.F_struc;
c = model.c;
K = model.K;
ub = model.ub;
lb = model.lb;
% *********************************************
% Bounded variables converted to constraints
% N.B. Only happens when caller is BNB
% ... |
github | ssketch/motorControl-master | callsdpnal.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callsdpnal.m | 3,766 | utf_8 | 301376600dc2200cedc573f6f81ce14e | function output = callsdpnal(interfacedata)
% Retrieve needed data
options = interfacedata.options;
F_struc = interfacedata.F_struc;
c = interfacedata.c;
K = interfacedata.K;
x0 = interfacedata.x0;
ub = interfacedata.ub;
lb = interfacedata.lb;
% Bounded variables converted to constraints
if... |
github | ssketch/motorControl-master | callquadprogbb.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callquadprogbb.m | 2,112 | utf_8 | 9c075a2736463b4b85a7c58e6fa44997 | function output = callquadprogbb(interfacedata)
options = interfacedata.options;
model = yalmip2quadprog(interfacedata);
if options.savedebug
save debugfile model
end
if options.showprogress;showprogress(['Calling ' interfacedata.solver.tag],options.showprogress);end
solvertime = tic;
solveroutput = callsolver(m... |
github | ssketch/motorControl-master | callmpt3.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callmpt3.m | 3,688 | utf_8 | ad7eb3b682d81797392f46cd553fad13 | function output = callmpt3(interfacedata)
% Speeds up solving LPs in mpmilp
global MPTOPTIONS
if ~isstruct(MPTOPTIONS)
mpt_error
end
% Convert
Matrices = yalmip2mpt(interfacedata);
% Get some MPT options
options = interfacedata.options;
options.mpt.lpsolver = MPTOPTIONS.lpsolver;
options.mpt.milpsolver = MPTOPTI... |
github | ssketch/motorControl-master | callsedumi.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callsedumi.m | 4,208 | utf_8 | 06ea0482ba007c5e4e0f579308a9def3 | function output = callsedumi(model)
% Retrieve needed data
options = model.options;
F_struc = model.F_struc;
c = model.c;
K = model.K;
ub = model.ub;
lb = model.lb;
% Create the parameter structure
pars = options.sedumi;
pars.fid = double(options.verbose);
% ************************************... |
github | ssketch/motorControl-master | callscipnl.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callscipnl.m | 6,643 | utf_8 | eb1a63a10553a041f4b536ce146a8c68 | function output = callscipnl(model)
% This sets up everything and more. Can be simplified significantly since
% baron handles its own computational tree etc
model = yalmip2nonlinearsolver(model);
% [Anonlinear*f(x) <= b;Anonlinear*f(x) == b]
cu = full([model.bnonlinineq;model.bnonlineq]);
cl = full([repmat(-inf,lengt... |
github | ssketch/motorControl-master | callsdplr.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callsdplr.m | 5,257 | utf_8 | e6972916ac1a58d754eb41383f04cc74 | function output = callsdplr(interfacedata)
% Retrieve needed data
options = interfacedata.options;
F_struc = interfacedata.F_struc;
c = interfacedata.c;
K = interfacedata.K;
ub = interfacedata.ub;
lb = interfacedata.lb;
lowrankdetails = interfacedata.lowrankdetails;
% Create the parameter struc... |
github | ssketch/motorControl-master | callmpt.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callmpt.m | 4,404 | utf_8 | d55f6f404d70471bb0592d9456465ffd | function output = callmpt(interfacedata)
% This file is kept for MPT2 compatability
% Speeds up solving LPs in mpmilp
global mptOptions
if ~isstruct(mptOptions)
mpt_error
end
% Convert
% interfacedata = pwa_linearize(interfacedata);
Matrices = yalmip2mpt(interfacedata);
% Get some MPT options
options = interfac... |
github | ssketch/motorControl-master | callpenbmim.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callpenbmim.m | 8,291 | utf_8 | 55f1ccca944ad4f85054c6f277ec359f | function output = callpenbmi(interfacedata);
if any(interfacedata.variabletype > 2)
% Polynomial problem, YALMIP has to bilienarize
interfacedata.high_monom_model=[];
output = callpenbmi_with_bilinearization(interfacedata);
else
% Old standard code
output = callpenbmi_without_bilinearization(interf... |
github | ssketch/motorControl-master | yalmip2xpress.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/yalmip2xpress.m | 3,380 | utf_8 | 939c179fa34ef53a916b36c325cff8ab | function model = yalmip2xpress(interfacedata)
options = interfacedata.options;
F_struc = interfacedata.F_struc;
H = interfacedata.Q;
c = interfacedata.c;
K = interfacedata.K;
x0 = interfacedata.x0;
integer_variables = interfacedata.integer_variables;
binary_variables = interfacedata.binary_varia... |
github | ssketch/motorControl-master | calllogdetppa.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/calllogdetppa.m | 4,738 | utf_8 | 5e811439e286c2bc2cfa708872c26cb3 | function output = calllogdetppa(interfacedata)
% Retrieve needed data
options = interfacedata.options;
F_struc = interfacedata.F_struc;
c = interfacedata.c;
K = interfacedata.K;
x0 = interfacedata.x0;
ub = interfacedata.ub;
lb = interfacedata.lb;
% Bounded variables converted to constraints... |
github | ssketch/motorControl-master | callbaron.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callbaron.m | 5,132 | utf_8 | f37bb6f75fdde9f4e8b566d0e92d6c76 | function output = callbaron(model)
% This sets up everything and more. Can be simplified significantly since
% baron handles its own computational tree etc
model = yalmip2nonlinearsolver(model);
% [Anonlinear*f(x) <= b;Anonlinear*f(x) == b]
cu = full([model.bnonlinineq;model.bnonlineq]);
cl = full([repmat(-inf,length... |
github | ssketch/motorControl-master | mpcvx.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/mpcvx.m | 11,816 | utf_8 | 9c49d6f2332bc7a0b4d072b435a732a1 | function output = mpcvx(p)
%MPCVX Approximate multi-parametric programming
%
% MPCVX is never called by the user directly, but is called by
% YALMIP from SOLVESDP, by choosing the solver tag 'mpcvx' in sdpsettings
%
% The behaviour of MPCVX can be altered using the fields
% in the field 'mpcvx' in SDPSETTINGS
... |
github | ssketch/motorControl-master | callvsdp.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callvsdp.m | 4,295 | utf_8 | 3db429710eaea8f4494a100384c6f9e9 | function output = callvsdp(interfacedata)
% Retrieve needed data
options = interfacedata.options;
F_struc = interfacedata.F_struc;
c = interfacedata.c;
K = interfacedata.K;
x0 = interfacedata.x0;
ub = interfacedata.ub;
lb = interfacedata.lb;
% Bounded variables converted to constraints
if ~... |
github | ssketch/motorControl-master | callsparsecolo.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callsparsecolo.m | 4,501 | utf_8 | 376b38f73357ddec826c7ac3db7e6704 | function output = callsparsecolo(interfacedata)
% Retrieve needed data
options = interfacedata.options;
F_struc = interfacedata.F_struc;
c = interfacedata.c;
K = interfacedata.K;
x0 = interfacedata.x0;
ub = interfacedata.ub;
lb = interfacedata.lb;
% Bounded variables converted to constraint... |
github | ssketch/motorControl-master | yalmip2mosek.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/yalmip2mosek.m | 2,991 | utf_8 | b793cd2a38c2e96dcf47933b6a79a456 | function prob = yalmip2mosek(interfacedata);
% Retrieve needed data
options = interfacedata.options;
F_struc = interfacedata.F_struc;
c = interfacedata.c;
Q = interfacedata.Q;
K = interfacedata.K;
x0 = interfacedata.x0;
integer_variables = interfacedata.integer_variables;
binary_variables = inte... |
github | ssketch/motorControl-master | callsdpt34.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callsdpt34.m | 8,427 | utf_8 | b646fbbeaba6c0cdbbbbf847b0314fdd | function output = callsdpt34(interfacedata)
% Retrieve needed data
options = interfacedata.options;
F_struc = interfacedata.F_struc;
c = interfacedata.c;
K = interfacedata.K;
x0 = interfacedata.x0;
ub = interfacedata.ub;
lb = interfacedata.lb;
% Bounded variables converted to constraints
if... |
github | ssketch/motorControl-master | callquadprog.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callquadprog.m | 3,531 | utf_8 | 0dfff0ae70dc7afa1992f59380fc39c4 | function output = callquadprog(interfacedata)
options = interfacedata.options;
model = yalmip2quadprog(interfacedata);
if options.savedebug
save debugfile model
end
if options.showprogress;showprogress(['Calling ' interfacedata.solver.tag],options.showprogress);end
solvertime = tic;
solveroutput = callsolver(mod... |
github | ssketch/motorControl-master | callmosek.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callmosek.m | 14,228 | utf_8 | 9584d63092bb2893e014683ac5a5eddb | function output = callmosek(model)
% Retrieve needed data
options = model.options;
F_struc = model.F_struc;
c = model.c;
Q = model.Q;
K = model.K;
x0 = model.x0;
integer_variables = model.integer_variables;
binary_variables = model.binary_variables;
extended_variables = model.extended_variables;... |
github | ssketch/motorControl-master | calllsqlin.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/calllsqlin.m | 2,847 | utf_8 | 170763f45e1ac6f29996fc8e82535665 | function output = calllsqlin(interfacedata)
K = interfacedata.K;
c = interfacedata.c;
CA = interfacedata.F_struc;
options = interfacedata.options;
% To begin with, with try to figure out if this is a simple non-negative
% least squares in disguise
if length(K.q)~=1
output = error_output;
return
end
% total n... |
github | ssketch/motorControl-master | callbonmin.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callbonmin.m | 4,532 | utf_8 | 3e4061b2327fce758da882c69816d9fe | function output = callbonmin(model)
model = yalmip2nonlinearsolver(model);
options = [];
try
options.bonmin = optiRemoveDefaults(model.options.bonmin,bonminset());
catch
options.bonmin = model.options.bonmin;
end
options.ipopt = model.options.ipopt;
options.display = model.options.verbose;
if ~model.derivat... |
github | ssketch/motorControl-master | calllsqnonneg.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/calllsqnonneg.m | 2,939 | utf_8 | f42645b72b16302e04543c90729d2f65 | function output = calllsqnonneg(interfacedata)
K = interfacedata.K;
c = interfacedata.c;
CA = interfacedata.F_struc;
options = interfacedata.options;
% To begin with, with try to figure out if this is a simple non-negative
% least squares in disguise
if length(K.q)~=1
output = error_output;
return
end
% tota... |
github | ssketch/motorControl-master | callqpoases.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/solvers/callqpoases.m | 1,710 | utf_8 | 42faef3cd8048ea6e498b94d4de8bb35 | function output = callqpoases(interfacedata)
options = interfacedata.options;
model = yalmip2quadprog(interfacedata);
if options.savedebug
save debugfile model
end
if options.showprogress;showprogress(['Calling ' interfacedata.solver.tag],options.showprogress);end
solvertime = tic;
solution = callsolver(model,op... |
github | ssketch/motorControl-master | sdpfun.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/sdpfun.m | 5,014 | utf_8 | 0c13f9a11b9b9d4d5504b55e0d04cc52 | function varargout = sdpfun(varargin)
%SDPFUN Gateway to general (elementwise) functions on SDPVAR variables (overloaded)
if ~isa(varargin{1},'char') && any(strcmp(cellfun(@class,varargin,'UniformOutput',0),'sdpvar'))
fun_handles = zeros(nargin,1);
for i = 1:nargin
if isstr(varargin{end}) && isequa... |
github | ssketch/motorControl-master | absexp.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/absexp.m | 972 | utf_8 | 1c9eb8d6258431984094357b18a76a4a | function varargout = absexp(varargin)
switch class(varargin{1})
case 'double'
varargout{1} = abs(exp(varargin{1}) - 1);
case 'sdpvar'
varargout{1} = InstantiateBuiltInScalar(mfilename,varargin{:});
case 'char'
t = varargin{2};
X = varargin{3};
F = SetupEvaluation... |
github | ssketch/motorControl-master | entropy.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/entropy.m | 2,257 | utf_8 | 311340b986854921e33a7272e402651d | function varargout = entropy(varargin)
%ENTROPY
%
% y = ENTROPY(x)
%
% Computes/declares concave entropy -sum(x.*log(x))
%
% Implemented as evalutation based nonlinear operator. Hence, the concavity
% of this function is exploited to perform convexity analysis and rigorous
% modelling.
%
% See also CROSSENTROPY, KULLBA... |
github | ssketch/motorControl-master | xexpintinv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/xexpintinv.m | 816 | utf_8 | bd8857363df0521d4ca537237872b1f5 | function varargout = xexpintinv(varargin)
%XEXPINTINV EXPINT(1/Z)/Z
switch class(varargin{1})
case 'double'
z = varargin{1};
varargout{1} = (1./z).*expint(1./z);
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
varar... |
github | ssketch/motorControl-master | kullbackleibler.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/kullbackleibler.m | 1,913 | utf_8 | b60195db713567cbb6515e32703c04e8 | function varargout = kullbackleibler(varargin)
% KULLBACKLEIBLER
%
% y = KULLBACKLEIBLER(x,y)
%
% Computes/declares the convex Kullback-Leibler divergence sum(x.*log(x./y))
% Alternatively -sum(x.*log(y/x)), i.e., negated perspectives of log(y)
%
% See also ENTROPY, CROSSENTROPY
switch class(varargin{1})
case 'd... |
github | ssketch/motorControl-master | plog.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/plog.m | 3,011 | utf_8 | c2d6cca279a1861bf8dfe62cf593dc28 | function varargout = plog(varargin)
%PLOG
%
% y = PLOG(x)
%
% Computes concave perspective log, x(1)*log(x(2)/x(1)) on x>0
%
% Implemented as evalutation based nonlinear operator. Hence, the concavity
% of this function is exploited to perform convexity analysis and rigorous
% modelling.
switch class(varargin{1})
... |
github | ssketch/motorControl-master | crossentropy.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/crossentropy.m | 1,815 | utf_8 | dd20a786dd2a42dbd13576cf33b307b0 | function varargout = crossentropy(varargin)
% CROSSENTROPY
%
% y = CROSSENTROPY(x,y)
%
% Computes/declares cross entropy -sum(x.*log(y))
%
% See also ENTROPY, KULLBACKLEIBLER
switch class(varargin{1})
case 'double'
if nargin == 1
% YALMIP flattens internally to [x(:);y(:)]
z = ... |
github | ssketch/motorControl-master | max_internal.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/max_internal.m | 2,193 | utf_8 | 1e843d6b9fb476c9c4d77aa38e2f6171 | function varargout = max_internal(varargin)
switch class(varargin{1})
case 'double'
varargout{1} = max(varargin{:});
case 'char'
extstruct.var = varargin{2};
extstruct.arg = {varargin{3:end}};
[F,properties,arguments]=max_model([],varargin{1},[],extstruct);
varargout{1} ... |
github | ssketch/motorControl-master | expexpintinv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/expexpintinv.m | 842 | utf_8 | 2befcb9c4f10aff4f339806f9a4828a5 | function varargout = expexpintinv(varargin)
%EXPINT (overloaded)
switch class(varargin{1})
case 'double'
z = varargin{1};
varargout{1} = exp(1./z).*expint(1./z);
case 'sdpvar'
varargout{1} = InstantiateElementWise(mfilename,varargin{:});
case 'char'
varar... |
github | ssketch/motorControl-master | logistic.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/logistic.m | 1,787 | utf_8 | 7db6dafadc94775db52ca52054d9f148 | function varargout = logistic(varargin)
% LOGISTIC Returns logistic function 1./(1+exp(-x))
%
% y = LOGISTIC(x)
%
% For a real vector x, LOGISTIC returns (1+exp(-x)).^-1
switch class(varargin{1})
case 'double'
x = varargin{1};
varargout{1} = 1./(1+exp(-x));
case 'sdpvar'
varargout{1}... |
github | ssketch/motorControl-master | slog.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/slog.m | 2,540 | utf_8 | 337f77232e578d581ec03cc60aaec8a1 | function varargout = slog(varargin)
%ENTROPY
%
% y = SLOG(x)
%
% Computes/declares concave shifted logarithm log(1+x)
%
% Implemented as evalutation based nonlinear operator. Hence, the concavity
% of this function is exploited to perform convexity analysis and rigorous
% modelling. Implemented in order to avoid singul... |
github | ssketch/motorControl-master | pexp.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/pexp.m | 1,269 | utf_8 | f334c5023924d04359e729add5b1df1d | function varargout = pexp(varargin)
%PEXP
%
% y = PEXP(x)
%
% Computes perspective exp, x(1)*exp(x(2)/x(1)) on x>0
%
% Implemented as evalutation based nonlinear operator. Hence, the convexity
% of this function is exploited to perform convexity analysis and rigorous
% modelling.
switch class(varargin{1})
cas... |
github | ssketch/motorControl-master | acos_internal.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/acos_internal.m | 879 | utf_8 | 1e3261fde0507f4701cb739fbb4be919 | function varargout = acos_internal(varargin)
%ACOS (overloaded)
switch class(varargin{1})
case 'double'
x = varargin{1};
y = acos(x);
y(x<-1) = pi;
y(x>1) = 0;
varargout{1} = y;
case 'char'
operator = struct('convexity','none','monotonicity','decreasi... |
github | ssketch/motorControl-master | implies_internal.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/implies_internal.m | 5,075 | utf_8 | e53fb93c351693a8fa46d1e56ec7162a | function varargout = implies_internal(varargin)
X = varargin{1};
Y = varargin{2};
if nargin == 2
zero_tolerance = 1e-5;
else
zero_tolerance = varargin{3};
end
% Normalize
if isa(X,'constraint')
X = lmi(X,[],[],1);
end
if isa(Y,'constraint')
Y = lmi(Y,[],[],1);
end
% % Special case something implies ... |
github | ssketch/motorControl-master | cpower.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/cpower.m | 2,821 | utf_8 | 7da9a3176a88314e9825801fed666649 | function varargout = cpower(varargin)
%CPOWER Power of SDPVAR variable with convexity knowledge
%
% CPOWER is recommended if your goal is to obtain
% a convex model, since the function CPOWER is implemented
% as a so called nonlinear operator. (For p/q ==2 you can
% however just as well use the overloaded power)
%
% t ... |
github | ssketch/motorControl-master | min_internal.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/min_internal.m | 1,846 | utf_8 | 000eee732402247d0ba89563345fdef3 | function varargout = min_internal(varargin)
switch class(varargin{1})
case 'double'
varargout{1} = min(varargin{:});
case 'char'
extstruct.var = varargin{2};
extstruct.arg = {varargin{3:end}};
[F,properties,arguments]=min_model([],varargin{1},[],extstruct);
varargout{1} ... |
github | ssketch/motorControl-master | power_internal1.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/power_internal1.m | 2,439 | utf_8 | 8fdb9032081e36221ef83491e13f0ea4 | function varargout = power_internal1(varargin)
%power_internal1
% Used for cases such as 2^x, and is treated as evaluation-based operators
switch class(varargin{1})
case 'double'
varargout{1} = varargin{2}.^varargin{1};
case 'sdpvar'
if isa(varargin{2},'sdpvar')
x = varargin{2};
... |
github | ssketch/motorControl-master | pnorm.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/pnorm.m | 3,905 | utf_8 | 6ea7721daa042f84ee690bffafed5bdf | function varargout = pnorm(varargin)
%PNORM P-Norm of SDPVAR variable with convexity knowledge
%
% PNORM is recommended if your goal is to obtain
% a convex model, since the function PNORM is implemented
% as a so called nonlinear operator. (For p/q ==1,2,inf you should use the
% overloaded norm)
%
% t = pnorm(x,p/q), ... |
github | ssketch/motorControl-master | logsumexp.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/logsumexp.m | 1,345 | utf_8 | 6b83cc0ac3e1ba57ad80dba22db81d41 | function varargout = logsumexp(varargin)
%LOGSUMEXP
%
% y = LOGSUMEXP(x)
%
% Computes/declares log of sum of exponentials log(sum(exp(x)))
%
% Implemented as evalutation based nonlinear operator. Hence, the convexity
% of this function is exploited to perform convexity analysis and rigorous
% modelling.
switch class(v... |
github | ssketch/motorControl-master | iff_internal.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/yalmip/R20150918/all/yalmip/operators/iff_internal.m | 3,921 | utf_8 | ae2278fd236008b34aa5db44cc6c4c72 | function varargout = iff_internal(varargin)
X = varargin{1};
Y = varargin{2};
if nargin == 2
zero_tolerance = 1e-5;
else
zero_tolerance = abs(varargin{3});
end
% Normalize data
if isa(Y,'constraint')
Y=lmi(Y,[],[],1);
end
if isa(X,'constraint')
X=lmi(X,[],[],1);
end
if isa(X,'lmi') & isa(Y,'sdpvar')
... |
github | ssketch/motorControl-master | rotlorentz.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/rotlorentz.m | 1,734 | utf_8 | 2360f679ed280039c549592a3c993aff | % c = rotlorentz(c,K)
% Rotates vectors from Qcone to Rcone or from Rcone into Qcone.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function c = rotlorentz(c,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005 McMaster University, Ham... |
github | ssketch/motorControl-master | PopK.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/PopK.m | 2,058 | utf_8 | f5d78e3b27636285dfc03b5da8fcbc93 | % [y, ddotx, Dx, xTy] = PopK(d,x,K,lpq)
% POPK Implements the quadratic operator for symmetric cones K.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [y, ddotx, Dx, xTy] = PopK(d,x,K,lpq)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Olek... |
github | ssketch/motorControl-master | updtransfo.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/updtransfo.m | 4,731 | utf_8 | c73de722512195da9daad6fa6bf75a0d | % [d,vfrm] = updtransfo(x,z,w, dIN,K)
% UPDTRANSFO Updated the Nesterov-Todd transformation using a
% numerically stable method.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [d,vfrm] = updtransfo(x,z,w, dIN,K)
%
% This file is par... |
github | ssketch/motorControl-master | symbcholden.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/symbcholden.m | 2,555 | utf_8 | ba6fe026b0102d1fd909b6903c62aa1f | % Lden = symbcholden(L,dense,DAt)
% SYMBCHOLDEN Creates Lden.{LAD, perm,dz, sign, first}
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi, dpr1fact
function Lden = symbcholden(L,dense,DAt)
%
% This file is part of SeDuMi ... |
github | ssketch/motorControl-master | psdinvscale.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/psdinvscale.m | 2,422 | utf_8 | 06f82b385e12594de31afb4f00a28806 | % y = psdinvscale(ud,x,K ,transp)
% PSDINVSCALE Computes length lenud (=sum(K.s.^2)) vector y.
% Computes y = D(d^{-1}) x with d in K.
% Y = Ud' \ X / Ud
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also scaleK, factorK.
function y = psdinvscale(... |
github | ssketch/motorControl-master | eyeK.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/eyeK.m | 1,833 | utf_8 | 3e5751a6b689151b000068b15e4c6e3f | % eyeK Identity w.r.t. symmetric cone.
% x = eyeK(K) produces the identity solution w.r.t. the symmetric cone,
% that is described by the structure K. This is the vector for which
% eigK(x) is the all-1 vector.
%
% See also eigK.
function x = eyeK(K)
% This file is part of SeDuMi 1.1 by Imre Poli... |
github | ssketch/motorControl-master | sparfwslv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/sparfwslv.m | 2,276 | utf_8 | b0e876743c52edb4ceb0cee125503411 | % SPARFWSLV Solves block sparse upper-triangular system.
% y = sparfwslv(L,b) yields the same result as
% y = L.L\b(L.perm,:)
% However, SPARFWSLV is faster than the built-in operator "\",
% because it uses dense linear algebra and loop-unrolling on
% supernodes.
%
% For sparse b, one... |
github | ssketch/motorControl-master | fwdpr1.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/fwdpr1.m | 1,880 | utf_8 | 750b7c554452e985b5efa0cf663e2a6f | % y = fwdpr1(Lden, b)
% FWDPR1 Solves "PROD_k L(pk,betak) * y = b", where
% where L(p,beta) = eye(n) + tril(p*beta',-1).
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi, dpr1fact, bwdpr1
function y = fwdpr1(Lden, b)
%
% ... |
github | ssketch/motorControl-master | sortnnz.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/sortnnz.m | 2,004 | utf_8 | 5787292e2973a25b28e10c4231898cd3 | % perm = sortnnz(At,Ajc1,Ajc2)
% SORTNNZ Sorts columns in At
% in increasing order of nnzs; only the nnzs between Ajc1 and Ajc2
% are considered for each column. If Ajc1 or Ajc2 is empty, we use
% the start or end of the columns in At.
%
% *******************... |
github | ssketch/motorControl-master | loopPcg.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/loopPcg.m | 6,270 | utf_8 | c663b50c5b75f46e8f1ed2b8234e7b12 | % [y,k, DAy] = loopPcg(L,Lden,At,dense,d, DAt,K, b,p,ssqrNew,cgpars, restol)
%
% LOOPPCG Solve y from AP(d)A' * y = b
% using PCG-method and Cholesky L as conditioner.
% If L is sufficiently accurate, then only 1 CG-step is needed.
% It assumes that the previous step was p, with
% ssqrNew = bOld'*inv(L*THETA*L')*... |
github | ssketch/motorControl-master | finsymbden.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/finsymbden.m | 2,134 | utf_8 | 6655ba7d4743010e2bc35c7b275189e9 | % Lden = finsymbden(LAD,perm,dz,firstq)
% FINSYMBDEN Updates perm and dz by inserting the
% last Lorentz trace columns (last columns of LAD). It creates the fields
% Lden.sign - +1 for "normal" columns, -1 for Lorentz trace columns
% Lden.first - First pivot column that will a... |
github | ssketch/motorControl-master | minpsdeig.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/minpsdeig.m | 2,402 | utf_8 | 76851a44cd0651e86e2cc15f3f3a1a10 | % mineig = minpsdeig(x,K)
% MINPSDEIG Computes the smallest spectral coefficients of x w.r.t. K
% Uses an iterative method if the matrix is large, takes the minimum of all
% the eigenvalues if the matrix is small.
%
% ********** INTERNAL FUNCTION OF SEDUMI *********... |
github | ssketch/motorControl-master | getDAtm.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/getDAtm.m | 2,007 | utf_8 | 34c7a3a2c33ccc2675038ad7141d5ac1 | % DAt = getDAtm(A,Ablkjc,dense,DAtdenq,d,K)
% GETDATM Computes d[k]'*Aj[k] for each lorentz block k and constraint j.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi, getada2.
function DAt = getDAtm(A,Ablkjc,dense,DAtdenq,d,K)... |
github | ssketch/motorControl-master | findblks.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/findblks.m | 2,043 | utf_8 | 3f129b5e60da81b88cd358b1cd2e6c3d | % Ablk = findblks(At,Ablkjc,blk0,blk1,blkstart)
% FINDBLKS Find nonzero blocks
% in A, with subscripts per column bounded bij Ablkjc([blk0,blk1]),
% block partitioned by blkstart.
% If blk0 < 1 (blk1 > size(Ablkjc,2)) then start (stop) searching at column
% start (end) of A.
%
% ... |
github | ssketch/motorControl-master | invcholfac.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/invcholfac.m | 1,859 | utf_8 | 755e6abd3ff3729ea8ca73c9f551cf9e | % y = invcholfac(u,K, perm)
% INVCHOLFAC Computes y(perm,perm) = u' * u, with u upper triangular.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi, getada3
function y = invcholfac(u,K, perm)
%
% This file is part ... |
github | ssketch/motorControl-master | qframeit.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/qframeit.m | 1,773 | utf_8 | d09af1c0a97090bae278b9ab98bae212 | % x = qframeit(lab,frmq,K)
%
% *********************** INTERNAL FUNCTION OF SEDUMI *******************
%
% See also sedumi
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005 McMaster University, Hamilton, CANADA (since 1.1)
%
% Copyright (C) 2001 Jos F. Sturm (up to ... |
github | ssketch/motorControl-master | incorder.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/incorder.m | 2,194 | utf_8 | 97e815101c79e061951a6a6d797cdd88 | % [perm, dz] = incorder(At [,Ajc1,ifirst])
% INCORDER
% perm sorts the columns of At greedily, by iteratively picking
% the 1st unprocessed column with the least number of nonzero
% subscripts THAT ARE NOT YET COVERED (hence incremental) by
% the previously processed columns.
% dz... |
github | ssketch/motorControl-master | qreshape.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/qreshape.m | 2,004 | utf_8 | 8858b2ff82c1d786a4839a098e36b22b | % y = qreshape(x,flag, K)
% QRESHAPE Reshuffles entries associated with Lorentz blocks.
% If flag = 0 then y = [x1 for each block; x2 for each block]
% If flag = 1 then y = [x block 1; x block 2; etc], etc
% Thus, x = qreshape(qreshape(x,0,K),1,K).
%
% *********... |
github | ssketch/motorControl-master | dpr1fact.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/dpr1fact.m | 2,130 | utf_8 | a7d6a597603312764583d96eae64edd0 | % [Lden,L.d] = dpr1fact(x, d, Lsym, smult, maxu)
% DPR1FACT Factor d[iag] p[lus] r[ank] 1:
% [Lden,L.d] = dpr1fact(x, d, Lsym, smult, maxu)
% Computes fi and d such that
% diag(d_IN) + x*diag(smult)*x' =
%(PI_{i=1}^n L(p_OUT^i,beta_i)) * diag(d_OUT) * (PI_{i=1}^n L(p_OUT^... |
github | ssketch/motorControl-master | iswnbr.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/iswnbr.m | 4,448 | utf_8 | c9e284b91161b0871549bd7f27bafcbf | % [delta,h,alpha] = iswnbr(vSQR,thetaSQR)
% ISWNBR Checks feasibility w.r.t. wide region/neighborhood of Sturm-Zhang.
% vTAR:= (1-alpha)*max(h,v) projection v onto theta-central region
% delta = (sqrt(n)/theta) * norm(vTAR - v) / norm(v)
%
% ********** INTERNAL FUNCTION OF SEDUMI *... |
github | ssketch/motorControl-master | fwblkslv.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/fwblkslv.m | 2,004 | utf_8 | 29331f9be35273a4679f1718f0f770c1 | % FWBLKSLV Solves block sparse upper-triangular system.
% y = fwblkslv(L,b) yields the same result as
% y = L.L\b(L.perm,:)
% However, FWBLKSLV is faster than the built-in operator "\",
% because it uses dense linear algebra and loop-unrolling on
% supernodes.
%
% Typical use, with X ... |
github | ssketch/motorControl-master | trydif.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/trydif.m | 2,561 | utf_8 | 188705faedb79d0ad34ec9dcdf8d1f2c | % [t,wr,w] = trydif(t,wrIN,wIN, x,z, pars,K)
% TRYDIF Tries feasibility of differentiated step length w.r.t.
% wide region and its neighborhood.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi, stepdif
function [t,wr,w] = trydif(t,wrIN,wIN, x,z, pars,K)
%
% This... |
github | ssketch/motorControl-master | asmDxq.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/asmDxq.m | 2,803 | utf_8 | 8d99cd2fd94ebd77f97312468887a518 | % y = asmDxq(d, x, K [, ddotx])
% ASMDXQ Assemble y = D(d)x for x in Lorentz part of K.
% [y,t] = AasmDxq(d, x, K [, ddotx]) then y[k]+t(k)*d[k] = D(dk)xk.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [y,t] = asmDxq(d, x, K, ddot... |
github | ssketch/motorControl-master | symfctmex.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/symfctmex.m | 2,036 | utf_8 | f6b84d76ece75f7290517e625e446e0f | % [L,perm,xsuper,split,tmpsiz] = symfctmex(X, perm, cachsz)
% Computes sparse symbolic factor L, updated permutation PERM,
% super-node partition XSUPER, and a splitting of supernodes
% (SPLIT) to optimize use of the computer cache (assuming
% CACHSZ*1024 byte available). TMPSIZ is the amount of floating
... |
github | ssketch/motorControl-master | symbchol.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/symbchol.m | 3,280 | utf_8 | b1399e65f8a5d81fa2cd34978f28f52d | % L = symbchol(X)
% SYMBCHOL Symbolic block sparse Cholesky factorization.
% L = symbchol(X) returns a structure L that can be used
% by the efficient block sparse Cholesky solver SPARCHOL.
% The fields in L have the following meaning:
%
% L.perm ... |
github | ssketch/motorControl-master | getsymbada.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/getsymbada.m | 2,353 | utf_8 | 1cde359d723d90aa1e2d454be98d3642 | % SYMBADA = getsymbada(At,Ajc,DAt,psdblkstart)
% GETSYMBADA
% Ajc points to start of PSD-nonzeros per column
% DAt.q has the nz-structure of ddotA.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi, partitA, getada1, getada2.
func... |
github | ssketch/motorControl-master | statsK.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/statsK.m | 1,824 | utf_8 | 0a46c333f48d0aca7d2fbf79d3a0f760 | % K = statsK(K)
% STATSK Collects statistics (max and sum of dimensions) of cone K
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi
function K = statsK(K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksa... |
github | ssketch/motorControl-master | qinvjmul.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/qinvjmul.m | 2,473 | utf_8 | f77d40ca42c72f1e46286c5ac4b3d71c | % y = qinvjmul(labx,frmx,b,K)
% QINVJMUL Inverse of Jordan multiply for Lorentz blocks
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = qinvjmul(labx,frmx,b,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Roman... |
github | ssketch/motorControl-master | whichcpx.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/whichcpx.m | 1,811 | utf_8 | d327df172a4d2386a5a003c9b1b1c266 | % cpx = whichcpx(K)
% WHICHCPX yields structure cpx.{f,q,r,x}
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedumi
function cpx = whichcpx(K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
... |
github | ssketch/motorControl-master | triumtriu.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/triumtriu.m | 2,016 | utf_8 | 64224c5cc11e9543095c85203848fc01 | % y = triumtriu(r,u,K)
% TRIUMTRIU Computes y = r * u
% Both r and u should be upper triangular.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function y = triumtriu(r,u,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Ol... |
github | ssketch/motorControl-master | getada2.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/getada2.m | 1,955 | utf_8 | f11451d9ac4e7f81983e3db2b9b12e33 | % ADA = getada2(ADA, DAt,Aord, K)
% GETADA2 Compute ADA += DAt.q'*DAt.q
% IMPORTANT: Updated ADA only on triu(ADA(Aord.qperm,Aord.qperm)).
% Remaining entries are not affected.
%
% ******************** INTERNAL FUNCTION OF SEDUMI ********************
%
% See also sedu... |
github | ssketch/motorControl-master | urotorder.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/urotorder.m | 1,843 | utf_8 | 3f00fac00ed650f384981a17ffb08e89 | % [u,perm,gjc,g] = urotorder(u,K, maxu,permIN)
% UROTORDER Stable reORDERing of triu U-factor by Givens ROTations.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [u,perm,gjc,g] = urotorder(u,K, maxu,permIN)
%
% This file is part of SeDuMi 1.1 by Im... |
github | ssketch/motorControl-master | extractA.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/extractA.m | 2,236 | utf_8 | 931300071e3c261cefec875eb0a86600 | % Apart = extractA(At,Ajc,blk0,blk1,blkstart[,blkstart2])
% EXTRACTA Fast alternative to
% Apart = At(blkstart(1):blkstart(2)-1,:).
% Instead of blkstart(2), it takes "blkstart2" (if supplied) or
% size(At,1)+1 (if neither blkstart(2) nor blkstart2) are available.
%
% Extract submatrix of
% A ... |
github | ssketch/motorControl-master | veccomplex.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/veccomplex.m | 3,079 | utf_8 | ba07f0641a238be5b9726d1798d6b8ae | % z = veccomplex(x,cpx,K)
% ********** INTERNAL FUNCTION OF SEDUMI **********
function z = veccomplex(x,cpx,K)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005 McMaster University, Hamilton, CANADA (since 1.1)
%
% Copyright (C) 2001 Jos F. Sturm (up to 1.05R5)
%... |
github | ssketch/motorControl-master | vec.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/vec.m | 1,606 | utf_8 | 5478f392e563f694b197e427626d7462 | % Y = VEC(x) Given an m x n matrix x, this produces the vector Y of length
% m*n that contains the columns of the matrix x, stacked below each other.
%
% See also mat.
function x = vec(X)
%
% This file is part of SeDuMi 1.1 by Imre Polik and Oleksandr Romanko
% Copyright (C) 2005 McMaster University, Hami... |
github | ssketch/motorControl-master | sdinit.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/sdinit.m | 4,613 | utf_8 | c23c6956e3a8fe19e16dfdd700b278eb | % [d, v,vfrm,y,y0, R] = sdinit(At,b,c,dense,K,pars)
% SDINIT Initialize with identity solution, for self-dual model.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function [d, v,vfrm,y,y0, R] = sdinit(At,b,c,dense,K,pars)
%
% This file is part of SeD... |
github | ssketch/motorControl-master | psdscale.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/psdscale.m | 6,304 | utf_8 | 3cf74e984e9d00ce8d8ed7aff240230d | % y = psdscale(ud,x,K [,transp])
% PSDSCALE Computes length lenud (=sum(K.s.^2)) vector y.
% !transp (default) then y[k] = vec(Ldk' * Xk * Ldk)
% transp == 1 then y[k] = vec(Udk' * Xk * Udk)
% Uses pivot ordering ud.perm if available and nonempty.
%
% ********** I... |
github | ssketch/motorControl-master | checkpars.m | .m | motorControl-master/MPC/include/tbxmanager/toolboxes/sedumi/1.3/glnxa64/sedumi_1_3_glnxa64/checkpars.m | 6,176 | utf_8 | 971e0b44a6edc0150d639e30dc50a98f | % pars = checkpars(pars,lponly)
% CHECKPARS Fills in defaults for missing fields in "pars" structure.
%
% ********** INTERNAL FUNCTION OF SEDUMI **********
%
% See also sedumi
function pars = checkpars(pars,lponly)
%
% This file is part of SeDuMi 1.1 by Imre Polik ... |
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