Link a matlab ODE black box model to ACADO
Usage:
>> DifferentialEquation.linkMatlabODE(fcnHandleODE)
>> DifferentialEquation.linkMatlabODE(fcnHandleODE, fcnHandleJacobian)
Parameters:
fcnHandleODE Reference to function handle [STRING]
fcnHandleJacobian Reference to Jacobian function handle [STRING]
Example:
>> f = acado.DifferentialEquation();
>> f.linkMatlabODE('myODE');
or
>> f.linkMatlabODE('myODE', 'myJacobian');
The file fcnHandleODE should have this header:
[ dx ] = fcnHandleODE(t,x,u,p,w )
Analogous, the file fcnHandleJacobian will have this header:
[ J ] = fcnHandleJacobian( t,x,u,p,w )
Here t is a numeric containing the current time, x is a vector
containing all states, u a vector with all controls (if any), p a
vector with all parameters (if any) and w a vector with all
disturbances (if any).
dx will be a vector of length "length(x)" containing dot(x). J will be
a matrix of size "length(x)" times "length(x)+length(u)+length(p)+length(w)"
Licence:
This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/)
ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
Developed within the Optimization in Engineering Center (OPTEC) under
supervision of Moritz Diehl. All rights reserved.
ACADO Toolkit is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.
ACADO Toolkit is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with ACADO Toolkit; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Author: David Ariens
Date: 2009-20100001 function linkMatlabODE(obj, varargin) 0002 %Link a matlab ODE black box model to ACADO 0003 % 0004 % Usage: 0005 % >> DifferentialEquation.linkMatlabODE(fcnHandleODE) 0006 % >> DifferentialEquation.linkMatlabODE(fcnHandleODE, fcnHandleJacobian) 0007 % 0008 % Parameters: 0009 % fcnHandleODE Reference to function handle [STRING] 0010 % fcnHandleJacobian Reference to Jacobian function handle [STRING] 0011 % 0012 % Example: 0013 % >> f = acado.DifferentialEquation(); 0014 % >> f.linkMatlabODE('myODE'); 0015 % or 0016 % >> f.linkMatlabODE('myODE', 'myJacobian'); 0017 % 0018 % The file fcnHandleODE should have this header: 0019 % [ dx ] = fcnHandleODE(t,x,u,p,w ) 0020 % 0021 % Analogous, the file fcnHandleJacobian will have this header: 0022 % [ J ] = fcnHandleJacobian( t,x,u,p,w ) 0023 % 0024 % Here t is a numeric containing the current time, x is a vector 0025 % containing all states, u a vector with all controls (if any), p a 0026 % vector with all parameters (if any) and w a vector with all 0027 % disturbances (if any). 0028 % 0029 % dx will be a vector of length "length(x)" containing dot(x). J will be 0030 % a matrix of size "length(x)" times "length(x)+length(u)+length(p)+length(w)" 0031 % 0032 % 0033 % Licence: 0034 % This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/) 0035 % 0036 % ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 0037 % Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven. 0038 % Developed within the Optimization in Engineering Center (OPTEC) under 0039 % supervision of Moritz Diehl. All rights reserved. 0040 % 0041 % ACADO Toolkit is free software; you can redistribute it and/or 0042 % modify it under the terms of the GNU Lesser General Public 0043 % License as published by the Free Software Foundation; either 0044 % version 3 of the License, or (at your option) any later version. 0045 % 0046 % ACADO Toolkit is distributed in the hope that it will be useful, 0047 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0048 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 0049 % Lesser General Public License for more details. 0050 % 0051 % You should have received a copy of the GNU Lesser General Public 0052 % License along with ACADO Toolkit; if not, write to the Free Software 0053 % Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 0054 % 0055 % Author: David Ariens 0056 % Date: 2009-2010 0057 % 0058 0059 if (nargin ~= 2 && nargin ~= 3) 0060 error('ERROR in linkMatlabODE. See <a href="matlab: help acado.DifferentialEquation.linkMatlabODE">help acado.DifferentialEquation.linkMatlabODE</a>'); 0061 end 0062 0063 if (~isempty(obj.differentialList) || ~isempty(obj.matlabODE_fcnHandle) || ~isempty(obj.matlabDAE_fcnHandle) || ~isempty(obj.cfunction_file)) 0064 error('Only _one_ Matlab DAE or ODE or C++ file can be linked. Or use ACADO symbolic notation.'); 0065 end 0066 0067 if (nargin == 2 || nargin == 3) % ODE 0068 0069 fcnHandle = varargin{1}; 0070 0071 if(isempty(fcnHandle) || isvarname(fcnHandle) ~= 1) 0072 error('ERROR in linkMatlabODE. fcnHandle should be a string refering to the name of a function. See <a href="matlab: help acado.DifferentialEquation.linkMatlabODE">help acado.DifferentialEquation.linkMatlabODE</a>'); 0073 end 0074 0075 %test = feval( fcnHandle,t,x,u,p,w ); % This line should run without warnings. 0076 0077 obj.matlabODE_fcnHandle = fcnHandle; 0078 0079 end 0080 0081 0082 if (nargin == 3) % JACOBIAN 0083 0084 fcnHandle = varargin{2}; 0085 0086 if(isempty(fcnHandle) || isvarname(fcnHandle) ~= 1) 0087 error('ERROR in linkMatlabJacobian. fcnHandle should be a string refering to the name of a function. See <a href="matlab: help acado.DifferentialEquation.linkMatlabODE">help acado.DifferentialEquation.linkMatlabODE</a>'); 0088 end 0089 0090 obj.matlabJacobian_fcnHandle = fcnHandle; 0091 0092 end 0093 0094 0095 end