HPIPMInterfaceTest.h File Reference

#include "../../testSystems/LinkedMasses.h"

Go to the source code of this file.

Functions
	TEST (HPIPMInterfaceTest, compareSolvers)

Function Documentation

TEST()

TEST	(	HPIPMInterfaceTest	,
		compareSolvers
	)

This unit test compares HPIPM and the custom GNRiccati solver using custom defined system with state dimension 8 and control dimension 3.

Warning

This example is not intuitive. For a better introduction into the solver-framework, visit the tutorial.

References ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::compute_lv(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeFeedbackMatrices(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeStatesAndControls(), control_dim, dt, ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::get_lv(), ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getSolutionControl(), ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getSolutionFeedback(), ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getSolutionState(), i, ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::setProblem(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::solve(), state_dim, and x0.