mpc_unittest_plotting.m File Reference

Functions
	figure (1)
	figure (2)
	plot ([ts_var ts_var], [-5 20], ':k')
	plot (ts_var+t_var, x_var(1,:))
	plot (ts_var+t_var, x_var(2,:))

Variables
close all clear all load solution mat number of variables in workspace	numVars = length(who)/4
hold	on
	mult = 1
for	i
	t_var = squeeze(eval(genvarname(strcat('t_',num2str(i)))))
	ts_var = eval(genvarname(strcat('ts_',num2str(i))))

Function Documentation

figure() [1/2]

figure

(

1

)

figure() [2/2]

grid on figure

(

2

)

plot() [1/3]

plot

(

':k'

)

plot() [2/3]

plot	(	ts_var+	t_var,
		x_var(1,:)
	)

plot() [3/3]

plot	(	ts_var+	t_var,
		x_var(2,:)
	)

Variable Documentation

numVars

close all clear all load solution mat number of variables in workspace numVars = length(who)/4

on

hold on

mult

mult = 1

i

for i

Initial value:

=0:mult:numVars*mult-1
    
    x_var = eval(genvarname(strcat('x_',num2str(i))))

Examples:

ConstraintTest.h, DMS.cpp, KalmanDisturbanceFiltering.cpp, KalmanFiltering.cpp, LqrTest.h, NLOC_MPC.cpp, NonlinearSystemTest.h, oscDMSTest.cpp, oscDMSTestAllVariants.cpp, and SymplecticTest.h.

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::acceptStep(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeCostFunction(), ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeCostFunction(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeGeneralConstraints(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeInputBoxConstraints(), ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::changeLinearSystem(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeLinearSystem(), ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeLinearSystem(), ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::changeNonlinearSystem(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeNonlinearSystem(), ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeNonlinearSystem(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeStateBoxConstraints(), ct::optcon::example::OscDms::compareIpoptSolutions(), ct::optcon::example::OscDms::compareSnoptSolutions(), ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::compute_dXdQi(), ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::compute_dXdQip1(), ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::compute_dXdSi(), ct::optcon::example::MIMOIntegrator< state_dim, control_dim >::computeControlledDynamics(), ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::computeSigmaPointMeasurements(), ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::computeSigmaPointTransition(), ct::optcon::CARE< STATE_DIM, CONTROL_DIM >::computeSteadyStateRiccatiMatrix(), ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::computeWeights(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::configure(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintContainerAnalytical(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediateNumDiff(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunctionQuadratic(), ct::optcon::FHDTLQR< STATE_DIM, CONTROL_DIM, SCALAR >::designController(), ct::optcon::StateFeedbackPolicyHandler< STATE_DIM, CONTROL_DIM, SCALAR >::designWarmStartingPolicy(), ct::optcon::BoxConstraintBase< STATE_DIM, STATE_DIM, CONTROL_DIM, SCALAR >::diagSparsityVecToSparsityMat(), dmcopy(), ct::optcon::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >::eval(), ct::optcon::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >::evalGradient(), ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::tpl::Nlp< SCALAR >::evaluateHessian(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishSolveLQProblem(), ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::genDiagonalIndices(), ct::optcon::ConstraintBase< 2, 1 >::genDiagonalIndices(), ct::optcon::example::MatFilesGenerator::generateMatFilesSNOPT(), ct::optcon::ConstraintBase< 2, 1 >::genSparseDiagonalIndices(), ct::optcon::tpl::Nlp< SCALAR >::getNonZeroHessianCount(), ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedInputs(), ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedStates(), ct::optcon::example::OscillatorDms::getSolution(), ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::getSparsityPatternHessian(), ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::initialize(), ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::initialize(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrate(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCost(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCostSensitivityDU0(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCostSensitivityDUf(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCostSensitivityDX0(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateSensitivityDU0(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateSensitivityDUf(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateSensitivityDX0(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::linearize(), ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::loadFromConfigFile(), ct::optcon::loadMatrixCF(), main(), ct::optcon::tpl::TimeGrid< SCALAR >::makeUniformGrid(), ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::OptVectorDms(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareSolveLQProblem(), ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::printoutSolution(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutSingleShot(), ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::setInitGuess(), ct::optcon::LQOCProblem< STATE_DIM, CONTROL_DIM, SCALAR >::setInputBoxConstraint(), ct::optcon::LQOCProblem< STATE_DIM, CONTROL_DIM, SCALAR >::setInputBoxConstraints(), ct::optcon::LQOCProblem< STATE_DIM, CONTROL_DIM, SCALAR >::setIntermediateStateBoxConstraint(), ct::optcon::LQOCProblem< STATE_DIM, CONTROL_DIM, SCALAR >::setIntermediateStateBoxConstraints(), ct::optcon::LQOCProblem< STATE_DIM, CONTROL_DIM, SCALAR >::setTerminalBoxConstraints(), ct::optcon::LQOCProblem< STATE_DIM, CONTROL_DIM, SCALAR >::setZero(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::solve(), ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::sparseHessianValues(), ct::optcon::BoxConstraintBase< STATE_DIM, STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternSparseJacobian(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediateNumDiff(), ct::optcon::example::symplecticTest(), TEST(), ct::optcon::example::TEST(), timeSingleSolve(), timeSolvers(), ct::optcon::tpl::TimeGrid< SCALAR >::updateTimeGrid(), and ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::~NLOCBackendMP().

t_var

t_var = squeeze(eval(genvarname(strcat('t_',num2str(i)))))

ts_var

ts_var = eval(genvarname(strcat('ts_',num2str(i))))