function gpopsPrint(setup);
%------------------------------------------------------------------%
% Prints the information about a multiple-phase optimal control %
% problem to a filename contained in the string SETUP.NAME %
%------------------------------------------------------------------%
% GPOPS Copyright (c) Anil V. Rao, Geoffrey T. Huntington, David %
% Benson, Michael Patterson, Christopher Darby, & Camila Francolin %
%------------------------------------------------------------------%
% warning off;
sizes = setup.sizes;
minima = setup.limits{1};
maxima = setup.limits{2};
numphases = setup.numphases;
filename = strcat([setup.name,'.txt']);
fid = fopen(filename,'w');
fprintf(fid,'\n');
fprintf(fid,'\n');
fprintf(fid,'\n');
fprintf(fid,'\n');
fprintf(fid,'%s\n',' ____ ______ ____ ______ ______');
fprintf(fid,'%s\n',' / ___\\____ \ / _ \\____ \/ ___/');
fprintf(fid,'%s\n',' / /_/ > |_> > <_> ) |_> >___ \ ');
fprintf(fid,'%s\n',' \___ /| __/ \____/| __/____ >');
fprintf(fid,'%s\n','/_____/ |__| |__| \/ ');
fprintf(fid,'\n');
fprintf(fid,'-----------------------------------------------------------------------------------\n');
fprintf(fid,'GPOPS Version 1.1 beta: A MATLAB Implementation of the Gauss Pseudospectral Method\n');
fprintf(fid,'-----------------------------------------------------------------------------------\n');
fprintf(fid,'\n');
disp(' ');
disp(' ');
disp(' ____ ______ ____ ______ ______');
disp(' / ___\\____ \ / _ \\____ \/ ___/');
disp(' / /_/ > |_> > <_> ) |_> >___ \ ');
disp(' \___ /| __/ \____/| __/____ >');
disp('/_____/ |__| |__| \/ ');
disp(' ');
disp(' ');
disp('-----------------------------------------------------------------------------------');
disp('GPOPS Version 1.1 beta: A MATLAB Implementation of the Gauss Pseudospectral Method');
disp('-----------------------------------------------------------------------------------');
disp(' ');
disp('-------------------------------------------------------------------------------------------');
disp('Downloading, using, copying, or modifying the GPOPS code constitutes an agreement to ALL of');
disp('the terms of the GPOPS license. Please see the file LICENSE given in the home directory of');
disp('the GPOPS distribution or see the file printed when running a particular example.');
disp('-------------------------------------------------------------------------------------------');
disp(' ');
ssfilename = strcat(['Summary of Problem Written to File: ',filename]);
strdashed = '';
for k=1:length(ssfilename)
strdashed = strcat([strdashed,'-']);
end;
disp(strdashed);
disp(ssfilename);
disp(strdashed);
disp('GPOPS: Copyright (c) 2008 Anil V. Rao, David Benson, Geoffrey T. ')
disp('Huntington, Christopher L. Darby, Michael Patterson, and Camila Francolin');
disp(' ');
disp('% ---------------------------------------------------------------- %');
disp('% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, %');
disp('% EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES %');
disp('% OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND %');
disp('% NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT %');
disp('% HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, %');
disp('% WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING %');
disp('% FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR %');
disp('% OTHER DEALINGS IN THE SOFTWARE. %');
disp('% ---------------------------------------------------------------- %');
disp(' ');
% Print the license information to the file "name.txt" where "name"
% is the name of the problem being solved.
fprintf(fid,'\n');
fprintf(fid,'%s\n','%------------------------------------------------------------------%');
fprintf(fid,'%s\n','%!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!%');
fprintf(fid,'%s\n','% THIS NOTICE MAY NOT BE DELETED UNDER CIRCUMSTANCES DURING ANY %');
fprintf(fid,'%s\n','% EXECUTION OF THE GPOPS SOFTWARE OR TRANSMITTAL OF GPOPS OR ANY %');
fprintf(fid,'%s\n','% DOCUMENTATION ASSOCIATED WITH GPOPS %');
fprintf(fid,'%s\n','%!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!%');
fprintf(fid,'%s\n','%------------------------------------------------------------------%');
fprintf(fid,'%s\n','% GPOPS Copyright (c) Anil V. Rao, Geoffrey T. Huntington, David %');
fprintf(fid,'%s\n','% Benson, Michael Patterson, and Christopher Darby. %');
fprintf(fid,'%s\n','%------------------------------------------------------------------%');
fprintf(fid,'%s\n','% License for GPOPS Software (Based on the Simple Public License) %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% Preamble %');
fprintf(fid,'%s\n','% This GPOPS License is based on the Simple Public License. In %');
fprintf(fid,'%s\n','% the same spirit as the Simple Public License, the language %');
fprintf(fid,'%s\n','% implementation the GPOPS License is similar to that of GPL 2.0. %');
fprintf(fid,'%s\n','% The words are different, but the goal is the same - to guarantee %');
fprintf(fid,'%s\n','% for all users the freedom to share and change software. If %');
fprintf(fid,'%s\n','% anyone wonders about the meaning of the GPOPS License, they %');
fprintf(fid,'%s\n','% should interpret it as consistent with GPL 2.0. %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% GPOPS License %');
fprintf(fid,'%s\n','% The GPOPS License applies to the software"s source and object %');
fprintf(fid,'%s\n','% code and comes with any rights that I have in it (other than %');
fprintf(fid,'%s\n','% trademarks). You agree to the GPOPS License SimPL by copying, %');
fprintf(fid,'%s\n','% distributing, or making a derivative work of the software. %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% You get the royalty free right to: %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% * Use the software for any purpose; %');
fprintf(fid,'%s\n','% * Make derivative works of it (this is called a %');
fprintf(fid,'%s\n','% "Derived Work"); %');
fprintf(fid,'%s\n','% * Copy and distribute it and any Derived Work. %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% If you distribute the software or a Derived Work, you must give %');
fprintf(fid,'%s\n','% back to the community by: %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% * Prominently noting the date of any changes you make; %');
fprintf(fid,'%s\n','% * Leaving other people"s copyright notices, warranty %');
fprintf(fid,'%s\n','% disclaimers, and license terms in place; %');
fprintf(fid,'%s\n','% * Providing the source code, build scripts, installation %');
fprintf(fid,'%s\n','% scripts, and interface definitions in a form that is easy %');
fprintf(fid,'%s\n','% to get and best to modify; %');
fprintf(fid,'%s\n','% * Licensing it to everyone under SimPL, or substantially %');
fprintf(fid,'%s\n','% similar terms (such as GPL 2.0), without adding further %');
fprintf(fid,'%s\n','% restrictions to the rights provided; %');
fprintf(fid,'%s\n','% * Conspicuously announcing that it is available under %');
fprintf(fid,'%s\n','% that license. %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% There are some things that you must shoulder: %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% * You get NO WARRANTIES. None of any kind; %');
fprintf(fid,'%s\n','% * If the software damages you in any way, you may only %');
fprintf(fid,'%s\n','% recover direct damages up to the amount you paid for it %');
fprintf(fid,'%s\n','% (that is zero if you did not pay anything). You may not %');
fprintf(fid,'%s\n','% recover any other damages, including those called %');
fprintf(fid,'%s\n','% "consequential damages." (The state or country where you %');
fprintf(fid,'%s\n','% live may not allow you to limit your liability in this %');
fprintf(fid,'%s\n','% way, so this may not apply to you); %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% The GPOPS License continues perpetually, except that your %');
fprintf(fid,'%s\n','% license rights end automatically if: %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% * You do not abide by the "give back to the community" terms %');
fprintf(fid,'%s\n','% (your licensees get to keep their rights if they abide); %');
fprintf(fid,'%s\n','% * Anyone prevents you from distributing the software under %');
fprintf(fid,'%s\n','% the terms of the SimPL. %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% THE GPOPS LICENSE IS NOT THE SIMPL, BUT IS BASED ON THE SIMPL %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% In addition, to the license given above, the following is a %');
fprintf(fid,'%s\n','% condition of using or modifying the GPOPS softare in any manner: %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% Any results presented using GPOPS (i.e., conference papers, %');
fprintf(fid,'%s\n','% journal papers, oral presentations, or any other media) will %');
fprintf(fid,'%s\n','% include explicit citations to the fact that GPOPS was used %');
fprintf(fid,'%s\n','% to generate the results. In particular, it is MANDATORY to %');
fprintf(fid,'%s\n','% cite the following references in any such media where %');
fprintf(fid,'%s\n','% results using GPOPS are presented: %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% [1] Benson, D. A., A Gauss Pseudospectral Transcription for %');
fprintf(fid,'%s\n','% Optimal Control, Ph.D. Thesis, Dept. of Aeronautics and %');
fprintf(fid,'%s\n','% Astronautics, MIT, November 2004. %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% [2] Huntington, G. T., Advancement and Analysis of a Gauss %');
fprintf(fid,'%s\n','% Pseudospectral Transcription for Optimal Control, Ph.D. %');
fprintf(fid,'%s\n','% Thesis, Dept. of Aeronautics and Astronautics, MIT, %');
fprintf(fid,'%s\n','% May 2007 %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% [3] Benson, D. A., Huntington, G. T., Thorvaldsen, T. P., %');
fprintf(fid,'%s\n','% and Rao, A. V., "Direct Trajectory Optimization and %');
fprintf(fid,'%s\n','% Costate Estimation via an Orthogonal Collocation Method, %');
fprintf(fid,'%s\n','% Journal of Guidance, Control, and Dynamics, Vol. 29, %');
fprintf(fid,'%s\n','% No. 6, November-December 2006, pp. 1435-1440. %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% [4] Huntington, G. T., Benson, D. A., and Rao, A. V., %');
fprintf(fid,'%s\n','% Design of Optimal Tetrahedral Spacecraft Formations, %');
fprintf(fid,'%s\n','% Journal of the Astronautical Sciences, Vol. 55, No. 2, %');
fprintf(fid,'%s\n','% April-June 2007, pp. 141-169. %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% [5] Huntington, G. T., Benson, D. A., How, J. P., %');
fprintf(fid,'%s\n','% Kanizay, N., Darby, C. L., and Rao, A. V., %');
fprintf(fid,'%s\n','% "Computation of Boundary Controls Using a Gauss %');
fprintf(fid,'%s\n','% Pseudospectral Method," 2007 Astrodynamics Specialist %');
fprintf(fid,'%s\n','% Conference, Mackinac Island, Michigan, August 2007. %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% [6] Huntington, G. T. and Rao, A. V., "Optimal %');
fprintf(fid,'%s\n','% Reconfiguration of Spacecraft Formations Using a Gauss %');
fprintf(fid,'%s\n','% Pseudospectral Method," Journal of Guidance, Control, %');
fprintf(fid,'%s\n','% & Dynamics, Vol. 31, No. 3, May-June 2008, pp. 689-698. %');
fprintf(fid,'%s\n','% %');
fprintf(fid,'%s\n','% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, %');
fprintf(fid,'%s\n','% EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES %');
fprintf(fid,'%s\n','% OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND %');
fprintf(fid,'%s\n','% NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT %');
fprintf(fid,'%s\n','% HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, %');
fprintf(fid,'%s\n','% WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING %');
fprintf(fid,'%s\n','% FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR %');
fprintf(fid,'%s\n','% OTHER DEALINGS IN THE SOFTWARE. %');
fprintf(fid,'%s\n','%------------------------------------------------------------------%');
fprintf(fid,'%s\n','%!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!%');
fprintf(fid,'%s\n','% THIS NOTICE MAY NOT BE DELETED UNDER CIRCUMSTANCES DURING ANY %');
fprintf(fid,'%s\n','% EXECUTION OF THE GPOPS SOFTWARE OR TRANSMITTAL OF GPOPS OR ANY %');
fprintf(fid,'%s\n','% DOCUMENTATION ASSOCIATED WITH GPOPS %');
fprintf(fid,'%s\n','%!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!%');
fprintf(fid,'%s\n','%------------------------------------------------------------------%');
fprintf(fid,'%s\n','%------------------------------------------------------------------%');
fprintf(fid,'\n');
for i=1:numphases
linestr = '-----------------------\n';
phasestr = strcat(['Information in Phase ',num2str(i),'\n']);
fprintf(fid,'\n');
fprintf(fid,linestr);
fprintf(fid,phasestr);
fprintf(fid,linestr);
fprintf(fid,'\n');
nstates = sizes(i,1);
ncontrols = sizes(i,2);
nparameters = sizes(i,3);
npaths = sizes(i,4);
nevents = sizes(i,5);
if nstates>0,
xlow1 = minima{i,2}(:,1);
xlow2 = minima{i,2}(:,2);
xlow3 = minima{i,2}(:,3);
xupp1 = maxima{i,2}(:,1);
xupp2 = maxima{i,2}(:,2);
xupp3 = maxima{i,2}(:,3);
for j=1:nstates
sxlow1 = num2str(xlow1(j));
sxupp1 = num2str(xupp1(j));
sxlow2 = num2str(xlow2(j));
sxupp2 = num2str(xupp2(j));
sxlow3 = num2str(xlow3(j));
sxupp3 = num2str(xupp3(j));
ee = ' <= ';
sname = strcat(['State ',num2str(j)]);
s1 = strcat(['\t Start of Phase: \t',sxlow1,ee,sname,ee,sxupp1,'\n']);
s2 = strcat(['\t During Phase: \t',sxlow2,ee,sname,ee,sxupp2,'\n']);
s3 = strcat(['\t Terminus of Phase: \t',sxlow3,ee,sname,ee,sxupp3,'\n']);
fprintf(fid,strcat(['State \t',num2str(j),'\n']));
fprintf(fid,s1);
fprintf(fid,s2);
fprintf(fid,s3);
end;
else
s1 = strcat(['No States in Phase ',num2str(i),'\n']);
fprintf(fid,s1);
end;
fprintf(fid,'\n');
if ncontrols>0,
ulow = minima{i,3};
uupp = maxima{i,3};
for j=1:ncontrols
sulow = num2str(ulow(j));
suupp = num2str(uupp(j));
ee = ' <= ';
sname = strcat(['Control ',num2str(j)]);
s1 = strcat(['\t During Phase: \t',sulow,ee,sname,ee,suupp,'\n']);
fprintf(fid,strcat(['Control \t',num2str(j),'\n']));
fprintf(fid,s1);
end;
else
s1 = strcat(['No Controls in Phase ',num2str(i),'\n']);
fprintf(fid,s1);
end;
fprintf(fid,'\n');
if nparameters>0,
plow = minima{i,4};
pupp = maxima{i,4};
for j=1:nparameters
splow = num2str(plow(j));
spupp = num2str(pupp(j));
ee = ' <= ';
sname = strcat(['Parameter ',num2str(j)]);
s1 = strcat(['\t During Phase: \t',splow,ee,sname,ee,spupp,'\n']);
fprintf(fid,strcat(['Parameter \t',num2str(j),'\n']));
fprintf(fid,s1);
end;
else
s1 = strcat(['No Parameters in Phase ',num2str(i),'\n']);
fprintf(fid,s1);
end
fprintf(fid,'\n');
if npaths>0,
pathlow = minima{i,5};
pathupp = maxima{i,5};
for j=1:npaths
spathlow = num2str(pathlow(j));
spathupp = num2str(pathupp(j));
ee = ' <= ';
sname = strcat(['Path ',num2str(j)]);
s1 = strcat(['\t During Phase: \t',spathlow,ee,sname,ee,spathupp,'\n']);
fprintf(fid,strcat(['Path Constraint \t',num2str(j),'\n']));
fprintf(fid,s1);
end;
else
s1 = strcat(['No Path Constraints in Phase ',num2str(i),'\n']);
fprintf(fid,s1);
end
fprintf(fid,'\n');
if nevents>0,
eventlow = minima{i,6};
eventupp = maxima{i,6};
for j=1:nevents
seventlow = num2str(eventlow(j));
seventupp = num2str(eventupp(j));
ee = ' <= ';
sname = strcat(['Event ',num2str(j)]);
s1 = strcat(['\t\t\t\t',seventlow,ee,sname,ee,seventupp,'\n']);
fprintf(fid,strcat(['Event Constraint \t',num2str(j),'\n']));
fprintf(fid,s1);
end;
else
s1 = strcat(['No Event Constraints in Phase ',num2str(i),'\n']);
fprintf(fid,s1);
end
fprintf(fid,'\n');
if ~isempty(minima{i,7})
durationlow = minima{i,7};
durationupp = maxima{i,7};
sdurationlow = num2str(durationlow);
sdurationupp = num2str(durationupp);
ee = ' <= ';
s1 = strcat(['Phase Duration: ',sdurationlow,ee,'duration',ee,sdurationupp,'\n']);
fprintf(fid,s1);
else
s1 = strcat(['No Limits on Phase Duration in Phase ',num2str(i),'\n']);
fprintf(fid,s1);
end
fprintf(fid,'\n');
end;
fclose(fid);
