Code covered by the BSD License
- ...
Quarter-car new objective with design and state constraints
- calc_state_constraints(t,...
- calc_zdot(x, z, v)
- calculateControlBounds(nt...CalculateControlBounds compute two vectors for control upper and lower
- checkSolver(obj)checkSolver checks the solver option for appropriate settings.
- computeStateConstraints(o...computeStateConstraints computes the state constraints and Jacobian
- defectEquation(system, in...DEFECTEQUATION computes the discretized defect equation for an ODE system
- dtOutput(obj, n, x, optim...dtOutput saves the intermediate result of direct transcription
- evaluateStateConstraints(...evaluateStateConstraints computes inequality state constraints for the given
- fillInStateConstraint(G, ...fillInStateConstraint fill in the state constraint at a given offset
- hessian_x(Fun, x0, varargin)Finite difference evaluation of the Hessian of a function
- lookup_u(tu, t)
- myplot_results(platform)Generate plots from saved results
- myplot_signal(varargin)myplot_signal format the plot using a few standard formatting
- myplot_ylabel(s)
- perturb_x(fun, x0, varargin)Finite difference
- simple_sys()A very simple system for testing purposes
- test_simple_sys()Test various stuff in the solver library
- test_solver_misc()Test various stuff in the solver library
- DTSolverWithInputsDTSOLVERWITHINPUTS Direct transcription solver for systems with open
- DesignConstraint
- InitCondition
- ObjectiveAn objective function formulated for state trajectories
- OptionFactory
- SequentialSolverWithInputsSolve optimization for design variable xd
- StateConstraint
- SystemA System is essentially an ODE system, it must implements a derivative method
- demo_qcar_dt.m
- demo_qcar_sequential.m
- run_comparison.m
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| calc_zdot(x, z, v)
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function out = calc_zdot(x, z, v)
% Calculate dz/dt from z-t data.
n = length(x);
t = zeros(length(x),1);
zdot = zeros(length(x)-1, 1);
for i=2:n
dist = sqrt((z(i) - z(i-1))^2 + (x(i)-x(i-1))^2);
t(i) = t(i-1) + dist/v;
zdot(i-1) = (z(i) - z(i-1))/(t(i) - t(i-1));
end
out = struct('t', t, 'u', zdot);
end
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