simple_ocp.cpp

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#include <acado_toolkit.hpp>                    // Include the ACADO toolkit
#include <acado/utils/matlab_acado_utils.hpp>   // Include specific Matlab utils

USING_NAMESPACE_ACADO                           // Open the namespace

void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )  // Start the MEX function. Do NOT change the header of this function.
 { 
    clearAllStaticCounters( );                  // Clear software counters
 
    
    
    DifferentialState        s,v,m      ;     // the differential states
    Control                  u          ;     // the control input u
    Parameter                T          ;     // the time horizon T
    DifferentialEquation     f( 0.0, T );     // the differential equation

//  -------------------------------------
    OCP ocp( 0.0, T );                        // time horizon of the OCP: [0,T]
    ocp.minimizeMayerTerm( T );               // the time T should be optimized

    f << dot(s) == v;                         // an implementation
    f << dot(v) == (u-0.2*v*v)/m;             // of the model equations
    f << dot(m) == -0.01*u*u;                 // for the rocket.

    ocp.subjectTo( f                   );     // minimize T s.t. the model,
    ocp.subjectTo( AT_START, s ==  0.0 );     // the initial values for s,
    ocp.subjectTo( AT_START, v ==  0.0 );     // v,
    ocp.subjectTo( AT_START, m ==  1.0 );     // and m,

    ocp.subjectTo( AT_END  , s == 10.0 );     // the terminal constraints for s
    ocp.subjectTo( AT_END  , v ==  0.0 );     // and v,

    ocp.subjectTo( -0.1 <= v <=  1.7   );     // as well as the bounds on v
    ocp.subjectTo( -1.1 <= u <=  1.1   );     // the control input u,
    ocp.subjectTo(  5.0 <= T <= 15.0   );     // and the time horizon T.
//  -------------------------------------
    
    OptimizationAlgorithm algorithm(ocp);     // the optimization algorithm
    algorithm.solve();                        // solves the problem.

    
    // ...AND PLOT THE RESULTS
    // ----------------------------------------------------------
        VariablesGrid states_out;
        algorithm.getDifferentialStates ( states_out );
    acadoPlot(states_out);
    
        VariablesGrid controls_out;
        algorithm.getControls ( controls_out );
    acadoPlot(controls_out);

          
    clearAllStaticCounters( );                  // Clear software counters
}