Matlab examples: omit setting dimensions

examples/acados_matlab_octave/getting_started/extensive_example_ocp.m

@@ -123,8 +123,6 @@
     ocp_model.set('cost_W_e', W_e);
     ocp_model.set('cost_y_ref', yr);
     ocp_model.set('cost_y_ref_e', yr_e);
-    ocp_model.set('dim_ny', ny);
-    ocp_model.set('dim_ny_e', ny_e);
 else % external, auto
     ocp_model.set('cost_expr_ext_cost', model.expr_ext_cost);
     ocp_model.set('cost_expr_ext_cost_e', model.expr_ext_cost_e);
@@ -141,16 +139,8 @@
 
 %% acados ocp model
 ocp_model.set('name', model_name);
-% dims
 ocp_model.set('T', T);
-ocp_model.set('dim_nx', nx);
-ocp_model.set('dim_nu', nu);
-ocp_model.set('dim_nbx', nbx);
-ocp_model.set('dim_nbu', nbu);
-% ocp_model.set('dim_ng', ng); % for general linear constraints
-% ocp_model.set('dim_ng_e', ng_e);
-ocp_model.set('dim_nh', nh);
-ocp_model.set('dim_nh_e', nh_e);
+
 % symbolics
 ocp_model.set('sym_x', model.sym_x);
 if isfield(model, 'sym_u')

examples/acados_matlab_octave/getting_started/minimal_example_sim.m

@@ -64,8 +64,6 @@
 if isfield(model, 'sym_u')
     sim_model.set('sym_u', model.sym_u);
 end
-sim_model.set('dim_nx', nx);
-sim_model.set('dim_nu', nu);
 
 % explit integrator (erk) take explicit ODE expression
 if (strcmp(method, 'erk'))

examples/acados_matlab_octave/linear_mass_spring_model/example_closed_loop.m

@@ -101,16 +101,7 @@
 
 %% acados ocp model
 ocp_model = acados_ocp_model();
-% dims
 ocp_model.set('T', T);
-ocp_model.set('dim_nx', nx);
-ocp_model.set('dim_nu', nu);
-if (strcmp(ocp_cost_type, 'linear_ls') | strcmp(ocp_cost_type, 'nonlinear_ls'))
-	ocp_model.set('dim_ny', ny);
-	ocp_model.set('dim_ny_e', ny_e);
-end
-ocp_model.set('dim_nbx', nbx);
-ocp_model.set('dim_nbu', nbu);
 % symbolics
 ocp_model.set('sym_x', model.sym_x);
 if isfield(model, 'sym_u')
@@ -185,16 +176,13 @@
 % create ocp
 ocp = acados_ocp(ocp_model, ocp_opts);
 ocp
-ocp.C_ocp
-ocp.C_ocp_ext_fun
+% ocp.C_ocp
+% ocp.C_ocp_ext_fun
 
 
 
 %% acados sim model
 sim_model = acados_sim_model();
-% dims
-sim_model.set('dim_nx', nx);
-sim_model.set('dim_nu', nu);
 % symbolics
 sim_model.set('sym_x', model.sym_x);
 if isfield(model, 'sym_u')
@@ -282,7 +270,6 @@
 avg_time_solve = toc/n_sim
 
 
-
 % plot result
 figure()
 subplot(2, 1, 1)

examples/acados_matlab_octave/linear_mass_spring_model/example_ocp.m

@@ -148,27 +148,8 @@
 %% acados ocp model
 ocp_model = acados_ocp_model();
 ocp_model.set('name', model_name);
-
-% dims
 ocp_model.set('T', T);
-ocp_model.set('dim_nx', nx);
-ocp_model.set('dim_nu', nu);
-
 
-if (strcmp(cost_type, 'linear_ls')) | (strcmp(cost_type, 'nonlinear_ls'))
-	ocp_model.set('dim_ny', ny);
-	ocp_model.set('dim_ny_e', ny_e);
-end
-if (ng>0)
-	ocp_model.set('dim_ng', ng);
-	ocp_model.set('dim_ng_e', ng_e);
-elseif (nh>0)
-	ocp_model.set('dim_nh', nh);
-	ocp_model.set('dim_nh_e', nh_e);
-else
-	ocp_model.set('dim_nbx', nbx);
-	ocp_model.set('dim_nbu', nbu);
-end
 % symbolics
 ocp_model.set('sym_x', model.sym_x);
 if isfield(model, 'sym_u')
@@ -263,9 +244,7 @@
 	ocp_opts.set('sim_method_num_steps', sim_method_num_steps);
 end
 
-ocp_opts.opts_struct
-
-
+% ocp_opts.opts_struct
 
 %% acados ocp
 % create ocp
@@ -292,9 +271,6 @@
 %x0(1) = 1.5;
 %ocp.set('constr_x0', x0);
 
-
-%ocp.set('cost_y_ref', 1);
-
 % if not set, the trajectory is initialized with the previous solution
 
 

examples/acados_matlab_octave/linear_mass_spring_model/example_sim.m

@@ -75,8 +75,6 @@
 	if isfield(model, 'sym_u')
 		sim_model.set('sym_u', model.sym_u);
 	end
-	sim_model.set('dim_nx', model.nx);
-	sim_model.set('dim_nu', model.nu);
 else % irk irk_gnsf
 	sim_model.set('dyn_type', 'implicit');
 	sim_model.set('dyn_expr_f', model.expr_f_impl);
@@ -88,9 +86,6 @@
 %	if isfield(model, 'sym_z')
 %		sim_model.set('sym_z', model.sym_z);
 %	end
-	sim_model.set('dim_nx', model.nx);
-	sim_model.set('dim_nu', model.nu);
-%	sim_model.set('dim_nz', model.nz);
 end
 
 sim_model.model_struct

examples/acados_matlab_octave/masses_chain_model/example_closed_loop.m

@@ -34,16 +34,12 @@
 %% example of closed loop simulation
 clear all
 
-
-
 % check that env.sh has been run
 env_run = getenv('ENV_RUN');
 if (~strcmp(env_run, 'true'))
 	error('env.sh has not been sourced! Before executing this example, run: source env.sh');
 end
 
-
-
 %% handy arguments
 compile_interface = 'auto';
 codgen_model = 'true';
@@ -83,15 +79,13 @@
 ocp_cost_type = 'linear_ls';
 
 
-
 %% create model entries
 nfm = 4;    % number of free masses
 nm = nfm+1; % number of masses
 model = masses_chain_model(nfm);
 wall = -0.01;
 
 
-
 % dims
 T = 8.0; % horizon length time
 nx = model.nx; % 6*nfm
@@ -101,7 +95,6 @@
 nbx = nfm;
 nbu = nu;
 ng = 0;
-ng_e = 0;
 nh = 0;
 nh_e = 0;
 
@@ -125,25 +118,11 @@
 ubu =  1.0*ones(nbu, 1);
 
 
-
 %% acados ocp model
 ocp_model = acados_ocp_model();
 % dims
 ocp_model.set('T', T);
-ocp_model.set('dim_nx', nx);
-ocp_model.set('dim_nu', nu);
-ocp_model.set('dim_ny', ny);
-ocp_model.set('dim_ny_e', ny_e);
-if (ng>0)
-	ocp_model.set('dim_ng', ng);
-	ocp_model.set('dim_ng_e', ng_e);
-elseif (nh>0)
-	ocp_model.set('dim_nh', nh);
-	ocp_model.set('dim_nh_e', nh_e);
-else
-	ocp_model.set('dim_nbx', nbx);
-	ocp_model.set('dim_nbu', nbu);
-end
+
 % symbolics
 ocp_model.set('sym_x', model.sym_x);
 if isfield(model, 'sym_u')
@@ -227,24 +206,14 @@
 ocp_opts.set('sim_method_num_stages', ocp_sim_method_num_stages);
 ocp_opts.set('sim_method_num_steps', ocp_sim_method_num_steps);
 
-%ocp_opts.opts_struct
-
-
 
 %% acados ocp
 % create ocp
 ocp = acados_ocp(ocp_model, ocp_opts);
-%ocp
-%ocp.C_ocp
-%ocp.C_ocp_ext_fun
-
 
 
 %% acados sim model
 sim_model = acados_sim_model();
-% dims
-sim_model.set('dim_nx', nx);
-sim_model.set('dim_nu', nu);
 % symbolics
 sim_model.set('sym_x', model.sym_x);
 if isfield(model, 'sym_u')
@@ -263,8 +232,6 @@
 	sim_model.set('dyn_expr_f', model.expr_f_impl);
 end
 
-%sim_model.model_struct
-
 
 
 %% acados sim opts
@@ -276,10 +243,6 @@
 sim_opts.set('method', sim_method);
 sim_opts.set('sens_forw', sim_sens_forw);
 
-%sim_opts.opts_struct
-
-
-
 %% acados sim
 % create sim
 sim = acados_sim(sim_model, sim_opts);

examples/acados_matlab_octave/masses_chain_model/example_ocp.m

@@ -125,23 +125,8 @@
 %% acados ocp model
 ocp_model = acados_ocp_model();
 ocp_model.set('name', model_name);
-% dims
 ocp_model.set('T', T);
-ocp_model.set('dim_nx', nx);
-ocp_model.set('dim_nu', nu);
-ocp_model.set('dim_ny', ny);
-ocp_model.set('dim_ny_e', ny_e);
-if (ng>0)
-	ocp_model.set('dim_ng', ng);
-	ocp_model.set('dim_ng_e', ng_e);
-elseif (nh>0)
-	ocp_model.set('dim_nh', nh);
-	ocp_model.set('dim_nh_e', nh_e);
-else
-	ocp_model.set('dim_nbx', nbx);
-	ocp_model.set('dim_nbu', nbu);
-end
-ocp_model.set('dim_np', np);
+
 % symbolics
 ocp_model.set('sym_x', model.sym_x);
 if isfield(model, 'sym_u')

examples/acados_matlab_octave/pendulum_dae/example_closed_loop.m

@@ -43,8 +43,6 @@
 %% options
 compile_interface = 'auto'; % true, false
 codgen_model = 'true'; % true, false
-% compile_interface = 'auto'; % true, false
-% codgen_model = 'false'; % true, false
 % simulation
 gnsf_detect_struct = 'true'; % true, false
 sim_method = 'irk'; % irk, irk_gnsf, [erk]
@@ -103,11 +101,9 @@
 ny_e = nx; % number of outputs in mayer term
 
 ng = 0; % number of general linear constraints intermediate stages
-ng_e = 0; % number of general linear constraints final stage
 nbx = 0; % number of bounds on state x
 
 nbu = nu; % number of bounds on controls u
-nh_e = 0;
 
 % cost
 % linear least square cost: y^T * W * y, where y = Vx * x + Vu * u - y_ref
@@ -145,21 +141,6 @@
     nh = 0;
 end
 
-% dims
-ocp_model.set('dim_nx', nx);
-ocp_model.set('dim_nu', nu);
-ocp_model.set('dim_nz', nz);
-if (strcmp(cost_type, 'linear_ls'))
-	ocp_model.set('dim_ny', ny);
-	ocp_model.set('dim_ny_e', ny_e);
-end
-ocp_model.set('dim_nbx', nbx);
-ocp_model.set('dim_nbu', nbu);
-ocp_model.set('dim_ng', ng);
-ocp_model.set('dim_ng_e', ng_e);
-ocp_model.set('dim_nh', nh);
-ocp_model.set('dim_nh_e', nh_e);
-
 % symbolics
 ocp_model.set('sym_x', model.sym_x);
 if isfield(model, 'sym_u')
@@ -261,8 +242,6 @@
 if isfield(model, 'sym_p')
     sim_model.set('sym_p', model.sym_p);
 end
-sim_model.set('dim_nx', nx);
-sim_model.set('dim_nu', nu);
 
 % Note: DAEs can only be used with implicit integrator
 sim_model.set('dyn_type', 'implicit');
@@ -271,7 +250,6 @@
 if isfield(model, 'sym_z')
 	sim_model.set('sym_z', model.sym_z);
 end
-sim_model.set('dim_nz', nz);
 
 %% acados sim opts
 sim_opts = acados_sim_opts();

examples/acados_matlab_octave/pendulum_dae/example_sim.m

@@ -88,9 +88,6 @@
 if isfield(model, 'sym_p')
     sim_model.set('sym_p', model.sym_p);
 end
-sim_model.set('dim_nx', nx);
-sim_model.set('dim_nu', nu);
-
 
 % Note: DAEs can only be used with implicit integrator
 sim_model.set('dyn_type', 'implicit');
@@ -99,7 +96,6 @@
 if isfield(model, 'sym_z')
 	sim_model.set('sym_z', model.sym_z);
 end
-sim_model.set('dim_nz', nz);
 
 %% acados sim opts
 sim_opts = acados_sim_opts();

examples/acados_matlab_octave/pendulum_on_cart_model/example_closed_loop.m

@@ -138,20 +138,6 @@
 ocp_model.set('name', model_name);
 ocp_model.set('T', T);
 
-% dims
-ocp_model.set('dim_nx', nx);
-ocp_model.set('dim_nu', nu);
-if (strcmp(cost_type, 'linear_ls'))
-	ocp_model.set('dim_ny', ny);
-	ocp_model.set('dim_ny_e', ny_e);
-end
-ocp_model.set('dim_nbx', nbx);
-ocp_model.set('dim_nbu', nbu);
-ocp_model.set('dim_ng', ng);
-ocp_model.set('dim_ng_e', ng_e);
-ocp_model.set('dim_nh', nh);
-ocp_model.set('dim_nh_e', nh_e);
-
 % symbolics
 ocp_model.set('sym_x', model.sym_x);
 if isfield(model, 'sym_u')
@@ -252,9 +238,6 @@
 
 %% acados sim model
 sim_model = acados_sim_model();
-% dims
-sim_model.set('dim_nx', nx);
-sim_model.set('dim_nu', nu);
 % symbolics
 sim_model.set('sym_x', model.sym_x);
 if isfield(model, 'sym_u')