How to set only some constraints #8
Description
When I use Python to generate code, I want to limit my state variables position, velocity, and acceleration, but I don’t want to limit the position. How should I set x_min and x_max when using the setup function? If I use -inf and inf directly, I will get an error: error: ‘inf’ was not declared in this scope; did you mean ‘ynf’?
my code:
import tinympc
import numpy as np
import math
from math import inf
T_ctrl = 0.05
Ts = 0.001
num_step = int(T_ctrl / Ts)
a_d_x_ts = math.exp(-8.9916 * Ts)
b_d_x_ts = (8.9426 / 8.9916) * (1 - math.exp(-8.9916 * Ts))
a_d_y_ts = math.exp(-8.8536 * Ts)
b_d_y_ts = (8.6355 / 8.8536) * (1 - math.exp(-8.8536 * Ts))
a_d_x = math.pow(a_d_x_ts, num_step)
a_d_y = math.pow(a_d_y_ts, num_step)
b_d_x = (math.pow(a_d_x_ts, num_step) - 1) / (a_d_x_ts - 1) * b_d_x_ts
b_d_y = (math.pow(a_d_y_ts, num_step) - 1) / (a_d_y_ts - 1) * b_d_y_ts
A = np.array([[1.0 , 0.0 , T_ctrl , 0.0 , 0.0 , 0.0 ],
[0.0 , 1.0 , 0.0 , T_ctrl , 0.0 , 0.0 ],
[0.0 , 0.0 , 1.0 , 0.0 , T_ctrl , 0.0 ],
[0.0 , 0.0 , 0.0 , 1.0 , 0.0 , T_ctrl],
[0.0 , 0.0 , 0.0 , 0.0 , a_d_x , 0.0 ],
[0.0 , 0.0 , 0.0 , 0.0 , 0.0 , a_d_y ]])
B = np.array([[0.0 , 0.0 ],
[0.0 , 0.0 ],
[0.0 , 0.0 ],
[0.0 , 0.0 ],
[b_d_x , 0.0 ],
[0.0 , b_d_y]])
Q = np.diag([100, 100, 50, 50, 20, 20])
R = np.diag([2, 2])
N = 10
prob = tinympc.TinyMPC()
x_min = np.array([-inf, -inf, -10, -10, -10, -10])
x_max = np.array([inf, inf, 10, 10, 10, 10])
u_min = np.array([-10, -10])
u_max = np.array([10, 10])
A = np.asfortranarray(A).astype(np.float64)
B = np.asfortranarray(B).astype(np.float64)
Q = np.asfortranarray(Q).astype(np.float64)
R = np.asfortranarray(R).astype(np.float64)
x_min = np.asfortranarray(x_min).astype(np.float64)
x_max = np.asfortranarray(x_max).astype(np.float64)
u_min = np.asfortranarray(u_min).astype(np.float64)
u_max = np.asfortranarray(u_max).astype(np.float64)
prob.setup(A, B, Q, R, N, rho=0.1, max_iter=1000, x_min = x_min,x_max = x_max,u_min=u_min, u_max=u_max,verbose=False)
prob.codegen("mpc_test", verbose=1)