kdee/miSim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

codegen friendly quadprog

Browse Source
This commit is contained in:
Kevin Dee
2026-01-28 11:17:53 -08:00
parent af50695610
commit 0be43fc2d4
1 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
@miSim/constrainMotion.m
View File

@@ -130,8 +130,9 @@ function [obj] = constrainMotion(obj)
assert(size(A,2) == size(H,1))
assert(size(A,1) == size(b,1))
assert(size(H,1) == length(f))
opt = optimoptions("quadprog", "Display", "off");
[vNew, ~, exitflag, m] = quadprog(sparse(H), double(f), A, b, [],[], [], [], [], opt);
opt = optimoptions("quadprog", "Display", "off", "Algorithm", "active-set", "UseCodegenSolver", true);
x0 = zeros(size(H, 1), 1);
[vNew, ~, exitflag, m] = quadprog(H, double(f), A, b, [], [], [], [], x0, opt);
assert(exitflag == 1, sprintf("quadprog failure... %s%s", newline, m.message));
vNew = reshape(vNew, 3, size(obj.agents, 1))';