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codegen friendly quadprog

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Kevin Dee
2026-01-28 11:17:53 -08:00
parent af50695610
commit 0be43fc2d4
1 changed files with 3 additions and 2 deletions
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5
@miSim/constrainMotion.m
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@@ -130,8 +130,9 @@ function [obj] = constrainMotion(obj)
assert(size(A,2) == size(H,1)) assert(size(A,2) == size(H,1))
assert(size(A,1) == size(b,1)) assert(size(A,1) == size(b,1))
assert(size(H,1) == length(f)) assert(size(H,1) == length(f))
opt = optimoptions("quadprog", "Display", "off"); opt = optimoptions("quadprog", "Display", "off", "Algorithm", "active-set", "UseCodegenSolver", true);
[vNew, ~, exitflag, m] = quadprog(sparse(H), double(f), A, b, [],[], [], [], [], opt); 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)); assert(exitflag == 1, sprintf("quadprog failure... %s%s", newline, m.message));
vNew = reshape(vNew, 3, size(obj.agents, 1))'; vNew = reshape(vNew, 3, size(obj.agents, 1))';