make_acado_solver

This code is a part of https://github.com/ethz-asl/mav_control_rw.git.

Author: Oskar Ljungqvist Date: 2017-11-23 Description:

This folder contains code to automatically generate an MPC controller using ACADO toolkit.

The file nmpc_solver_setup.cpp is what defines the MPC controller and it is this you should change in order to change the controller. Then build/install it using the explanation below. As an example it easy to change the prediction horizon if that is prefered.

Prerequests:

ACADO toolkit needs to be properly installed. Follow the instructions here: http://acado.github.io/install_linux.html

• In your ~/.bashrc add the line:source [pathToAcado]/ACADOtoolkit/build/acado_env.sh. Remember to source ~/.bashrc,

source ~/.bashrc

• Build/Install. From this folder do:

cd [yourDirectory]/make_acado_solver
mkdir build
cd build
cmake ..
make

• The executable file is now placed in the folder ../solver. Execute it by running the following commands:

cd ../solver
./nmpc_solver_setup

Then the controller is generated on solver/OCPexport folder.

• Copy your controller to your project, i.e.

cp -r ./OCPexport/ ../test/solver/

• There is an example of how to use the generated controller on test folder.

cd ../test
mkdir build
cd build
cmake ..
make
./main

中文简单讲解

• 下载安装acado, http://acado.github.io/install_linux.html.

• 增加环境变量，在 ~/.bashrc 增加一句 source [你的路径]/ACADOtoolkit/build/acado_env.sh 加完这一句后，记得要 source 一下

source ~/.bashrc

• 构建求解器，在nmpc_solver_setup.cpp上构建你的求解器

• 生成求解器

cd [你的路径]/make_acado_solver
mkdir -p build
cd build
cmake ..
make 
cd ../solver
./nmpc_solver_setup

然后会在solver/OCPexport文件里生成你的解析器了

• 将生成的控制器拷贝到测试文件夹test中

cp -r ./OCPexport/ ../test/solver/

• 编译运行例程

cd ../test
mkdir build
cd build
cmake ..
make
./main

每次改动求解器后，要记得删除./test/solver/OCPexport，将新的./solver/OCPexport文件夹替换原来的文件夹