mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-08-24 01:33:50 +08:00
George Hotz
158 lines
3.2 KiB
C++
158 lines
3.2 KiB
C++
/*
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* This file is part of ACADO Toolkit.
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*
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* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
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* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
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* Milan Vukov, Rien Quirynen, KU Leuven.
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* Developed within the Optimization in Engineering Center (OPTEC)
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* under supervision of Moritz Diehl. All rights reserved.
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*
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* ACADO Toolkit is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* ACADO Toolkit is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with ACADO Toolkit; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/acado/utils/matlab_acado_utils.hpp
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* \author Hans Joachim Ferreau, Boris Houska
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* \date 17.08.2008
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*
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* This file declares several global utility functions that
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* are needed in the MATLAB interfaces. Please never use
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* this file in stand-alone C/C++ code.
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*
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*/
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#ifndef ACADO_TOOLKIT_MATLAB_UTILS_HPP
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#define ACADO_TOOLKIT_MATLAB_UTILS_HPP
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#include <math.h>
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#include <mex.h>
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#include <acado/utils/acado_namespace_macros.hpp>
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BEGIN_NAMESPACE_ACADO
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int isScalar( const mxArray* const M )
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{
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if ( ( mxGetM( M ) != 1 ) || ( mxGetN( M ) != 1 ) )
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return 0;
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else
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return 1;
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}
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int isFunctionHandle( const mxArray* const M )
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{
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if ( M == NULL )
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return 0;
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if ( mxIsCell(M) )
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return 0;
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if ( mxIsChar(M) )
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return 0;
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if ( mxIsComplex(M) )
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return 0;
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if ( mxIsDouble(M) )
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return 0;
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if ( mxIsEmpty(M) )
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return 0;
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if ( mxIsInt8(M) )
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return 0;
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if ( mxIsInt16(M) )
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return 0;
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if ( mxIsInt32(M) )
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return 0;
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if ( mxIsLogical(M) )
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return 0;
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if ( mxIsLogicalScalar(M) )
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return 0;
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if ( mxIsLogicalScalarTrue(M) )
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return 0;
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if ( mxIsNumeric(M) )
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return 0;
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if ( mxIsSingle(M) )
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return 0;
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if ( mxIsSparse(M) )
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return 0;
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if ( mxIsStruct(M) )
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return 0;
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if ( mxIsUint8(M) )
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return 0;
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if ( mxIsUint16(M) )
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return 0;
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if ( mxIsUint32(M) )
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return 0;
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// assume to be a function handle iff it is nothing else
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return 1;
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}
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void acadoPlot(VariablesGrid grid){
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mxArray *XTrajectory = NULL;
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double *xTrajectory = NULL;
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XTrajectory = mxCreateDoubleMatrix( grid.getNumPoints(),1+grid.getNumValues(),mxREAL );
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xTrajectory = mxGetPr( XTrajectory );
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for( int i=0; i<grid.getNumPoints(); ++i ){
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xTrajectory[0*grid.getNumPoints() + i] = grid.getTime(i);
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for( int j=0; j<grid.getNumValues(); ++j ){
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xTrajectory[(1+j)*grid.getNumPoints() + i] = grid(i, j);
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}
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}
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mxArray* plotArguments[] = { XTrajectory };
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mexCallMATLAB( 0,0,1,plotArguments,"acadoPlot" );
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}
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CLOSE_NAMESPACE_ACADO
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#endif // ACADO_TOOLKIT_MATLAB_UTILS_HPP
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/*
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* end of file
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*/
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