def test_throw_handler(self):
ps = copra.NewPreviewSystem()
ps.system(self.A, self.B, self.c, self.x0, self.nbStep)
controller = copra.LMPC(ps)
# Test trajectory constraint throws
with self.assertRaises(RuntimeError):
constr = copra.NewTrajectoryConstraint(MatrixXd.Identity(5, 5),
VectorXd.Ones(2))
controller.addConstraint(constr)
# Test control constraint throws
with self.assertRaises(RuntimeError):
constr = copra.NewControlConstraint(MatrixXd.Identity(5, 5),
VectorXd.Ones(2))
controller.addConstraint(constr)
# Test mixed constraint throws
with self.assertRaises(RuntimeError):
constr = copra.NewMixedConstraint(MatrixXd.Identity(5, 5),
MatrixXd.Identity(5, 5),
VectorXd.Ones(2))
controller.addConstraint(constr)
# Test trajectory bound constraint throws
with self.assertRaises(RuntimeError):
constr = copra.NewTrajectoryBoundConstraint(
VectorXd.Ones(3), VectorXd.Ones(2))
controller.addConstraint(constr)
# Test control bound constraint throws
with self.assertRaises(RuntimeError):
constr = copra.NewControlBoundConstraint(VectorXd.Ones(3),
VectorXd.Ones(2))
controller.addConstraint(constr)
def test_lmpc_ineq(self):
ps = copra.NewPreviewSystem()
ps.system(self.A, self.B, self.c, self.x0, self.nbStep)
controller = copra.LMPC(ps)
xCost = copra.NewTargetCost(self.M, -self.xd)
uCost = copra.NewControlCost(self.N, -self.ud)
trajConstr = copra.NewTrajectoryConstraint(self.Eineq, self.fineq)
contConstr = copra.NewControlConstraint(self.Gineq, self.hineq)
xCost.weights(self.wx)
uCost.weights(self.wu)
controller.addCost(xCost)
controller.addCost(uCost)
controller.addConstraint(trajConstr)
controller.addConstraint(contConstr)
self.assertTrue(controller.solve())
control = controller.control()
fullTraj = controller.trajectory()
fTLen = len(fullTraj) / 2
posTraj = [0.] * fTLen
velTraj = [0.] * fTLen
for i in xrange(fTLen):
posTraj[i] = fullTraj[2 * i]
velTraj[i] = fullTraj[2 * i + 1]
self.assertAlmostEqual(self.xd[1], velTraj[-1], places=3)
self.assertLessEqual(max(posTraj), self.x0[0])
self.assertLessEqual(control.maxCoeff(), self.hineq[0])
print "Test lmpc with inequalities"
print controller.solveTime(), "s"
print controller.solveAndBuildTime(), "s"
print
def test_preview_systeme_still_exist(self):
ps = copra.NewPreviewSystem()
ps.system(self.A, self.B, self.c, self.x0, self.nbStep)
controller = copra.LMPC(ps)
del ps
trajConstr = copra.NewTrajectoryConstraint(self.Eineq, self.fineq)
contConstr = copra.NewControlConstraint(self.Gineq, self.hineq)
targetCost = copra.NewTargetCost(self.M, -self.xd)
controlCost = copra.NewControlCost(self.N, -self.ud)
targetCost.weights(self.wx)
controlCost.weights(self.wu)
controller.addConstraint(trajConstr)
controller.addConstraint(contConstr)
controller.addCost(targetCost)
controller.addCost(controlCost)
self.assertTrue(controller.solve())
control = controller.control()
fullTraj = controller.trajectory()
fTLen = len(fullTraj) / 2
posTraj = [0.] * fTLen
velTraj = [0.] * fTLen
for i in xrange(fTLen):
posTraj[i] = fullTraj[2 * i]
velTraj[i] = fullTraj[2 * i + 1]
self.assertAlmostEqual(self.xd[1], velTraj[-1], places=3)
self.assertLessEqual(max(posTraj), self.x0[0])
self.assertLessEqual(control.maxCoeff(), self.hineq[0])
def test_constructors_initialisations(self):
ps = copra.NewPreviewSystem()
ps.system(self.A, self.B, self.c, self.x0, self.nbStep)
controller = copra.LMPC(ps)
copra.LMPC()
copra.LMPC(copra.SolverFlag.QuadProgDense)
copra.LMPC(ps, copra.SolverFlag.QuadProgDense)
controller.initializeController(ps)
def test_constraint_and_cost_deletion(self):
print "Testing 'test_constraint_deletion'."
print "In order to see the outputs, the copra must be installed under Debug mode."
ps = copra.NewPreviewSystem()
ps.system(self.A, self.B, self.c, self.x0, self.nbStep)
controller = copra.LMPC(ps)
trajConstr = copra.NewTrajectoryConstraint(self.Eineq, self.fineq)
contConstr = copra.NewControlConstraint(self.Gineq, self.hineq)
trajEqConstr = copra.NewTrajectoryConstraint(self.Eeq, self.feq, False)
contEqConstr = copra.NewControlConstraint(self.Geq, self.heq, False)
trajBdConstr = copra.NewTrajectoryBoundConstraint(
self.xLower, self.xUpper)
contBdConstr = copra.NewControlBoundConstraint(self.uLower,
self.uUpper)
targetCost = copra.NewTargetCost(self.M, -self.xd)
trajectoryCost = copra.NewTrajectoryCost(self.M, -self.xd)
controlCost = copra.NewControlCost(self.N, -self.ud)
M_mixed = MatrixXd.Ones(1, 2)
mixedCost = copra.NewMixedCost(M_mixed, self.N, -self.ud)
controller.addConstraint(trajConstr)
controller.addConstraint(contConstr)
controller.addConstraint(trajEqConstr)
controller.addConstraint(contEqConstr)
controller.addConstraint(trajBdConstr)
controller.addConstraint(contBdConstr)
controller.addCost(targetCost)
controller.addCost(trajectoryCost)
controller.addCost(controlCost)
controller.addCost(mixedCost)
del trajConstr
targetCost.weights(self.wx)
controlCost.weights(self.wu)
del trajEqConstr
del contEqConstr
del trajBdConstr
del contBdConstr
del trajectoryCost
del mixedCost
self.assertFalse(controller.solve())
self.assertTrue(controller.solve()) # Has kept the contConstr only
def test_lmpc_bound(self):
ps = copra.NewPreviewSystem()
ps.system(self.A, self.B, self.c, self.x0, self.nbStep)
controller = copra.LMPC(ps)
xCost = copra.NewTargetCost(self.M, -self.xd)
uCost = copra.NewControlCost(self.N, -self.ud)
trajConstr = copra.NewTrajectoryBoundConstraint(
self.xLower, self.xUpper)
contConstr = copra.NewControlBoundConstraint(self.uLower, self.uUpper)
xCost.weights(self.wx)
uCost.weights(self.wu)
controller.addCost(xCost)
controller.addCost(uCost)
controller.addConstraint(trajConstr)
controller.addConstraint(contConstr)
self.assertTrue(controller.solve())
control = controller.control()
fullTraj = controller.trajectory()
fTLen = len(fullTraj) / 2
posTraj = [0.] * fTLen
velTraj = [0.] * fTLen
for i in xrange(fTLen):
posTraj[i] = fullTraj[2 * i]
velTraj[i] = fullTraj[2 * i + 1]
self.assertAlmostEqual(self.xd[1], velTraj[-1], places=3)
self.assertLessEqual(max(posTraj), self.x0[0])
self.assertLessEqual(max(velTraj), self.xUpper[1] + 1e-6)
self.assertLessEqual(max(control), self.uUpper[0] + 1e-6)
print "Test lmpc with bounds"
print controller.solveTime(), "s"
print controller.solveAndBuildTime(), "s"
print
def test_dynamic_walk(self):
A = MatrixXd([[1, 0, 0, 0.11699999999999999, 0, 0],
[0, 1, 0, 0, 0.11699999999999999, 0],
[0, 0, 1, 0, 0, 0.11699999999999999], [0, 0, 0, 1, 0, 0],
[0, 0, 0, 0, 1, 0], [0, 0, 0, 0, 0, 1]])
B = MatrixXd([[0.006844499999999999, 0,
0], [0, 0.006844499999999999, 0],
[0, 0, 0.006844499999999999],
[0.11699999999999999, 0, 0], [0, 0.11699999999999999, 0],
[0, 0, 0.11699999999999999]])
c = VectorXd([0, 0, 0, 0, 0, 0])
x_init = VectorXd([
1.5842778860957882, 0.3422260214935311, 2.289067474385933, 0, 0, 0
])
x_goal = VectorXd([
1.627772868473883, 0.4156386515475985, 2.3984423755527136,
0.06745225960685897, 0.3882830795737303, 0.06845759848745198
])
nb_steps = 10
G = MatrixXd([
[
-1, 9.946646523934742, -4.870790074510924, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
-18.826459196882055, 3.4468275392859393, -1, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
-1.374181960437557, -8.028252906078723, -1, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
-9.936224732113594, 5.000580301294253, -1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
8.750597187695343, -4.7538557382857105, -1, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
18.65430148414319, 1, -5.084871935334947, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
2.1775137248880574e-15, -5.443784312220143e-16, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0
],
[
0, 0, 0, -1, 9.946646523934742, -4.870790074510924, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, -18.826459196882055, 3.4468275392859393, -1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, -1.374181960437557, -8.028252906078723, -1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, -9.936224732113594, 5.000580301294253, -1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 8.750597187695343, -4.7538557382857105, -1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 18.65430148414319, 1, -5.084871935334947, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 2.1775137248880574e-15, -5.443784312220143e-16, 1, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0
],
[
0, 0, 0, 0, 0, 0, -1, 9.946646523934742, -4.870790074510924, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, -18.826459196882055, 3.4468275392859393, -1,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, -1.374181960437557, -8.028252906078723, -1,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, -9.936224732113594, 5.000580301294253, -1, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 8.750597187695343, -4.7538557382857105, -1,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 18.65430148414319, 1, -5.084871935334947, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 2.1775137248880574e-15,
-5.443784312220143e-16, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 9.946646523934742,
-4.870790074510924, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, -18.826459196882055,
3.4468275392859393, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, -1.374181960437557,
-8.028252906078723, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, -9.936224732113594,
5.000580301294253, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 8.750597187695343,
-4.7538557382857105, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 18.65430148414319, 1,
-5.084871935334947, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 2.1775137248880574e-15,
-5.443784312220143e-16, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1, 9.946646523934742,
-4.870790074510924, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -18.826459196882055,
3.4468275392859393, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1.374181960437557,
-8.028252906078723, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -9.936224732113594,
5.000580301294253, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8.750597187695343,
-4.7538557382857105, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18.65430148414319, 1,
-5.084871935334947, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2.1775137248880574e-15,
-5.443784312220143e-16, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -1,
9.946646523934742, -4.870790074510924, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-18.826459196882055, 3.4468275392859393, -1, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-1.374181960437557, -8.028252906078723, -1, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-9.936224732113594, 5.000580301294253, -1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8.750597187695343,
-4.7538557382857105, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18.65430148414319,
1, -5.084871935334947, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
2.1775137248880574e-15, -5.443784312220143e-16, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
8.750597218241072, -4.753855754313641, -1, 0, 0, 0, 0, 0, 0, 0,
0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-1.3741819771739483, -8.028252929943818, -1, 0, 0, 0, 0, 0, 0,
0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-18.82645925631406, 3.4468275193254927, -1, 0, 0, 0, 0, 0, 0,
0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1.1824397341134247, 7.4638136184143935, -1, 0, 0, 0, 0, 0, 0,
0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
14.006645137157978, -2.2569159229140494, -1, 0, 0, 0, 0, 0, 0,
0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
2.1775137248880578e-15, -5.443784312220144e-16, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
8.750597218241072, -4.753855754313641, -1, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-1.3741819771739483, -8.028252929943818, -1, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-18.82645925631406, 3.4468275193254927, -1, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1.1824397341134247, 7.4638136184143935, -1, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
14.006645137157978, -2.2569159229140494, -1, 0, 0, 0, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
2.1775137248880578e-15, -5.443784312220144e-16, 1, 0, 0, 0, 0,
0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 8.750597218241072, -4.753855754313641, -1, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, -1.3741819771739483, -8.028252929943818, -1, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, -18.82645925631406, 3.4468275193254927, -1, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1.1824397341134247, 7.4638136184143935, -1, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 14.006645137157978, -2.2569159229140494, -1, 0, 0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 2.1775137248880578e-15, -5.443784312220144e-16, 1, 0,
0, 0
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 8.750597218241072, -4.753855754313641, -1
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, -1.3741819771739483, -8.028252929943818, -1
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, -18.82645925631406, 3.4468275193254927, -1
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1.1824397341134247, 7.4638136184143935, -1
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 14.006645137157978, -2.2569159229140494, -1
],
[
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 2.1775137248880578e-15,
-5.443784312220144e-16, 1
]
])
h = VectorXd([
47.76613348420254, 9.80665, 9.80665, 9.80665, 9.806649999999998,
49.86555936465245, 9.806649999999994, 47.76613348420254, 9.80665,
9.80665, 9.80665, 9.806649999999998, 49.86555936465245,
9.806649999999994, 47.76613348420254, 9.80665, 9.80665, 9.80665,
9.806649999999998, 49.86555936465245, 9.806649999999994,
47.76613348420254, 9.80665, 9.80665, 9.80665, 9.806649999999998,
49.86555936465245, 9.806649999999994, 47.76613348420254, 9.80665,
9.80665, 9.80665, 9.806649999999998, 49.86555936465245,
9.806649999999994, 47.76613348420254, 9.80665, 9.80665, 9.80665,
9.806649999999998, 49.86555936465245, 9.806649999999994,
9.806650000000007, 9.806650000000008, 9.80665, 9.806650000000001,
9.806650000000007, 9.806649999999996, 9.806650000000007,
9.806650000000008, 9.80665, 9.806650000000001, 9.806650000000007,
9.806649999999996, 9.806650000000007, 9.806650000000008, 9.80665,
9.806650000000001, 9.806650000000007, 9.806649999999996,
9.806650000000007, 9.806650000000008, 9.80665, 9.806650000000001,
9.806650000000007, 9.806649999999996
])
ps = copra.NewPreviewSystem()
ps.system(A, B, c, x_init, nb_steps)
controller = copra.LMPC(ps)
contConstr = copra.NewControlConstraint(G, h)
M_cost = Matrix6d.Identity
targetCost = copra.NewTargetCost(M_cost, -x_goal)
controller.addConstraint(contConstr)
controller.addCost(targetCost)
controller.solve()
print controller.solveTime(), "s"