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HybridRobotics / NMPC-DCLF-DCBF

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
MIT License
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Add dependencies #4

Closed yswhynot closed 2 years ago

yswhynot commented 2 years ago

Hi,

I find your work to be very interesting and I'd like to try run your code (ACC 2021 to be specific). However, it seems the optimization with the sdpsettings relies on ipopt solver. The documentation here says it's based on the OPTI Toolbox, which seems to only work on Windows.

Sorry that I'm not a very experienced Matlab user. May I know am I following the correct path to set up the dependency? Is Windows really required?

junzengx14 commented 2 years ago

Thank you for your interests, actually all my implementations are tested on ubuntu 18.04 system while not on windows. ipopt has mex file version, which can be found in the original archived repo link. Unzip that file and add it into your matlab address and it would solve your bugs.

Raise further questions or you cannot figure it out.

yswhynot commented 2 years ago

Thank you it works!

junzengx14 commented 2 years ago

Let me just open it and I can upload dependencies for later users.

junzengx14 commented 2 years ago

@yswhynot A new PR resolves this, thank you for pointing it out.