How can I run the code in MATLAB

[Vonct]

Hi，I was trying to run the code in MATLAB (based on Ubuntu20.04 & WSL2)

But I met some errors that were about calling hpipm solver, but I don't know what to do. Hopefully, who run the code successfully can help me :)

What did I do

1. I install BLASFEO & HPIPM by following the instructions on https://github.com/giaf/hpipm
2. I also run source env.sh and then open matlab in the same terminal (I modified the env.sh file to set the PATH corret)
3. In addition, I add path to the matlab (using set path)

error I met when I run simulation.m

Warning: MATLAB has disabled some advanced graphics rendering features by switching to software OpenGL. For
more information, click here. 
CVXInterface.m            QuadProgInterface.m  augState.m          getMPC_vars.m     optimizer_mpcc.m
DiscretizedLinearizedModel.m  README.md        borderAdjustment.m  getMPCmatrices.m  simulation.m
ObstacelsState.m          SimTimeStep.m    carBox.m        getModelParams.m  splines
PlotLog.m             Tracks           env.sh          getNewBorders.m   unWrapX0.m
PlotPrediction.m          YalmipInterface.m    findTheta.m         hpipmInterface.m

Warning: The following error was caught while executing 'hpipm_ocp_qp_dim' class destructor:
Undefined function 'ocp_qp_dim_destroy' for input arguments of type 'double'.

Error in hpipm_ocp_qp_dim/delete (line 99)
            ocp_qp_dim_destroy(obj.C_dim);

Error in hpipm_ocp_qp_dim (line 45)
            if isa(in, 'char')

Error in hpipmInterface (line 39)
dims = hpipm_ocp_qp_dim(N);

Error in getMPCmatrices (line 81)
[X,U,dU,info] = hpipmInterface(stage,MPC_vars,ModelParams);

Error in optimizer_mpcc (line 29)
    [xpred, upred,dupred,info] = getMPCmatrices(TrackMPC.traj,MPC_vars,ModelParams,new_b,x,u,x0,u0);

Error in simulation (line 134)
    [x_up, u_up, b, exitflag,info] = optimizer_mpcc(TrackMPC,MPC_vars,ModelParams, n_cars, Y, x, u, x0,
    uprev); 
> In hpipm_ocp_qp_dim (line 45)
In hpipmInterface (line 39)
In getMPCmatrices (line 81)
In optimizer_mpcc (line 29)
In simulation (line 134) 
Unrecognized function or variable 'ocp_qp_dim_create'.

Error in hpipm_ocp_qp_dim (line 53)
                obj.C_dim = ocp_qp_dim_create(N);

Error in hpipmInterface (line 39)
dims = hpipm_ocp_qp_dim(N);

Error in getMPCmatrices (line 81)
[X,U,dU,info] = hpipmInterface(stage,MPC_vars,ModelParams);

Error in optimizer_mpcc (line 29)
    [xpred, upred,dupred,info] = getMPCmatrices(TrackMPC.traj,MPC_vars,ModelParams,new_b,x,u,x0,u0);

Error in simulation (line 134)
    [x_up, u_up, b, exitflag,info] = optimizer_mpcc(TrackMPC,MPC_vars,ModelParams, n_cars, Y, x, u, x0,
    uprev);

[alexliniger]

Sorry I have no longer access to Matlab, but maybe @KarasevPavel can help. He seems to have a working updated fork of the matlab code.

https://github.com/Bauman-Racing-Team/MPCC

[Vonct]

Thanks for your reply, I would ask if he know how to solver the problems!

[KarasevPavel]

Hello @Vonct!

Have You compiled the MEX interface of hpipm for the Matlab?

If not, You need to

1. navigate inside the hpipm/interfaces/matlab_octave folder

2. Open Matlab from this folder

3. Run env.m script inside Matlab from this folder to set some variables for hpipm. (Make sure, that BLASFEO path is correct inside the env.m script

4. Open compile_mex_all.m function from the same folder and run it in Matlab

After making these steps

1. close the Matlab

2. navigate in the MPCC/Matlab folder

3. source env.sh with your path for the HPIPM and BLASFEO

4. Open Matlab from this terminal and run simulation.m script.

Hope it will help You

[Vonct]

Hi @KarasevPavel ！ Thanks for your help, now I can run the code successfully :)

[alexliniger]

Thanks @KarasevPavel