1 |
|
|
#include <sys/time.h> |
2 |
|
|
#include <time.h> |
3 |
|
|
|
4 |
|
|
#include <ddp-actuator-solver/ddpsolver.hh> |
5 |
|
|
#include <fstream> |
6 |
|
|
#include <iostream> |
7 |
|
|
|
8 |
|
|
#include "ddp-actuator-solver/romeo_actuator/costfunctionromeoactuator.hh" |
9 |
|
|
#include "ddp-actuator-solver/romeo_actuator/romeosimpleactuator.hh" |
10 |
|
|
|
11 |
|
|
using namespace std; |
12 |
|
|
using namespace Eigen; |
13 |
|
|
|
14 |
|
|
int main() { |
15 |
|
|
cout << endl; |
16 |
|
|
struct timeval tbegin, tend; |
17 |
|
|
double texec = 0.0; |
18 |
|
|
DDPSolver<double, 4, 1>::stateVec_t xinit, xDes; |
19 |
|
|
|
20 |
|
|
xinit << 0.0, 0.0, 0.0, 0.0; |
21 |
|
|
xDes << 1.0, 0.0, 0.0, 0.0; |
22 |
|
|
|
23 |
|
|
unsigned int T = 100; |
24 |
|
|
unsigned int M = 3000; |
25 |
|
|
double dt = 1e-3; |
26 |
|
|
unsigned int iterMax = 100; |
27 |
|
|
double stopCrit = 0.01; |
28 |
|
|
DDPSolver<double, 4, 1>::stateVecTab_t xList; |
29 |
|
|
DDPSolver<double, 4, 1>::commandVecTab_t uList; |
30 |
|
|
DDPSolver<double, 4, 1>::traj lastTraj; |
31 |
|
|
|
32 |
|
|
srand(static_cast<unsigned int>(time(NULL))); |
33 |
|
|
|
34 |
|
|
RomeoSimpleActuator romeoActuatorModel(dt); |
35 |
|
|
RomeoSimpleActuator romeoNoisyModel(dt, 1); |
36 |
|
|
CostFunctionRomeoActuator costRomeoActuator; |
37 |
|
|
DDPSolver<double, 4, 1> testSolverRomeoActuator( |
38 |
|
|
romeoActuatorModel, costRomeoActuator, DISABLE_FULLDDP, DISABLE_QPBOX); |
39 |
|
|
|
40 |
|
|
ofstream fichier("resultsMPC.csv", ios::out | ios::trunc); |
41 |
|
|
if (!fichier) { |
42 |
|
|
cerr << "erreur fichier ! " << endl; |
43 |
|
|
return 1; |
44 |
|
|
} |
45 |
|
|
fichier << T << "," << M << endl; |
46 |
|
|
fichier << "tau,tauDot,q,qDot,u" << endl; |
47 |
|
|
|
48 |
|
|
testSolverRomeoActuator.FirstInitSolver(xinit, xDes, T, dt, iterMax, |
49 |
|
|
stopCrit); |
50 |
|
|
|
51 |
|
|
gettimeofday(&tbegin, NULL); |
52 |
|
|
for (unsigned int i = 0; i < M; i++) { |
53 |
|
|
testSolverRomeoActuator.initSolver(xinit, xDes); |
54 |
|
|
testSolverRomeoActuator.solveTrajectory(); |
55 |
|
|
lastTraj = testSolverRomeoActuator.getLastSolvedTrajectory(); |
56 |
|
|
xList = lastTraj.xList; |
57 |
|
|
uList = lastTraj.uList; |
58 |
|
|
xinit = romeoNoisyModel.computeNextState(dt, xinit, uList[0]); |
59 |
|
|
|
60 |
|
|
for (unsigned int j = 0; j < T; j++) |
61 |
|
|
fichier << xList[j](0, 0) << "," << xList[j](1, 0) << "," |
62 |
|
|
<< xList[j](2, 0) << "," << xList[j](3, 0) << "," |
63 |
|
|
<< uList[j](0, 0) << endl; |
64 |
|
|
fichier << xList[T](0, 0) << "," << xList[T](1, 0) << "," << xList[T](2, 0) |
65 |
|
|
<< "," << xList[T](3, 0) << "," << 0.0 << endl; |
66 |
|
|
} |
67 |
|
|
gettimeofday(&tend, NULL); |
68 |
|
|
|
69 |
|
|
texec = ((double)(1000 * (tend.tv_sec - tbegin.tv_sec) + |
70 |
|
|
((tend.tv_usec - tbegin.tv_usec) / 1000))) / |
71 |
|
|
1000.; |
72 |
|
|
texec = (double)(tend.tv_usec - tbegin.tv_usec); |
73 |
|
|
|
74 |
|
|
cout << "temps d'execution total du solveur "; |
75 |
|
|
cout << texec / 1000000.0 << endl; |
76 |
|
|
cout << "temps d'execution par pas de MPC "; |
77 |
|
|
cout << texec / (T * 1000000) << endl; |
78 |
|
|
|
79 |
|
|
fichier.close(); |
80 |
|
|
|
81 |
|
|
return 0; |
82 |
|
|
} |