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markusgftmarkusgft
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adding optcon examples to documentation
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‎ct/CMakeLists.txt

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cmake_minimum_required(VERSION 2.6)
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project(ct)
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find_package(catkin REQUIRED)
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catkin_metapackage()
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cmake_minimum_required(VERSION 3.3)
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project(ct VERSION 3.0.1 LANGUAGES CXX)
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#Make sure metapackage does not fail when building documentation
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add_custom_target(doc

‎ct_core/examples/CMakeLists.txt

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add_executable(ex_DampedOscillatorCustomController src/DampedOscillatorCustomController.cpp)
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target_link_libraries(ex_DampedOscillatorCustomController ct_core)
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list(APPEND core_ex_TARGETS ex_DampedOscillatorCustomController)
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add_executable(ex_DampedOscillator src/DampedOscillator.cpp)
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target_link_libraries(ex_DampedOscillator ct_core)
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list(APPEND core_ex_TARGETS ex_DampedOscillator)
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add_executable(ex_MasspointIntegration src/MasspointIntegration.cpp)
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target_link_libraries(ex_MasspointIntegration ct_core)
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list(APPEND core_ex_TARGETS ex_MasspointIntegration)
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add_executable(plotTest src/plot/plotTest.cpp)
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target_link_libraries(plotTest ct_core)
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target_link_libraries(plotTest ct_core
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list(APPEND core_ex_TARGETS plotTest)
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if(QWT_ENABLED)
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add_executable(plotQwtTest src/plot/plotQwtTest.cpp)
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target_link_libraries(plotQwtTest ct_core)
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list(APPEND core_ex_TARGETS plotQwtTest)
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endif()
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## install examples
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include(GNUInstallDirs)
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install(
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TARGETS ${core_ex_TARGETS}
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RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}/ct_core
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)
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‎ct_doc/doc/changelog.dox

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\page changelog Change Log
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@tableofcontents
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For a complete list of changes, we encourage you to check out our git repository at https://bitbucket.org/adrlab/ct
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For a complete list of changes, we encourage you to check out our git repository at https://github.com/ethz-adrl/control-toolbox
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\section cl_v30 Version 3.0
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\section cl_v301 Version 3.0.1
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- enabled compatibility with pure cmake (no catkin or ROS required anymore)
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- fixed bug in explicit template prespecification
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- fixed bug in exporting dependencies on external solvers
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- default linear solver for NLPs is now a non-commercial one
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\section cl_v300 Version 3.0.0
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- cleaned up the state-estimation headers and fixed bugs in disturbance estimator
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- renamed a costfunction-headers to avoid naming conflicts when unzipping on windows.
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- migrating to C++14 minimal requirement
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- migrated to github
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\section cl_v23 Version 2.3

‎ct_doc/doc/ct_doc.doxyfile

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@@ -763,7 +763,6 @@ INPUT = mainpage.dox \
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core_tutorial.dox \
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optcon_tutorial.dox \
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rbd_tutorial.dox \
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ik_tutorial.dox \
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performance.dox \
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application_examples.dox \
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changelog.dox \

‎ct_doc/doc/optcon_tutorial.dox

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@@ -9,6 +9,10 @@ a Nonlinear Optimal Controller (NLOC), a Nonlinear Model Predictive Controller (
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- \subpage optcon_tut_nloc_gen_constrained
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- \subpage optcon_tut_mpc
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- \subpage optcon_tut_dms
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- \subpage optcon_tut_nlp
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- \subpage optcon_tut_ekf
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- \subpage optcon_tut_disturbance_ekf
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\page optcon_tut_lqr LQR Control of a Damped Oscillator
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In this example, we will take an existing damped oscillator model, linearize the (already linear) dynamics around the steady state
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\note Make sure you have built the examples before trying to run it.
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\page optcon_tut_nloc NLOC of a Damped Oscillator
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\page optcon_tut_nloc Optimal control of a Damped Oscillator
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This example shows how to use the nonlinear optimal control solvers iLQR, unconstrained Gauss-Newton-Multiple-Shooting (GNMS),
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as well as the hybrid methods iLQR-GNMS(M), where M denotes the number of multiple-shooting intervals.
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\endcode
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\page optcon_tut_mpc NLOC-MPC of a Damped Oscillator
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\page optcon_tut_mpc Model Predictive Control for a Damped Oscillator
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In this example we show how to use a Nonlinear Optimal Control solver (here iLQG) in combination with the MPC-class for out-of-the box Model Predictive Control.
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\endcode
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\page optcon_tut_nlp Simple Examples for Nonlinear Programming
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\note these examples show how to set up a very simple nonlinear program and solve it using IPOPT.
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\include nlp/Nlp2D.cpp
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You can run this example with the following command
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\code{.sh}
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rosrun ct_optcon ex_Nlp_2D
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\endcode
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\include nlp/Nlp3D.cpp
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You can run this example with the following command
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\code{.sh}
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rosrun ct_optcon ex_Nlp_3D
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\endcode
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\page optcon_tut_ekf Extended Kalman Filtering
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This example demonstrates how to set up an Extended Kalman Filter. We simulate a system, add noise to the observations and then
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compute state estimates using the EKF class.
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\include KalmanFiltering.cpp
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You can run this example with the following command
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\code{.sh}
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rosrun ct_optcon ex_KalmanFiltering
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\endcode
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\page optcon_tut_disturbance_ekf Extended Kalman Filter as Disturbance Observer
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Here, we use an Extended Kalman Filter to observer an input-disturbance to a simple example system.
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We simulate a system, subjet to noise and a time-varying disturbance, add noise to the observations and then
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compute state and disturbance estimates using an EKF.
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\include KalmanDisturbanceFiltering.cpp
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You can run this example with the following command
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\code{.sh}
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rosrun ct_optcon ex_KalmanDisturbanceFiltering
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\endcode
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*/

‎ct_models/examples/CMakeLists.txt

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set(CT_MODELS_EXAMPLE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/exampleDir.h.in ${CMAKE_CURRENT_SOURCE_DIR}/exampleDir.h)
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set(CT_MODELS_EXAMPLE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/exampleDir.h.in ${CMAKE_CURRENT_SOURCE_DIR}/exampleDir.h)
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add_executable(ex_NLOC_MPC_invertedPendulum mpc/InvertedPendulum/NLOC_MPC.cpp)
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target_link_libraries(ex_NLOC_MPC_invertedPendulum ct_rbd)
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add_executable(ex_NLOC_MPC_invertedPendulum mpc/InvertedPendulum/NLOC_MPC.cpp)
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target_link_libraries(ex_NLOC_MPC_invertedPendulum ct_rbd)
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## install examples
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include(GNUInstallDirs)
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install(
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TARGETS ex_NLOC_MPC_invertedPendulum
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RUNTIME DESTINATION ${CMAKE_INSTALL_LIBDIR}/ct_models
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)

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