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update test for travis
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@AtsushiSakai
AtsushiSakai committed Feb 15, 2017
1 parent 143b76a commit 2d996c1
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Showing 2 changed files with 100 additions and 92 deletions.
192 changes: 100 additions & 92 deletions mpc_modeling/mpc_modeling.py
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Original file line number Diff line number Diff line change
Expand Up @@ -260,26 +260,27 @@ def test1():
rx2 = np.array(x[1, :]).flatten()
ru = np.array(u[0, :]).flatten()

flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)
if DEBUG_:
flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)

x, u = opt_mpc_with_input_const(A, B, N, Q, R, P, x0)
x1 = np.array(x[:, 0]).flatten()
x2 = np.array(x[:, 1]).flatten()
u = np.array(u).flatten()

# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

if DEBUG_:
# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

plt.show()

test_output_check(rx1, rx2, ru, x1, x2, u)
Expand Down Expand Up @@ -307,26 +308,27 @@ def test2():
rx2 = np.array(x[1, :]).flatten()
ru = np.array(u[0, :]).flatten()

flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)
if DEBUG_:
flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)

x, u = opt_mpc_with_input_const(A, B, N, Q, R, P, x0, umax=umax, umin=umin)
x1 = np.array(x[:, 0]).flatten()
x2 = np.array(x[:, 1]).flatten()
u = np.array(u).flatten()

# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

if DEBUG_:
# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

plt.show()

test_output_check(rx1, rx2, ru, x1, x2, u)
Expand All @@ -352,26 +354,27 @@ def test3():
rx2 = np.array(x[1, :]).flatten()
ru = np.array(u[0, :]).flatten()

flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)
if DEBUG_:
flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)

x, u = opt_mpc_with_state_constr(A, B, N, Q, R, P, x0, umax=umax, umin=umin)
x1 = np.array(x[0, :]).flatten()
x2 = np.array(x[1, :]).flatten()
u = np.array(u).flatten()

# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

if DEBUG_:
# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

plt.show()

test_output_check(rx1, rx2, ru, x1, x2, u)
Expand All @@ -396,24 +399,26 @@ def test4():
rx2 = np.array(x[1, :]).flatten()
ru = np.array(u[0, :]).flatten()

flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)
if DEBUG_:
flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)

x, u = opt_mpc_with_state_constr(A, B, N, Q, R, P, x0)
x1 = np.array(x[0, :]).flatten()
x2 = np.array(x[1, :]).flatten()
u = np.array(u).flatten()

# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)
if DEBUG_:
# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

test_output_check(rx1, rx2, ru, x1, x2, u)

Expand Down Expand Up @@ -441,30 +446,31 @@ def test5():
rx2 = np.array(x[1, :]).flatten()
ru = np.array(u[0, :]).flatten()

flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)
if DEBUG_:
flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)

x, u = opt_mpc_with_state_constr(A, B, N, Q, R, P, x0, umax=umax)
x1 = np.array(x[0, :]).flatten()
x2 = np.array(x[1, :]).flatten()
u = np.array(u).flatten()

# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

test_output_check(rx1, rx2, ru, x1, x2, u)

if DEBUG_:
# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

plt.show()

test_output_check(rx1, rx2, ru, x1, x2, u)


def test6():
print("start!!")
Expand Down Expand Up @@ -492,26 +498,27 @@ def test6():
rx2 = np.array(x[1, :]).flatten()
ru = np.array(u[0, :]).flatten()

flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)
if DEBUG_:
flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)

x, u = opt_mpc_with_state_constr(A, B, N, Q, R, P, x0, umax=umax, umin=umin, xmin=xmin, xmax=xmax)
x1 = np.array(x[0, :]).flatten()
x2 = np.array(x[1, :]).flatten()
u = np.array(u).flatten()

# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

if DEBUG_:
# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

plt.show()

test_output_check(rx1, rx2, ru, x1, x2, u)
Expand Down Expand Up @@ -545,12 +552,13 @@ def test7():
rx2 = np.array(x[1, :]).flatten()
ru = np.array(u[0, :]).flatten()

flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)
if DEBUG_:
flg, ax = plt.subplots(1)
plt.plot(rx1, label="x1")
plt.plot(rx2, label="x2")
plt.plot(ru, label="u")
plt.legend()
plt.grid(True)

# x, u = opt_mpc_with_state_constr(A, B, N, Q, R, P, x0, umax=umax, umin=umin, xmin=xmin, xmax=xmax)
x, u = opt_mpc_with_state_constr(A, B, N, Q, R, P, x0, umax=umax, umin=umin)
Expand All @@ -559,14 +567,14 @@ def test7():
x2 = np.array(x[1, :]).flatten()
u = np.array(u).flatten()

# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

if DEBUG_:
# flg, ax = plt.subplots(1)
plt.plot(x1, '*r', label="x1")
plt.plot(x2, '*b', label="x2")
plt.plot(u, '*k', label="u")
plt.legend()
plt.grid(True)

plt.show()

test_output_check(rx1, rx2, ru, x1, x2, u)
Expand Down
Empty file added mpc_tracking/__init__.py
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