make sure lqr examples can run even if sedumi is not installed.

Raptura · Jan 28, 2014 · 60f82da · 60f82da
1 parent e017dce
commit 60f82da
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Showing 2 changed files with 71 additions and 56 deletions.
diff --git a/examples/CartPole/runLQR.m b/examples/CartPole/runLQR.m
@@ -3,36 +3,43 @@
 d = CartPolePlant;
 d = setInputLimits(d,-inf,inf);
 v = CartPoleVisualizer(d);
-[c,V] = balanceLQR(d);
 
-sys = feedback(d,c); 
-
-x0 = [0;pi;0;0];
-%for i=1:5
-%  xtraj=simulate(sys,[0 4],x0+.2*randn(4,1));
-%  v.playback(xtraj);
-%end
-
-V = V.inFrame(d.getStateFrame);
-
-figure(1); plotFunnel(V,struct('plotdims',[2 4],'inclusion','projection')); 
-xlabel('$\theta$','interpreter','latex');
-ylabel('$\dot\theta$','interpreter','latex');
-
-%  xa = [.02178;2.437;-.4347;3.091];
-%  keyboard;
-
-n=5;
-y=getLevelSet(V,[],struct('num_samples',n));
-for i=1:n
-  xtraj=simulate(sys,[0 4],.01*x0 + .99*y(:,i));
-  figure(1); fnplt(xtraj,[2 4]);
-  figure(25);
-  v.playback(xtraj);
-  if (V.eval(4,xtraj.eval(4))>V.eval(0,xtraj.eval(0)))
-    xtraj.eval(4)-x0
-    error('simulation appears to be going uphill on the Lyapunov function');
+if checkDependency('sedumi')
+  [c,V] = balanceLQR(d);
+  sys = feedback(d,c);
+  x0 = [0;pi;0;0];
+
+  V = V.inFrame(d.getStateFrame);
+
+  figure(1); plotFunnel(V,struct('plotdims',[2 4],'inclusion','projection'));
+  xlabel('$\theta$','interpreter','latex');
+  ylabel('$\dot\theta$','interpreter','latex');
+
+  %  xa = [.02178;2.437;-.4347;3.091];
+  %  keyboard;
+
+  n=5;
+  y=getLevelSet(V,[],struct('num_samples',n));
+  for i=1:n
+    xtraj=simulate(sys,[0 4],.01*x0 + .99*y(:,i));
+    figure(1); fnplt(xtraj,[2 4]);
+    figure(25);
+    v.playback(xtraj);
+    if (V.eval(4,xtraj.eval(4))>V.eval(0,xtraj.eval(0)))
+      xtraj.eval(4)-x0
+      error('simulation appears to be going uphill on the Lyapunov function');
+    end
+  end
+else
+  c = balanceLQR(d);
+  sys = feedback(d,c);
+  x0 = [0;pi;0;0];
+
+  for i=1:5
+    xtraj=simulate(sys,[0 4],x0+.2*randn(4,1));
+    v.playback(xtraj);
   end
 end
 
+
 end
diff --git a/examples/Quadrotor2D/runLQR.m b/examples/Quadrotor2D/runLQR.m
@@ -3,35 +3,43 @@
 p = PlanarQuadPlant;
 v = PlanarQuadVisualizer(p);
 
-[c,V] = hoverLQR(p);
-
-sys = feedback(p,c);
-%for i=1:5
-%  xtraj = simulate(sys,[0 4]);
-%  v.playback(xtraj);
-%end
-%return;
-
-figure(1); plotFunnel(V,struct('plotdims',[3 6])); 
-xlabel('$\theta$','interpreter','latex');
-ylabel('$\dot\theta$','interpreter','latex');
-
-
-n=5;
-x0=zeros(6,1);
-y=getLevelSet(V,[],struct('num_samples',n));
-for i=1:n
-  xtraj=simulate(sys,[0 4],x0 + .99*y(:,i));
-  figure(1); fnplt(xtraj,[3 6]);
-  figure(25);
-  v.playback(xtraj);
+if checkDependency('sedumi')
+  [c,V] = hoverLQR(p);
+  sys = feedback(p,c);
+
+  figure(1); plotFunnel(V,struct('plotdims',[3 6]));
+  xlabel('$\theta$','interpreter','latex');
+  ylabel('$\dot\theta$','interpreter','latex');
+
 
-  ts = xtraj.getBreaks();Vs=zeros(1,length(ts));
-  for i=1:length(ts)
-    Vs(i) = V.eval(ts(i),xtraj.eval(ts(i)));
+  n=5;
+  x0=zeros(6,1);
+  y=getLevelSet(V,[],struct('num_samples',n));
+  for i=1:n
+    xtraj=simulate(sys,[0 4],x0 + .99*y(:,i));
+    figure(1); fnplt(xtraj,[3 6]);
+    figure(25);
+    v.playback(xtraj);
+
+    ts = xtraj.getBreaks();Vs=zeros(1,length(ts));
+    for i=1:length(ts)
+      Vs(i) = V.eval(ts(i),xtraj.eval(ts(i)));
+    end
+    if any(diff(Vs)>1e-4)
+      diff(Vs)
+      error('V(t,x) increased at some point in the trajectory from an initial condition in the verified ROA.');
+    end
   end
-  if any(diff(Vs)>1e-4)
-    diff(Vs)
-    error('V(t,x) increased at some point in the trajectory from an initial condition in the verified ROA.');
+
+else
+  c = hoverLQR(p);
+  sys = feedback(p,c);
+
+  for i=1:5
+    xtraj = simulate(sys,[0 4]);
+    v.playback(xtraj);
   end
+
 end
+
+