File system

• doc
• model
• report: Texfile of final report
• schematics
• src
  • cvxgen: Codes for cvxgen
  • data: experiment data record
  • examples: Source codes for project.
  • saved_runs: previous version of source codes
  • simulation: matlab simulation for MPC
  • matlab's .m file: Data process to generate figures

Code

CVXGEN

The CVXGEN is used to solve the optimization problem of MPC. If a new CVXGEN code is generated, you should use make to generate new .o files in the cvxgen folder. Then, copy the following folder to the source file of libfranka:

• util.o, util. c
• solver.c, solver.h, solver.o
• ldl.c, ldl.o
• matrix_support.c, matrix_support.o

Notice: Do rewrite the solver.h for your own program! If you are programming with C++, the function in solver.c should be extended to C++ with extern "C".

libfranka

Libfranka is already installed on the PC of robot lab connected to Panda.

Codes

All the source codes in src/examples should be copied to libfranka/examples before running the program. The final program is 0_MPC_velocity_openloop.cpp. If any new programs are added to be compiled, you need to modify the CMakeLists.txt.

Compiling

To compile the codes, run make under the folder libfranka\build or libfranka\build\examples.

Run

You can run the program under the directory above in the terminal typing ./FileName. The IP of the robot is 172.16.0.2, which can be neglected when using our program. But it is required to run the default programs of Panda.