- Author: Grant Gibson
- Refence Paper: found here
- Mathematica 11.0
- Matlab 2019b or newer
- Ubuntu 18.04 or Windows 10
To clone use the commit
git clone --recurse-submodules git@github.com:grantgib/five_link_mpc_lip.git
If you've already cloned you need to grab the FROST submodule with
git submodule update --init --recursive
Some of the files require precompiled functions. In order to generate these functions we use the FROST package. Navigate to
five_link_mpc_lip/mpc_lip_footplacement_controller/utils_fp_lipm/kinematics_dynamics/frost_generation
and run rabbit_kinematics_codegen.m
. Depending on your OS you should see files get generated under gen_unix
or gen_win
To run the default example navigate to five_link_mpc_lip/mpc_lip_footplacement_controller
and run the script main_mpc_lip_controller.m
- If opti.solve returns 'Invalid_status', error may be due to linear solver option in ipopt. Try setting the sym_info.fp_opt.qpsolver variable to "ipopt" instead of "ipopt_ma57" in the main script
- The
set(line,...)
function did not work for plotting in Matlab 2017b, worked in 2019b