acados · sandmaennchen · Jan 25, 2024 · Jan 24, 2024
diff --git a/examples/acados_matlab_octave/generic_dyn_disc/disc_dyn_example_ocp.m b/examples/acados_matlab_octave/generic_dyn_disc/disc_dyn_example_ocp.m
@@ -60,7 +60,7 @@
 cost_type = 'ext_cost';
 
 %% create model entries
-model = linear_mass_spring_model;
+model = linear_mass_spring_model();
 
 % dims
 T = 10.0; % horizon length time

diff --git a/examples/acados_matlab_octave/generic_external_cost/external_cost_example_ocp.m b/examples/acados_matlab_octave/generic_external_cost/external_cost_example_ocp.m
@@ -49,7 +49,7 @@
 sim_method = 'erk'; % erk, irk, irk_gnsf
 
 %% model dynamics
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 nx = model.nx;
 nu = model.nu;
 

diff --git a/examples/acados_matlab_octave/getting_started/extensive_example_ocp.m b/examples/acados_matlab_octave/getting_started/extensive_example_ocp.m
@@ -78,7 +78,7 @@
 sim_method_num_stages(3:end) = 2;
 
 %% model dynamics
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 
 %% model to create the solver
 ocp_model = acados_ocp_model();

diff --git a/examples/acados_matlab_octave/getting_started/minimal_example_closed_loop.m b/examples/acados_matlab_octave/getting_started/minimal_example_closed_loop.m
@@ -66,7 +66,7 @@
 plant_sim_method_num_steps = 3;
 
 %% model dynamics
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 nx = model.nx;
 nu = model.nu;
 

diff --git a/examples/acados_matlab_octave/getting_started/minimal_example_ocp.m b/examples/acados_matlab_octave/getting_started/minimal_example_ocp.m
@@ -54,7 +54,7 @@
 sim_method = 'erk'; % erk, irk, irk_gnsf
 
 %% model dynamics
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 nx = model.nx;
 nu = model.nu;
 ny = size(model.cost_expr_y, 1);      % used in simulink example

diff --git a/examples/acados_matlab_octave/getting_started/minimal_example_sim.m b/examples/acados_matlab_octave/getting_started/minimal_example_sim.m
@@ -48,7 +48,7 @@
 u0 = 0; % control input
 
 %% define model dynamics
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 
 nx = model.nx;
 nu = model.nu;

diff --git a/examples/acados_matlab_octave/linear_mass_spring_model/example_closed_loop.m b/examples/acados_matlab_octave/linear_mass_spring_model/example_closed_loop.m
@@ -69,7 +69,7 @@
 
 %% setup problem
 % linear mass-spring system
-model = linear_mass_spring_model;
+model = linear_mass_spring_model();
 % dims
 T = 10.0; % horizon length time
 nx = model.nx; % number of states

diff --git a/examples/acados_matlab_octave/linear_mass_spring_model/example_ocp.m b/examples/acados_matlab_octave/linear_mass_spring_model/example_ocp.m
@@ -75,7 +75,7 @@
 
 
 %% create model entries
-model = linear_mass_spring_model;
+model = linear_mass_spring_model();
 
 
 

diff --git a/examples/acados_matlab_octave/linear_mass_spring_model/example_sim.m b/examples/acados_matlab_octave/linear_mass_spring_model/example_sim.m
@@ -56,7 +56,7 @@
 
 
 %% model
-model = linear_mass_spring_model;
+model = linear_mass_spring_model();
 
 nx = model.nx;
 nu = model.nu;

diff --git a/examples/acados_matlab_octave/lorentz/example_mhe.m b/examples/acados_matlab_octave/lorentz/example_mhe.m
@@ -33,7 +33,7 @@
 clear all
 
 %% model
-model = lorentz_model;
+model = lorentz_model();
 
 nx = model.nx;
 nu = model.nu;

diff --git a/examples/acados_matlab_octave/pendulum_dae/example_closed_loop.m b/examples/acados_matlab_octave/pendulum_dae/example_closed_loop.m
@@ -71,7 +71,7 @@
 cost_type = 'linear_ls'; % linear_ls, ext_cost
 
 %% model
-model = pendulum_dae_model;
+model = pendulum_dae_model();
 %  sym_x = [xpos, ypos, alpha, vx, vy, valpha]
 length_pendulum = 5;
 xsteady = [ 0; -length_pendulum; 0; 0; 0; 0];

diff --git a/examples/acados_matlab_octave/pendulum_dae/example_sim.m b/examples/acados_matlab_octave/pendulum_dae/example_sim.m
@@ -66,7 +66,7 @@
 % x0 = [ 0; -length_pendulum; 0; 0; 0; 0];
 
 %% model
-model = pendulum_dae_model;
+model = pendulum_dae_model();
 disp('state')
 disp(model.sym_x)
 

diff --git a/examples/acados_matlab_octave/pendulum_on_cart_model/example_closed_loop.m b/examples/acados_matlab_octave/pendulum_on_cart_model/example_closed_loop.m
@@ -78,7 +78,7 @@
 
 
 %% create model entries
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 
 h = 0.01;
 T = ocp_N*h; % horizon length time

diff --git a/examples/acados_matlab_octave/pendulum_on_cart_model/example_ocp.m b/examples/acados_matlab_octave/pendulum_on_cart_model/example_ocp.m
@@ -81,7 +81,7 @@
 
 
 %% create model entries
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 
 % dims
 T = N*h; % horizon length time

diff --git a/examples/acados_matlab_octave/pendulum_on_cart_model/example_ocp_custom_hess.m b/examples/acados_matlab_octave/pendulum_on_cart_model/example_ocp_custom_hess.m
@@ -51,7 +51,7 @@
 sim_method = 'erk'; % erk, irk, irk_gnsf
 
 %% model dynamics
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 nx = model.nx;
 nu = model.nu;
 

diff --git a/examples/acados_matlab_octave/pendulum_on_cart_model/example_ocp_param_sens.m b/examples/acados_matlab_octave/pendulum_on_cart_model/example_ocp_param_sens.m
@@ -82,7 +82,7 @@
 
 
 %% create model entries
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 
 % dims
 nx = model.nx;

diff --git a/examples/acados_matlab_octave/pendulum_on_cart_model/example_ocp_reg.m b/examples/acados_matlab_octave/pendulum_on_cart_model/example_ocp_reg.m
@@ -82,7 +82,7 @@
 
 
 %% create model entries
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 
 % dims
 T = N*h; % horizon length time

diff --git a/examples/acados_matlab_octave/pendulum_on_cart_model/example_sim.m b/examples/acados_matlab_octave/pendulum_on_cart_model/example_sim.m
@@ -57,7 +57,7 @@
 u = 0;
 
 %% model
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 
 nx = model.nx;
 nu = model.nu;

diff --git a/examples/acados_matlab_octave/pendulum_on_cart_model/example_solution_sens_closed_loop.m b/examples/acados_matlab_octave/pendulum_on_cart_model/example_solution_sens_closed_loop.m
@@ -64,7 +64,7 @@
 plant_sim_method_num_steps = 3;
 
 %% model dynamics
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 nx = model.nx;
 nu = model.nu;
 

diff --git a/examples/acados_matlab_octave/pendulum_on_cart_model/experiment_dae_formulation.m b/examples/acados_matlab_octave/pendulum_on_cart_model/experiment_dae_formulation.m
@@ -87,7 +87,7 @@
     %% create model entries
     switch i
         case 1
-            model = pendulum_on_cart_model;
+            model = pendulum_on_cart_model();
             theta = model.sym_x(2);
             omega = model.sym_x(4);
             model.sym_z = [];

diff --git a/examples/acados_matlab_octave/simple_dae_model/example_ocp.m b/examples/acados_matlab_octave/simple_dae_model/example_ocp.m
@@ -77,7 +77,7 @@
 cost_variant = 1; % 0: ls on u,x; 1: ls on u,z; (not implemented yet: 2: nls on u,z)
 
 % get model
-model = simple_dae_model;
+model = simple_dae_model();
 
 nx = length(model.sym_x);
 nu = length(model.sym_u);

diff --git a/examples/acados_matlab_octave/test/test_checks.m b/examples/acados_matlab_octave/test/test_checks.m
@@ -45,7 +45,7 @@
 Ts = 0.1;
 
 %% model
-model = linear_mass_spring_model;
+model = linear_mass_spring_model();
 
 model_name = ['lin_mass_' method];
 nx = model.nx;

diff --git a/examples/acados_matlab_octave/test/test_mhe_lorentz.m b/examples/acados_matlab_octave/test/test_mhe_lorentz.m
@@ -36,7 +36,7 @@
 addpath('../lorentz')
 
 %% model
-model = lorentz_model;
+model = lorentz_model();
 
 nx = model.nx;
 nu = model.nu;

diff --git a/examples/acados_matlab_octave/test/test_ocp_OSQP.m b/examples/acados_matlab_octave/test/test_ocp_OSQP.m
@@ -48,7 +48,7 @@
 sim_method = 'erk'; % erk, irk, irk_gnsf
 
 %% model dynamics
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 nx = model.nx;
 nu = model.nu;
 

diff --git a/examples/acados_matlab_octave/test/test_ocp_linear_mass_spring.m b/examples/acados_matlab_octave/test/test_ocp_linear_mass_spring.m
@@ -75,7 +75,7 @@
 
 
 %% create model entries
-model = linear_mass_spring_model;
+model = linear_mass_spring_model();
 
 
 % dims

diff --git a/examples/acados_matlab_octave/test/test_ocp_pendulum_dae.m b/examples/acados_matlab_octave/test/test_ocp_pendulum_dae.m
@@ -68,7 +68,7 @@
 cost_type = 'linear_ls'; % linear_ls, ext_cost
 
 %% model
-model = pendulum_dae_model;
+model = pendulum_dae_model();
 %  sym_x = [xpos, ypos, alpha, vx, vy, valpha]
 length_pendulum = 5;
 xsteady = [ 0; -length_pendulum; 0; 0; 0; 0];

diff --git a/examples/acados_matlab_octave/test/test_ocp_pendulum_on_cart.m b/examples/acados_matlab_octave/test/test_ocp_pendulum_on_cart.m
@@ -85,7 +85,7 @@
     model_name = ['pendulum_' num2str(itest)];
 
     %% create model entries
-    model = pendulum_on_cart_model;
+    model = pendulum_on_cart_model();
 
     % dims
     T = N*h; % horizon length time

diff --git a/examples/acados_matlab_octave/test/test_ocp_qpdunes.m b/examples/acados_matlab_octave/test/test_ocp_qpdunes.m
@@ -48,7 +48,7 @@
 sim_method = 'erk'; % erk, irk, irk_gnsf
 
 %% model dynamics
-model = pendulum_on_cart_model;
+model = pendulum_on_cart_model();
 nx = model.nx;
 nu = model.nu;
 

diff --git a/examples/acados_matlab_octave/test/test_ocp_simple_dae.m b/examples/acados_matlab_octave/test/test_ocp_simple_dae.m
@@ -71,7 +71,7 @@
 cost_variant = 1; % 0: ls on u,x; 1: ls on u,z; (not implemented yet: 2: nls on u,z)
 
 % get model
-model = simple_dae_model;
+model = simple_dae_model();
 
 nx = length(model.sym_x);
 nu = length(model.sym_u);

diff --git a/examples/acados_matlab_octave/test/test_sens_adj.m b/examples/acados_matlab_octave/test/test_sens_adj.m
@@ -50,7 +50,7 @@
     FD_epsilon = 1e-6;
 
     %% model
-    model = pendulum_on_cart_model;
+    model = pendulum_on_cart_model();
 
     model_name = ['pendulum_' method];
     nx = model.nx;

diff --git a/examples/acados_matlab_octave/test/test_sens_forw.m b/examples/acados_matlab_octave/test/test_sens_forw.m
@@ -51,7 +51,7 @@
     FD_epsilon = 1e-6;
 
     %% model
-    model = linear_mass_spring_model;
+    model = linear_mass_spring_model();
 
     model_name = ['lin_mass_' method];
     nx = model.nx;

diff --git a/examples/acados_matlab_octave/test/test_sens_hess.m b/examples/acados_matlab_octave/test/test_sens_hess.m
@@ -51,7 +51,7 @@
 	FD_epsilon = 1e-6;
 
 	%% model
-	model = pendulum_on_cart_model;
+	model = pendulum_on_cart_model();
 
 	model_name = ['pendulum_' method];
 	nx = model.nx;

diff --git a/examples/acados_matlab_octave/test/test_sim_dae.m b/examples/acados_matlab_octave/test/test_sim_dae.m
@@ -60,7 +60,7 @@
     u = 3.5;
 
     %% model
-    model = pendulum_dae_model;
+    model = pendulum_dae_model();
     % disp('state')
     % disp(model.sym_x)
Original file line number	Diff line number	Diff line change
Expand Up		@@ -75,7 +75,7 @@


		%% create model entries
		model = linear_mass_spring_model;
		model = linear_mass_spring_model();



Expand Down
-Original file line number
+Diff line change
@@ Expand Up / @@ -75,7 +75,7 @@ @@
     %% create model entries
-    model = linear_mass_spring_model;
+    model = linear_mass_spring_model();
     % dims
@@ Expand Down @@