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Matlab interface: improve error messages #1204

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Aug 16, 2024
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Matlab interface: improve error messages #1204

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14 changes: 7 additions & 7 deletions interfaces/acados_matlab_octave/AcadosOcp.m
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Original file line number Diff line number Diff line change
Expand Up @@ -133,7 +133,7 @@ function make_consistent(self)
self.cost.yref_0 = zeros(ny,1);
end
if ny ~= size(cost.Vx_0, 1) || ny ~= size(cost.Vu_0, 1) || ny ~= size(cost.yref_0, 1)
error('inconsistent dimension ny, regarding W_0, Vx_0, Vu_0, yref_0.');
error('inconsistent dimension ny_0, regarding W_0, Vx_0, Vu_0, yref_0.');
end
else
error('setting linear least square cost: need W_0, Vx_0, Vu_0, at least one missing.')
Expand Down Expand Up @@ -236,10 +236,10 @@ function make_consistent(self)
if ~isempty(constraints.idxbx_0) && ~isempty(constraints.lbx_0) && ~isempty(constraints.ubx_0)
nbx_0 = length(constraints.lbx_0);
if nbx_0 ~= length(constraints.ubx_0) || nbx_0 ~= length(constraints.idxbx_0)
error('inconsistent dimension nbx_0, regarding Jbx_0, lbx_0, ubx_0.');
error('inconsistent dimension nbx_0, regarding idxbx_0, lbx_0, ubx_0.');
end
elseif ~isempty(constraints.idxbx_0) || ~isempty(constraints.lbx_0) || ~isempty(constraints.ubx_0)
error('setting bounds on x: need Jbx_0, lbx_0, ubx_0, at least one missing.');
error('setting bounds on x: need idxbx_0, lbx_0, ubx_0, at least one missing.');
else
% no initial state constraint
disp("OCP without constraints on initial state detected.")
Expand All @@ -259,10 +259,10 @@ function make_consistent(self)
if ~isempty(constraints.idxbx) && ~isempty(constraints.lbx) && ~isempty(constraints.ubx)
nbx = length(constraints.lbx);
if nbx ~= length(constraints.ubx) || nbx ~= length(constraints.idxbx)
error('inconsistent dimension nbx, regarding Jbx, lbx, ubx.');
error('inconsistent dimension nbx, regarding idxbx, lbx, ubx.');
end
elseif ~isempty(constraints.idxbx) || ~isempty(constraints.lbx) || ~isempty(constraints.ubx)
error('setting bounds on x: need Jbx, lbx, ubx, at least one missing.');
error('setting bounds on x: need idxbx, lbx, ubx, at least one missing.');
else
nbx = 0;
end
Expand All @@ -271,10 +271,10 @@ function make_consistent(self)
if ~isempty(constraints.idxbu) && ~isempty(constraints.lbu) && ~isempty(constraints.ubu)
nbu = length(constraints.lbu);
if nbu ~= length(constraints.ubu) || nbu ~= length(constraints.idxbu)
error('inconsistent dimension nbu, regarding Jbu, lbu, ubu.');
error('inconsistent dimension nbu, regarding idxbu, lbu, ubu.');
end
elseif ~isempty(constraints.idxbu) || ~isempty(constraints.lbu) || ~isempty(constraints.ubu)
error('setting bounds on u: need Jbu, lbu, ubu, at least one missing.');
error('setting bounds on u: need idxbu, lbu, ubu, at least one missing.');
else
nbu = 0;
end
Expand Down