preview_controller

preview_controller is a library implementing a model preview controller. It uses QP softwares to solve its problem. A python binding is available.

Installing

Manual

Dependencies

To compile you need the following tools:

• Git
• CMake >= 2.8
• pkg-config
• doxygen
• c++ compiler It must compile C++11 but C++14 is recommended
• gfortran
• gcc
• Eigen >= 3.2

Optional dependencies

To have more qp solver:

• eigen-qld
• GUROBI >= 4.0
• eigen-gurobi Also compatible with the LSSOL QP Solver. Unfortunately this not under public license.

To generate the documantation:

• Doxygen

To have python bindings and unit tests

• Boost >= 1.58 (>= 1.21 should work)

Building with c++14

git clone --recursive https://github.com/vsamy/preview_controller
cd preview_controller
./build_and_install
gedit build_and_install_config
./build_and_install

Please defines in build_and_install_config where to install the library, the build type, the number of core, etc... Note that you leave the BOOST_ROOT empty if boost has been installed by default.

Specific builds

If you don't want to compile the python bindings you need to set the variable PYTHON_BINDINGS to false (default is true).

If you want to compile the C++ unit tests, you need to set the variable BUILD_CXX_TESTS to true (default is false).

Building with c++11

git clone --recursive https://github.com/vsamy/preview_controller
cd preview_controller
git checkout c++11-back-compatibility
./build_and_install
gedit build_and_install_config
./build_and_install

Please defines in build_and_install_config where to install the library, the build type, the number of core, etc... Note that you leave the BOOST_ROOT empty if boost has been installed by default.

Testing and performance test

You can test the C++ and python version. Those are still basic tests and need to be completed

For c++

cd _build/tests
./TestSolvers --log_level=all
./TestPreviewControl --log_level=all

For python

cd binding/python/tests
python TestPreviewControl.py

Documentation

You have access to the doxygen files. Those files are in <install_path>/share/doc/mpc/doxygen-html/. Open the index.html file in your web browser. Plus you can find detailed information here

Examples

Please see here for an example. You can also check the tests folder.