2D_SI_model

model_SI_2D.m

function model = model_SI_2D()
%2D_SI_model Super simple 2D single integrator model

import casadi.*

%% Differential states
x = SX.sym('x',2);

sym_x = x;
sym_xdot = SX.sym('xdot',numel(sym_x),1);

%% Inputs
u = SX.sym('u',2);

sym_u = u;

%% Dynamics
expr_f_expl = u;
expr_f_impl = expr_f_expl - sym_xdot;

%% Constraints
expr_h = dot(u,u);
% 
% %% Cost
expr_ext_cost_e = (x(1)-10)^2 + (x(2)-5)^2;
expr_ext_cost = (x(1)-10)^2 + (x(2)-5)^2;

%% Model structure
model.nx = numel(sym_x);
model.nu = numel(sym_u);
model.sym_x = sym_x;
model.sym_xdot = sym_xdot;
model.sym_u = sym_u;
model.expr_f_impl = expr_f_impl;
model.expr_f_expl = expr_f_expl;
model.expr_h = expr_h;
model.expr_ext_cost = expr_ext_cost;
model.expr_ext_cost_e = expr_ext_cost_e;
end