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interpolation #148
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I think interpolant should work although i haven't tested it yet. Generally you can use all CasADi functions with OpenOCL. Sometimes it can happen that the OpenOCL type ( I assume your lookup table is state dependent? What are you interpolating in your case? If polynomial interpolation is sufficient for your problem, you could avoid using interpolant by using |
Yes the lookup table I would like to use is either state or control dependent. Taking your race car example, you could have a lookup table for the road center line e.g. y_center = f(x_road). |
hi, i added an example It should show the basic usage of casadi.interpolant in OpenOCL.
The It is in a seperate branch as i haven't written any test for it yet.. |
I presume the CasADi interpolant can already be used in OpenOCL? If yes, would it be possible to introduce an example where lookup tables are used in the definition of the dynamic system (dae or ode) and path constraints?
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