ADiGator + GPOPS-II: Problems with splines and fnval function

[Roger Pallares]

Hello,

I am trying to use ADiGator on my GPOPS-II implementation. However, when I run the code, the tool is not able to generate the derivatives of the continuous function. Running the "adigatorGenFiles4gpops2" function, this error appears:

Error using fn2fm (line 53)
Input is not a function.

Error in fnval (line 52)
f = fn2fm(f);

Error in adigatortempfunc1 (line 38)
st_ik = (fnval(splines.st_pp, t))';

Error in adigator (line 510)
FunctionInfo = adigatortempfunc1(FunctionInfo,UserFunInputs);

Error in adigatorGenFiles4gpops2 (line 204)
adigator(ContFunc,{cinput},ContDeriv1,ADopts);

It seems ADiGator has a problem with splines and fnval function. Nevertheless, I need to use these functions as I have experimental data on my optimization and I resample it according to the collocation points GPOPS-II employs in each iteration.

I do not know how to deal with that. Any help would be really appreciated. I can attach my files or give you more details if needed.

Many thanks.

[Matthew J. Weinstein]

Roger,

The issue is that adigator doesn't have fnval overloaded. You should, however, be able to represent your spline as a piece wise polygon and use ppval which adigator supports.

Matt

[Roger Pallares]

Matthew,

Ok, I see. Thank you very much for your answer.