YANE - Short Software Guide 1.0.1


Implementation details of the main() function

The computing loop

The main program runs one for loop for the variable

Here, the variable HORIZONMAX denotes the maximal optimization horizon to be tested.

Computing the closed loop cost

To compute the closed loop cost the double arrays trajectory and valuefunction are required. Upon call of odemanager->getObjFunValues these arrays contain the open loop trajectory and the corresponding values of the cost functional for all open loop sampling instances.

Jürgen Pannek <juergen.pannek@googlemail.com>