isrlab / optragen Goto Github PK

In obstacleAvoidance example code, you are calculating collocation points by GQ formula . But then after calculating HL, you changed HL to linspace.So, how GQ formula will be used?
`
breaks = linspace(0,hl,ninterv+1);
gauss = [-1 1]*sqrt(1/3)/2;
temp = ((breaks(2:ninterv+1)+breaks(1:ninterv))/2);
temp = temp(ones(1,length(gauss)),:) + gauss'*diff(breaks);
colpnts = temp(:).';

HL = [0 colpnts hl];
HL = linspace(0,hl,20);
`

Hello,

I downloaded the available optragen toolbox, then I obtained the available snopt files with a student precompiled license.

why i try to run one of the available examples, bang bang control for example,
i get the following errors

Error using snopt (line 141)
Not enough input arguments.

Error in BangBangControl (line 76)
[x,F,inform] =
snopt(init',xlow,xupp,[0;nlp.LinCon.lb;nlp.nlb],[Inf;nlp.LinCon.ub;nlp.nub],'ocp2nlp_cost_and_constraint');

however when i check if matlab can actually find snopt by typing

exist('snopt','file')

ans =

 2

any idea how to resolve the not enough input arguments issue ? the results i get are attached in a picture

I am using your toolbox for motion planning of an autonomous underwater vehicle

Thank you