warning off all % close the warnings during computation U0 = WarmStart; [X, FVAL, EXITFLAG] = quadprog(H, f, A, b, Aeq, beq, lb, ub, U0, options); WarmStart = shiftHorizon(U); if (1 ~= EXITFLAG) X(1) = 0.0; fprintf('MPC solver not converged!\n'); end U(1)=kesi(5)+ X(1);%前一时刻的期望加速度+即将来临的加速度变化率 a_des = U(1); end % end of if Initialflag < 1
时间: 2024-02-10 19:26:39 浏览: 21
这段代码是用于求解一个二次规划问题,其中使用了quadprog函数。在代码中,首先关闭了所有的警告信息,然后初始化了一个变量U0作为warm start。接着调用quadprog函数来求解问题,其中H和f是二次规划的目标函数系数,A、b、Aeq、beq、lb、ub分别是线性不等式约束、线性等式约束、变量下界和变量上界,U0是warm start的初始值,options是优化选项。求解完成后,更新了WarmStart变量,并检查求解是否收敛。如果EXITFLAG不等于1,则打印"MPC solver not converged!"的提示信息。最后更新了变量U和a_des的值。这段代码是在Initialflag小于1时执行的。
相关问题
warnings.filterwarnings("ignore", category=psycopg2.Warning)为什么报AssertionError: category must be a Warning subclass
The error "AssertionError: category must be a Warning subclass" is raised because the `category` argument passed to `warnings.filterwarnings()` is expected to be a subclass of the built-in `Warning` class.
In this specific case, `psycopg2.Warning` is not a subclass of `Warning`, which is the base class for all warning categories in Python. Instead, it's a warning category defined by the `psycopg2` library.
To fix the error, you should replace `psycopg2.Warning` with a subclass of `Warning` that you define yourself or that is provided by another library. For example:
```
import warnings
from my_warnings import MyCustomWarning
warnings.filterwarnings("ignore", category=MyCustomWarning)
```
Here, `MyCustomWarning` is a subclass of `Warning` that you define in a separate module named `my_warnings`. You can also use other built-in warning classes such as `DeprecationWarning` or `UserWarning`.
#define _CRT_SECURE_NO_WARNINGS 1 const int n = 5; int a[n];
#define _CRT_SECURE_NO_WARNINGS是一个预处理器指令,用于禁用一些不安全的函数,例如scanf和gets。这个指令可以让编译器忽略这些函数的安全警告。而const int n = 5; int a[n];定义了一个大小为5的整型数组a,并将其元素设为常量,即不可更改。这样做可以避免在程序中意外修改数组的值,从而提高程序的安全性和稳定性。