请教一下大家,有人用过mpc-tools-casadi吗?

WOW995

我从github上面下载了一个程序,按照readme安装了MPCTools,然后运行之后出现说mpctools里面没有'getCasadiFunc'这个函数,我按mpctools安装要求重新装了也不行,想请教一下大家怎么解决.

Traceback (most recent call last):
  File "/home/github/articulated_ws/src/articulated_tractor_trailer_paper/articulated_tractor_trailer_trajectory/src/articulated_tractor_trailer_trajectory.py", line 247, in <module>
    start()
  File "/home/github/articulated_ws/src/articulated_tractor_trailer_paper/articulated_tractor_trailer_trajectory/src/articulated_tractor_trailer_trajectory.py", line 127, in start
    (controller, Nt, Delta) = export_articulated_tractor_trailer_model()
  File "/home/github/articulated_ws/src/articulated_tractor_trailer_paper/articulated_tractor_trailer_trajectory/src/export_articulated_tractor_trailer_model.py", line 59, in export_articulated_tractor_trailer_model
    ode_casadi = mpc.getCasadiFunc(ode_control_trailer, [Nx, Nu], ["x", "u"], funcname="f")
AttributeError: module 'mpctools' has no attribute 'getCasadiFunc'

[articulated_tractor_trailer_trajectory-5] process has died [pid 11460, exit code 1, cmd /home/github/articulated_ws/src/articulated_tractor_trailer_paper/articulated_tractor_trailer_trajectory/src/articulated_tractor_trailer_trajectory.py __name:=articulated_tractor_trailer_trajectory __log:=/home/.ros/log/3108ace8-6d2a-11ed-8666-d4548b799fd2/articulated_tractor_trailer_trajectory-5.log].
log file: /home/.ros/log/3108ace8-6d2a-11ed-8666-d4548b799fd2/articulated_tractor_trailer_trajectory-5*.log

wangfan9026

请问您的问题解决了吗，我这几天遇到了跟您同样的问题，不知道如何解决

杜守钰

此回复已被删除！

杜守钰

@wangfan9026

你电脑上面有 CasADi (Version >=3.0; download here) 吗？

jingze_summer

你好，请问以下你问题解决了麻，我也碰到了同样的问题？

jingze_summer

@杜守钰你好，我通过pip install casadi 安装了casadi，但是在mpctools里面依然没有getCasadiFunc这个函数

yuzi_csu

@jingze_summer 下载并安装包：
https://github.com/cknoll/mpctools_casadi

yuzi_csu

@wangfan9026 从该网址下载并安装包：https://github.com/cknoll/mpctools_casadi