Usage of GRAMPC

This chapter describes how to use GRAMPC in C/C++ and via the interface to Matlab/Simulink and Python. Note that the implementation of the problem formulation is described in Problem implementation and therefore not repeated here.

• Using GRAMPC in C
  • Main components of GRAMPC
  • Initialization of GRAMPC
  • Setting options and parameters
  • Compiling and calling GRAMPC
  • Using GRAMPC without dynamic memory allocation
• Using GRAMPC in C++
  • Interface from C++ to C
  • Handling of Problem Descriptions
• Using GRAMPC in Matlab/Simulink
  • Interface to Matlab
  • Interface to Matlab/Simulink
  • Plot functions
• Using GRAMPC in Python
  • Problem Formulation in C++
  • Problem Formulation in Python
  • Usage in Python