The CFS reports errors

[KailinTong]

Thank you very much for your contribution!

I got this error when I try to run CFS. I use MATLAB R2019b.

The problem is infeasible.

During presolve, quadprog found the constraints to be inconsistent 
to within the constraint tolerance.

Index exceeds the number of array elements (0).

Error in temporal_opt (line 84)
        reftnew = soln(1:nstep-1);

Do you have any suggestions?

Thank you very much!

[changliuliu]

Is your soln an empty array? You need to check the formulation of your QP to ensure feasibility.

[KailinTong]

In the cloned code, this part (line 79 to line 82) was commented. Should it be like this?
Thank you!

% [~,Aeq,beq] = t2y_lin(reft,path,theta,vref,[v0;0],delta/v0);
% soln = quadprog(Q,[],A,b,Aeq,beq);
% soln_lin = quadprog(Q,[],A,b,L(1:5*(nstep-1),:),S(1:5*(nstep-1)));
% soln_lin = quadprog(Q,[],A,b,L(5*(nstep-1)+1:end,:),S(5*(nstep-1)+1:end));

[changliuliu]

in line 77, it is solving a QP. You may want to check whether the constraint in 'Lstack' and 'Sstack' makes sense.

soln = quadprog(Q,[],Lstack,Sstack);