## ams_version=1.0 Model Main_st_robot { Variable x1; Variable x2; Variable x3; Variable x4; Variable x5; Variable x6; Variable x7; Variable x8; Variable objvar; Constraint e1 { Definition: { 0.004731*x1*x3 - 0.1238*x1 - 0.3578*x2*x3 - 0.001637*x2 - 0.9338*x4 + x7 = 0.3571 } } Constraint e2 { Definition: { 0.2238*x1*x3 + 0.2638*x1 + 0.7623*x2*x3 - 0.07745*x2 - 0.6734*x4 - x7 = 0.6022 } } Constraint e3 { Definition: x6*x8 + 0.3578*x1 + 0.004731*x2 = 0; } Constraint e4 { Definition: - 0.7623*x1 + 0.2238*x2 = -0.3461; } Constraint e5 { Definition: sqr(x1) + sqr(x2) = 1; } Constraint e6 { Definition: sqr(x3) + sqr(x4) = 1; } Constraint e7 { Definition: sqr(x5) + sqr(x6) = 1; } Constraint e8 { Definition: sqr(x7) + sqr(x8) = 1; } Constraint e9 { Definition: objvar = 0; } Procedure MainInitialization { Body: { x1.lower := -1; x1.upper := 1; x2.lower := -1; x2.upper := 1; x3.lower := -1; x3.upper := 1; x4.lower := -1; x4.upper := 1; x5.lower := -1; x5.upper := 1; x6.lower := -1; x6.upper := 1; x7.lower := -1; x7.upper := 1; x8.lower := -1; x8.upper := 1; } } MathematicalProgram st_robot { Objective: objvar; Direction: minimize; Constraints: AllConstraints; Variables: AllVariables; Type: NLP; } Procedure MainExecution { Body: { solve st_robot; } } Procedure MainTermination { Body: { return 1; } } }