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fix more acados leaks

pull/22222/head
Harald Schafer 2021-09-13 17:51:15 -07:00
parent 9b61072690
commit 32db9184d4
2 changed files with 13 additions and 20 deletions
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2
phonelibs/acados/build.sh
View File

@ -18,7 +18,7 @@ if [ ! -d acados_repo/ ]; then
fi fi
cd acados_repo cd acados_repo
git fetch git fetch
git checkout 4869efc5cff54b656bcb99c1710fc1ed876e39eb git checkout 4bfbdd7915d188cc2f56da10236c780460ed30f0
git submodule update --recursive --init git submodule update --recursive --init
# build # build

31
pyextra/acados_template/acados_ocp_solver.py
View File

@ -872,6 +872,15 @@ class AcadosOcpSolver:
self.shared_lib.ocp_nlp_cost_model_set_slice.argtypes = \ self.shared_lib.ocp_nlp_cost_model_set_slice.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int] [c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_out_set.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_set.argtypes = \
[c_void_p, c_void_p, c_int, c_char_p, c_void_p]
def solve(self): def solve(self):
""" """
Solve the ocp with current input. Solve the ocp with current input.
@ -1213,41 +1222,25 @@ class AcadosOcpSolver:
msg += 'with dimension {} (you have {})'.format(dims, value_.shape) msg += 'with dimension {} (you have {})'.format(dims, value_.shape)
raise Exception(msg) raise Exception(msg)
value_data = cast(value_.ctypes.data, POINTER(c_double)) value_data_p = cast(value_.ctypes.data, c_void_p)
value_data_p = cast((value_data), c_void_p)
if field_ in constraints_fields: if field_ in constraints_fields:
self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \ self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, value_data_p) self.nlp_dims, self.nlp_in, stage, field, value_data_p)
elif field_ in cost_fields: elif field_ in cost_fields:
self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \ self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, value_data_p) self.nlp_dims, self.nlp_in, stage, field, value_data_p)
elif field_ in out_fields: elif field_ in out_fields:
self.shared_lib.ocp_nlp_out_set.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_out_set(self.nlp_config, \ self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage, field, value_data_p) self.nlp_dims, self.nlp_out, stage, field, value_data_p)
elif field_ in mem_fields: elif field_ in mem_fields:
self.shared_lib.ocp_nlp_set.argtypes = \
[c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_set(self.nlp_config, \ self.shared_lib.ocp_nlp_set(self.nlp_config, \
self.nlp_solver, stage, field, value_data_p) self.nlp_solver, stage, field, value_data_p)
return return
def set_param(self, stage_, value_): def set_param(self, stage_, value_):
# cast value_ to avoid conversion issues value_data = cast(value_.ctypes.data, POINTER(c_double))
#if isinstance(value_, (float, int)): self._set_param(self.capsule, stage_, value_data, value_.shape[0])
# value_ = np.array([value_])
#value_ = value_.astype(float)
#stage = c_int(stage_)
#value_data = cast(value_.ctypes.data, POINTER(c_double))
self._set_param(self.capsule, stage_, cast(value_.ctypes.data, c_double), value_.shape[0])
def cost_set(self, start_stage_, field_, value_, api='warn'): def cost_set(self, start_stage_, field_, value_, api='warn'):
self.cost_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn') self.cost_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')