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somewhat faster

pull/22784/head
Joost Wooning 2021-11-11 13:39:36 +01:00
parent cca1723584
commit d05e017669
2 changed files with 9 additions and 9 deletions
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16
pyextra/acados_template/acados_ocp_solver_pyx.pyx
View File

@ -292,16 +292,16 @@ cdef class AcadosOcpSolverFast:
acados_solver_common.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage, field, &dims[0])
cdef double[::1] value
cdef double[::1,:] value
value_shape = value_.shape
if len(value_shape) == 1:
value_shape = (value_shape[0], 0)
value = np.asfortranarray(value_)
value = np.asfortranarray(value_[None,:])
elif len(value_shape) == 2:
# Get elements in column major order
value = np.ravel(value_, order='F')
value = np.asfortranarray(value_)
if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
@ -309,7 +309,7 @@ cdef class AcadosOcpSolverFast:
field_, tuple(dims), value_shape))
acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0])
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
def constraints_set(self, int stage, str field_, value_):
@ -326,23 +326,23 @@ cdef class AcadosOcpSolverFast:
acados_solver_common.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage, field, &dims[0])
cdef double[::1] value
cdef double[::1,:] value
value_shape = value_.shape
if len(value_shape) == 1:
value_shape = (value_shape[0], 0)
value = np.asfortranarray(value_)
value = np.asfortranarray(value_[None,:])
elif len(value_shape) == 2:
# Get elements in column major order
value = np.ravel(value_, order='F')
value = np.asfortranarray(value_)
if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0])
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
return

2
third_party/acados/build.sh vendored
View File

@ -18,7 +18,7 @@ if [ ! -d acados_repo/ ]; then
fi
cd acados_repo
git fetch
git checkout b13def633e77832c7075cc152075667c2be030ee
git checkout e121b5ef8648ba3a0f51edaf3122fe132eabec83
git submodule update --recursive --init
# build