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Upstreamed and update acados (#23927) 

* change acados version to finalized PR https://github.com/acados/acados/pull/791

* acados: update include and x86_64 build

* acados: update pyextra

* adapt mpc files to updated acados

* acados buid: clear acados_template and include dir before updating

* update acados again

* acados MPC: only generate solver, building is done via scons

* update acados to latest acados/master

* c3 libs

* c2 libs

* acados scons files: add acados build script as a dependency

* acados scons files: add libacados.so and ocp_nlp_interface.h, build script not in files_common

* update acados

* adapts long & lat MPC file

* update acados reference commit to acados/master

Co-authored-by: Comma Device <device@comma.ai>
pull/23887/merge
Jonathan Frey 2022-03-11 11:49:27 +01:00 committed by GitHub
parent 107156cd58
commit d653dd843a
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
51 changed files with 1597 additions and 1604 deletions
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25
pyextra/acados_template/acados_layout.json
View File

@ -5,6 +5,9 @@
"acados_include_path": [
"str"
],
"cython_include_dirs": [
"str"
],
"model": {
"name" : [
"str"
@ -23,7 +26,15 @@
],
"dyn_disc_fun" : [
"str"
]
],
"gnsf" : {
"nontrivial_f_LO": [
"int"
],
"purely_linear": [
"int"
]
}
},
"parameter_values": [
"ndarray",
@ -693,6 +704,18 @@
"alpha_reduction": [
"float"
],
"line_search_use_sufficient_descent": [
"int"
],
"globalization_use_SOC": [
"int"
],
"full_step_dual": [
"int"
],
"eps_sufficient_descent": [
"float"
],
"sim_method_num_stages": [
"ndarray",
[

7
pyextra/acados_template/acados_model.py
View File

@ -78,6 +78,13 @@ class AcadosModel():
self.dyn_disc_fun_jac = None #: name of function discrete dyanamics + jacobian; Default: :code:`None`
self.dyn_disc_fun = None #: name of function discrete dyanamics; Default: :code:`None`
# for GNSF models
self.gnsf = {'nontrivial_f_LO': 1, 'purely_linear': 0}
"""
dictionary containing information on GNSF structure needed when rendering templates.
Contains integers `nontrivial_f_LO`, `purely_linear`.
"""
## for OCP
# constraints
self.con_h_expr = None #: CasADi expression for the constraint :math:`h`; Default: :code:`None`

236
pyextra/acados_template/acados_ocp.py
View File

@ -270,28 +270,28 @@ class AcadosOcpDims:
@nx.setter
def nx(self, nx):
if type(nx) == int and nx > 0:
if isinstance(nx, int) and nx > 0:
self.__nx = nx
else:
raise Exception('Invalid nx value, expected positive integer. Exiting.')
@nz.setter
def nz(self, nz):
if type(nz) == int and nz > -1:
if isinstance(nz, int) and nz > -1:
self.__nz = nz
else:
raise Exception('Invalid nz value, expected nonnegative integer. Exiting.')
@nu.setter
def nu(self, nu):
if type(nu) == int and nu > -1:
if isinstance(nu, int) and nu > -1:
self.__nu = nu
else:
raise Exception('Invalid nu value, expected nonnegative integer. Exiting.')
@np.setter
def np(self, np):
if type(np) == int and np > -1:
if isinstance(np, int) and np > -1:
self.__np = np
else:
raise Exception('Invalid np value, expected nonnegative integer. Exiting.')
@ -312,49 +312,49 @@ class AcadosOcpDims:
@ny_e.setter
def ny_e(self, ny_e):
if type(ny_e) == int and ny_e > -1:
if isinstance(ny_e, int) and ny_e > -1:
self.__ny_e = ny_e
else:
raise Exception('Invalid ny_e value, expected nonnegative integer. Exiting.')
@nr.setter
def nr(self, nr):
if type(nr) == int and nr > -1:
if isinstance(nr, int) and nr > -1:
self.__nr = nr
else:
raise Exception('Invalid nr value, expected nonnegative integer. Exiting.')
@nr_e.setter
def nr_e(self, nr_e):
if type(nr_e) == int and nr_e > -1:
if isinstance(nr_e, int) and nr_e > -1:
self.__nr_e = nr_e
else:
raise Exception('Invalid nr_e value, expected nonnegative integer. Exiting.')
@nh.setter
def nh(self, nh):
if type(nh) == int and nh > -1:
if isinstance(nh, int) and nh > -1:
self.__nh = nh
else:
raise Exception('Invalid nh value, expected nonnegative integer. Exiting.')
@nh_e.setter
def nh_e(self, nh_e):
if type(nh_e) == int and nh_e > -1:
if isinstance(nh_e, int) and nh_e > -1:
self.__nh_e = nh_e
else:
raise Exception('Invalid nh_e value, expected nonnegative integer. Exiting.')
@nphi.setter
def nphi(self, nphi):
if type(nphi) == int and nphi > -1:
if isinstance(nphi, int) and nphi > -1:
self.__nphi = nphi
else:
raise Exception('Invalid nphi value, expected nonnegative integer. Exiting.')
@nphi_e.setter
def nphi_e(self, nphi_e):
if type(nphi_e) == int and nphi_e > -1:
if isinstance(nphi_e, int) and nphi_e > -1:
self.__nphi_e = nphi_e
else:
raise Exception('Invalid nphi_e value, expected nonnegative integer. Exiting.')
@ -375,42 +375,42 @@ class AcadosOcpDims:
@nbx_0.setter
def nbx_0(self, nbx_0):
if type(nbx_0) == int and nbx_0 > -1:
if isinstance(nbx_0, int) and nbx_0 > -1:
self.__nbx_0 = nbx_0
else:
raise Exception('Invalid nbx_0 value, expected nonnegative integer. Exiting.')
@nbx_e.setter
def nbx_e(self, nbx_e):
if type(nbx_e) == int and nbx_e > -1:
if isinstance(nbx_e, int) and nbx_e > -1:
self.__nbx_e = nbx_e
else:
raise Exception('Invalid nbx_e value, expected nonnegative integer. Exiting.')
@nbu.setter
def nbu(self, nbu):
if type(nbu) == int and nbu > -1:
if isinstance(nbu, int) and nbu > -1:
self.__nbu = nbu
else:
raise Exception('Invalid nbu value, expected nonnegative integer. Exiting.')
@nsbx.setter
def nsbx(self, nsbx):
if type(nsbx) == int and nsbx > -1:
if isinstance(nsbx, int) and nsbx > -1:
self.__nsbx = nsbx
else:
raise Exception('Invalid nsbx value, expected nonnegative integer. Exiting.')
@nsbx_e.setter
def nsbx_e(self, nsbx_e):
if type(nsbx_e) == int and nsbx_e > -1:
if isinstance(nsbx_e, int) and nsbx_e > -1:
self.__nsbx_e = nsbx_e
else:
raise Exception('Invalid nsbx_e value, expected nonnegative integer. Exiting.')
@nsbu.setter
def nsbu(self, nsbu):
if type(nsbu) == int and nsbu > -1:
if isinstance(nsbu, int) and nsbu > -1:
self.__nsbu = nsbu
else:
raise Exception('Invalid nsbu value, expected nonnegative integer. Exiting.')
@ -1592,14 +1592,14 @@ class AcadosOcpConstraints:
# initial x
@lbx_0.setter
def lbx_0(self, lbx_0):
if type(lbx_0) == np.ndarray:
if isinstance(lbx_0, np.ndarray):
self.__lbx_0 = lbx_0
else:
raise Exception('Invalid lbx_0 value. Exiting.')
@ubx_0.setter
def ubx_0(self, ubx_0):
if type(ubx_0) == np.ndarray:
if isinstance(ubx_0, np.ndarray):
self.__ubx_0 = ubx_0
else:
raise Exception('Invalid ubx_0 value. Exiting.')
@ -1613,7 +1613,7 @@ class AcadosOcpConstraints:
@Jbx_0.setter
def Jbx_0(self, Jbx_0):
if type(Jbx_0) == np.ndarray:
if isinstance(Jbx_0, np.ndarray):
self.__idxbx_0 = J_to_idx(Jbx_0)
else:
raise Exception('Invalid Jbx_0 value. Exiting.')
@ -1639,28 +1639,28 @@ class AcadosOcpConstraints:
# bounds on x
@lbx.setter
def lbx(self, lbx):
if type(lbx) == np.ndarray:
if isinstance(lbx, np.ndarray):
self.__lbx = lbx
else:
raise Exception('Invalid lbx value. Exiting.')
@ubx.setter
def ubx(self, ubx):
if type(ubx) == np.ndarray:
if isinstance(ubx, np.ndarray):
self.__ubx = ubx
else:
raise Exception('Invalid ubx value. Exiting.')
@idxbx.setter
def idxbx(self, idxbx):
if type(idxbx) == np.ndarray:
if isinstance(idxbx, np.ndarray):
self.__idxbx = idxbx
else:
raise Exception('Invalid idxbx value. Exiting.')
@Jbx.setter
def Jbx(self, Jbx):
if type(Jbx) == np.ndarray:
if isinstance(Jbx, np.ndarray):
self.__idxbx = J_to_idx(Jbx)
else:
raise Exception('Invalid Jbx value. Exiting.')
@ -1668,28 +1668,28 @@ class AcadosOcpConstraints:
# bounds on u
@lbu.setter
def lbu(self, lbu):
if type(lbu) == np.ndarray:
if isinstance(lbu, np.ndarray):
self.__lbu = lbu
else:
raise Exception('Invalid lbu value. Exiting.')
@ubu.setter
def ubu(self, ubu):
if type(ubu) == np.ndarray:
if isinstance(ubu, np.ndarray):
self.__ubu = ubu
else:
raise Exception('Invalid ubu value. Exiting.')
@idxbu.setter
def idxbu(self, idxbu):
if type(idxbu) == np.ndarray:
if isinstance(idxbu, np.ndarray):
self.__idxbu = idxbu
else:
raise Exception('Invalid idxbu value. Exiting.')
@Jbu.setter
def Jbu(self, Jbu):
if type(Jbu) == np.ndarray:
if isinstance(Jbu, np.ndarray):
self.__idxbu = J_to_idx(Jbu)
else:
raise Exception('Invalid Jbu value. Exiting.')
@ -1697,28 +1697,28 @@ class AcadosOcpConstraints:
# bounds on x at shooting node N
@lbx_e.setter
def lbx_e(self, lbx_e):
if type(lbx_e) == np.ndarray:
if isinstance(lbx_e, np.ndarray):
self.__lbx_e = lbx_e
else:
raise Exception('Invalid lbx_e value. Exiting.')
@ubx_e.setter
def ubx_e(self, ubx_e):
if type(ubx_e) == np.ndarray:
if isinstance(ubx_e, np.ndarray):
self.__ubx_e = ubx_e
else:
raise Exception('Invalid ubx_e value. Exiting.')
@idxbx_e.setter
def idxbx_e(self, idxbx_e):
if type(idxbx_e) == np.ndarray:
if isinstance(idxbx_e, np.ndarray):
self.__idxbx_e = idxbx_e
else:
raise Exception('Invalid idxbx_e value. Exiting.')
@Jbx_e.setter
def Jbx_e(self, Jbx_e):
if type(Jbx_e) == np.ndarray:
if isinstance(Jbx_e, np.ndarray):
self.__idxbx_e = J_to_idx(Jbx_e)
else:
raise Exception('Invalid Jbx_e value. Exiting.')
@ -1742,14 +1742,14 @@ class AcadosOcpConstraints:
@lg.setter
def lg(self, lg):
if type(lg) == np.ndarray:
if isinstance(lg, np.ndarray):
self.__lg = lg
else:
raise Exception('Invalid lg value. Exiting.')
@ug.setter
def ug(self, ug):
if type(ug) == np.ndarray:
if isinstance(ug, np.ndarray):
self.__ug = ug
else:
raise Exception('Invalid ug value. Exiting.')
@ -1765,14 +1765,14 @@ class AcadosOcpConstraints:
@lg_e.setter
def lg_e(self, lg_e):
if type(lg_e) == np.ndarray:
if isinstance(lg_e, np.ndarray):
self.__lg_e = lg_e
else:
raise Exception('Invalid lg_e value. Exiting.')
@ug_e.setter
def ug_e(self, ug_e):
if type(ug_e) == np.ndarray:
if isinstance(ug_e, np.ndarray):
self.__ug_e = ug_e
else:
raise Exception('Invalid ug_e value. Exiting.')
@ -1780,14 +1780,14 @@ class AcadosOcpConstraints:
# nonlinear constraints
@lh.setter
def lh(self, lh):
if type(lh) == np.ndarray:
if isinstance(lh, np.ndarray):
self.__lh = lh
else:
raise Exception('Invalid lh value. Exiting.')
@uh.setter
def uh(self, uh):
if type(uh) == np.ndarray:
if isinstance(uh, np.ndarray):
self.__uh = uh
else:
raise Exception('Invalid uh value. Exiting.')
@ -1795,14 +1795,14 @@ class AcadosOcpConstraints:
# convex-over-nonlinear constraints
@lphi.setter
def lphi(self, lphi):
if type(lphi) == np.ndarray:
if isinstance(lphi, np.ndarray):
self.__lphi = lphi
else:
raise Exception('Invalid lphi value. Exiting.')
@uphi.setter
def uphi(self, uphi):
if type(uphi) == np.ndarray:
if isinstance(uphi, np.ndarray):
self.__uphi = uphi
else:
raise Exception('Invalid uphi value. Exiting.')
@ -1810,14 +1810,14 @@ class AcadosOcpConstraints:
# nonlinear constraints at shooting node N
@lh_e.setter
def lh_e(self, lh_e):
if type(lh_e) == np.ndarray:
if isinstance(lh_e, np.ndarray):
self.__lh_e = lh_e
else:
raise Exception('Invalid lh_e value. Exiting.')
@uh_e.setter
def uh_e(self, uh_e):
if type(uh_e) == np.ndarray:
if isinstance(uh_e, np.ndarray):
self.__uh_e = uh_e
else:
raise Exception('Invalid uh_e value. Exiting.')
@ -1825,14 +1825,14 @@ class AcadosOcpConstraints:
# convex-over-nonlinear constraints at shooting node N
@lphi_e.setter
def lphi_e(self, lphi_e):
if type(lphi_e) == np.ndarray:
if isinstance(lphi_e, np.ndarray):
self.__lphi_e = lphi_e
else:
raise Exception('Invalid lphi_e value. Exiting.')
@uphi_e.setter
def uphi_e(self, uphi_e):
if type(uphi_e) == np.ndarray:
if isinstance(uphi_e, np.ndarray):
self.__uphi_e = uphi_e
else:
raise Exception('Invalid uphi_e value. Exiting.')
@ -1841,21 +1841,21 @@ class AcadosOcpConstraints:
# soft bounds on x
@lsbx.setter
def lsbx(self, lsbx):
if type(lsbx) == np.ndarray:
if isinstance(lsbx, np.ndarray):
self.__lsbx = lsbx
else:
raise Exception('Invalid lsbx value. Exiting.')
@usbx.setter
def usbx(self, usbx):
if type(usbx) == np.ndarray:
if isinstance(usbx, np.ndarray):
self.__usbx = usbx
else:
raise Exception('Invalid usbx value. Exiting.')
@idxsbx.setter
def idxsbx(self, idxsbx):
if type(idxsbx) == np.ndarray:
if isinstance(idxsbx, np.ndarray):
self.__idxsbx = idxsbx
else:
raise Exception('Invalid idxsbx value. Exiting.')
@ -1870,28 +1870,28 @@ class AcadosOcpConstraints:
# soft bounds on u
@lsbu.setter
def lsbu(self, lsbu):
if type(lsbu) == np.ndarray:
if isinstance(lsbu, np.ndarray):
self.__lsbu = lsbu
else:
raise Exception('Invalid lsbu value. Exiting.')
@usbu.setter
def usbu(self, usbu):
if type(usbu) == np.ndarray:
if isinstance(usbu, np.ndarray):
self.__usbu = usbu
else:
raise Exception('Invalid usbu value. Exiting.')
@idxsbu.setter
def idxsbu(self, idxsbu):
if type(idxsbu) == np.ndarray:
if isinstance(idxsbu, np.ndarray):
self.__idxsbu = idxsbu
else:
raise Exception('Invalid idxsbu value. Exiting.')
@Jsbu.setter
def Jsbu(self, Jsbu):
if type(Jsbu) == np.ndarray:
if isinstance(Jsbu, np.ndarray):
self.__idxsbu = J_to_idx_slack(Jsbu)
else:
raise Exception('Invalid Jsbu value. Exiting.')
@ -1899,28 +1899,28 @@ class AcadosOcpConstraints:
# soft bounds on x at shooting node N
@lsbx_e.setter
def lsbx_e(self, lsbx_e):
if type(lsbx_e) == np.ndarray:
if isinstance(lsbx_e, np.ndarray):
self.__lsbx_e = lsbx_e
else:
raise Exception('Invalid lsbx_e value. Exiting.')
@usbx_e.setter
def usbx_e(self, usbx_e):
if type(usbx_e) == np.ndarray:
if isinstance(usbx_e, np.ndarray):
self.__usbx_e = usbx_e
else:
raise Exception('Invalid usbx_e value. Exiting.')
@idxsbx_e.setter
def idxsbx_e(self, idxsbx_e):
if type(idxsbx_e) == np.ndarray:
if isinstance(idxsbx_e, np.ndarray):
self.__idxsbx_e = idxsbx_e
else:
raise Exception('Invalid idxsbx_e value. Exiting.')
@Jsbx_e.setter
def Jsbx_e(self, Jsbx_e):
if type(Jsbx_e) == np.ndarray:
if isinstance(Jsbx_e, np.ndarray):
self.__idxsbx_e = J_to_idx_slack(Jsbx_e)
else:
raise Exception('Invalid Jsbx_e value. Exiting.')
@ -1959,21 +1959,21 @@ class AcadosOcpConstraints:
# soft bounds on nonlinear constraints
@lsh.setter
def lsh(self, lsh):
if type(lsh) == np.ndarray:
if isinstance(lsh, np.ndarray):
self.__lsh = lsh
else:
raise Exception('Invalid lsh value. Exiting.')
@ush.setter
def ush(self, ush):
if type(ush) == np.ndarray:
if isinstance(ush, np.ndarray):
self.__ush = ush
else:
raise Exception('Invalid ush value. Exiting.')
@idxsh.setter
def idxsh(self, idxsh):
if type(idxsh) == np.ndarray:
if isinstance(idxsh, np.ndarray):
self.__idxsh = idxsh
else:
raise Exception('Invalid idxsh value. Exiting.')
@ -1989,21 +1989,21 @@ class AcadosOcpConstraints:
# soft bounds on convex-over-nonlinear constraints
@lsphi.setter
def lsphi(self, lsphi):
if type(lsphi) == np.ndarray:
if isinstance(lsphi, np.ndarray):
self.__lsphi = lsphi
else:
raise Exception('Invalid lsphi value. Exiting.')
@usphi.setter
def usphi(self, usphi):
if type(usphi) == np.ndarray:
if isinstance(usphi, np.ndarray):
self.__usphi = usphi
else:
raise Exception('Invalid usphi value. Exiting.')
@idxsphi.setter
def idxsphi(self, idxsphi):
if type(idxsphi) == np.ndarray:
if isinstance(idxsphi, np.ndarray):
self.__idxsphi = idxsphi
else:
raise Exception('Invalid idxsphi value. Exiting.')
@ -2151,6 +2151,10 @@ class AcadosOcpOptions:
self.__ext_cost_num_hess = 0
self.__alpha_min = 0.05
self.__alpha_reduction = 0.7
self.__line_search_use_sufficient_descent = 0
self.__globalization_use_SOC = 0
self.__full_step_dual = 0
self.__eps_sufficient_descent = 1e-4
@property
@ -2367,6 +2371,43 @@ class AcadosOcpOptions:
"""Step size reduction factor for globalization MERIT_BACKTRACKING, default: 0.7."""
return self.__alpha_reduction
@property
def line_search_use_sufficient_descent(self):
"""
Determines if sufficient descent (Armijo) condition is used in line search.
Type: int; 0 or 1;
default: 0.
"""
return self.__line_search_use_sufficient_descent
@property
def eps_sufficient_descent(self):
"""
Factor for sufficient descent (Armijo) conditon, see line_search_use_sufficient_descent.
Type: float,
default: 1e-4.
"""
return self.__eps_sufficient_descent
@property
def globalization_use_SOC(self):
"""
Determines if second order correction (SOC) is done when using MERIT_BACKTRACKING.
SOC is done if preliminary line search does not return full step.
Type: int; 0 or 1;
default: 0.
"""
return self.__globalization_use_SOC
@property
def full_step_dual(self):
"""
Determines if dual variables are updated with full steps (alpha=1.0) when primal variables are updated with smaller step.
Type: int; 0 or 1;
default: 0.
"""
return self.__full_step_dual
@property
def nlp_solver_tol_ineq(self):
"""NLP solver inequality tolerance"""
@ -2524,12 +2565,23 @@ class AcadosOcpOptions:
@time_steps.setter
def time_steps(self, time_steps):
self.__time_steps = time_steps
if isinstance(time_steps, np.ndarray):
if len(time_steps.shape) == 1:
self.__time_steps = time_steps
else:
raise Exception('Invalid time_steps, expected np.ndarray of shape (N,).')
else:
raise Exception('Invalid time_steps, expected np.ndarray.')
@shooting_nodes.setter
def shooting_nodes(self, shooting_nodes):
self.__shooting_nodes = shooting_nodes
if isinstance(shooting_nodes, np.ndarray):
if len(shooting_nodes.shape) == 1:
self.__shooting_nodes = shooting_nodes
else:
raise Exception('Invalid shooting_nodes, expected np.ndarray of shape (N+1,).')
else:
raise Exception('Invalid shooting_nodes, expected np.ndarray.')
@Tsim.setter
def Tsim(self, Tsim):
@ -2537,7 +2589,12 @@ class AcadosOcpOptions:
@globalization.setter
def globalization(self, globalization):
self.__globalization = globalization
globalization_types = ('MERIT_BACKTRACKING', 'FIXED_STEP')
if globalization in globalization_types:
self.__globalization = globalization
else:
raise Exception('Invalid globalization value. Possible values are:\n\n' \
+ ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\nExiting.')
@alpha_min.setter
def alpha_min(self, alpha_min):
@ -2547,10 +2604,38 @@ class AcadosOcpOptions:
def alpha_reduction(self, alpha_reduction):
self.__alpha_reduction = alpha_reduction
@line_search_use_sufficient_descent.setter
def line_search_use_sufficient_descent(self, line_search_use_sufficient_descent):
if line_search_use_sufficient_descent in [0, 1]:
self.__line_search_use_sufficient_descent = line_search_use_sufficient_descent
else:
raise Exception(f'Invalid value for line_search_use_sufficient_descent. Possible values are 0, 1, got {line_search_use_sufficient_descent}')
@globalization_use_SOC.setter
def globalization_use_SOC(self, globalization_use_SOC):
if globalization_use_SOC in [0, 1]:
self.__globalization_use_SOC = globalization_use_SOC
else:
raise Exception(f'Invalid value for globalization_use_SOC. Possible values are 0, 1, got {globalization_use_SOC}')
@full_step_dual.setter
def full_step_dual(self, full_step_dual):
if full_step_dual in [0, 1]:
self.__full_step_dual = full_step_dual
else:
raise Exception(f'Invalid value for full_step_dual. Possible values are 0, 1, got {full_step_dual}')
@eps_sufficient_descent.setter
def eps_sufficient_descent(self, eps_sufficient_descent):
if isinstance(eps_sufficient_descent, float) and eps_sufficient_descent > 0:
self.__eps_sufficient_descent = eps_sufficient_descent
else:
raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float. Exiting')
@sim_method_num_stages.setter
def sim_method_num_stages(self, sim_method_num_stages):
# if type(sim_method_num_stages) == int:
# if isinstance(sim_method_num_stages, int):
# self.__sim_method_num_stages = sim_method_num_stages
# else:
# raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer. Exiting.')
@ -2560,7 +2645,7 @@ class AcadosOcpOptions:
@sim_method_num_steps.setter
def sim_method_num_steps(self, sim_method_num_steps):
# if type(sim_method_num_steps) == int:
# if isinstance(sim_method_num_steps, int):
# self.__sim_method_num_steps = sim_method_num_steps
# else:
# raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer. Exiting.')
@ -2570,7 +2655,7 @@ class AcadosOcpOptions:
@sim_method_newton_iter.setter
def sim_method_newton_iter(self, sim_method_newton_iter):
if type(sim_method_newton_iter) == int:
if isinstance(sim_method_newton_iter, int):
self.__sim_method_newton_iter = sim_method_newton_iter
else:
raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer. Exiting.')
@ -2593,7 +2678,7 @@ class AcadosOcpOptions:
@nlp_solver_step_length.setter
def nlp_solver_step_length(self, nlp_solver_step_length):
if type(nlp_solver_step_length) == float and nlp_solver_step_length > 0:
if isinstance(nlp_solver_step_length, float) and nlp_solver_step_length > 0:
self.__nlp_solver_step_length = nlp_solver_step_length
else:
raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float. Exiting')
@ -2614,7 +2699,7 @@ class AcadosOcpOptions:
@qp_solver_cond_N.setter
def qp_solver_cond_N(self, qp_solver_cond_N):
if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N > 0:
if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N >= 0:
self.__qp_solver_cond_N = qp_solver_cond_N
else:
raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int. Exiting')
@ -2705,21 +2790,21 @@ class AcadosOcpOptions:
@nlp_solver_max_iter.setter
def nlp_solver_max_iter(self, nlp_solver_max_iter):
if type(nlp_solver_max_iter) == int and nlp_solver_max_iter > 0:
if isinstance(nlp_solver_max_iter, int) and nlp_solver_max_iter > 0:
self.__nlp_solver_max_iter = nlp_solver_max_iter
else:
raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int. Exiting')
@print_level.setter
def print_level(self, print_level):
if type(print_level) == int and print_level >= 0:
if isinstance(print_level, int) and print_level >= 0:
self.__print_level = print_level
else:
raise Exception('Invalid print_level value. print_level takes one of the values >=0. Exiting')
@model_external_shared_lib_dir.setter
def model_external_shared_lib_dir(self, model_external_shared_lib_dir):
if type(model_external_shared_lib_dir) == str :
if isinstance(model_external_shared_lib_dir, str) :
self.__model_external_shared_lib_dir = model_external_shared_lib_dir
else:
raise Exception('Invalid model_external_shared_lib_dir value. Str expected.' \
@ -2727,7 +2812,7 @@ class AcadosOcpOptions:
@model_external_shared_lib_name.setter
def model_external_shared_lib_name(self, model_external_shared_lib_name):
if type(model_external_shared_lib_name) == str :
if isinstance(model_external_shared_lib_name, str) :
if model_external_shared_lib_name[-3:] == '.so' :
raise Exception('Invalid model_external_shared_lib_name value. Remove the .so extension.' \
+ '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\nExiting.')
@ -2810,6 +2895,9 @@ class AcadosOcp:
self.acados_lib_path = f'{acados_path}/lib'
"""Path to where acados library is located, type: string"""
import numpy
self.cython_include_dirs = numpy.get_include()
self.__parameter_values = np.array([])
self.__problem_class = 'OCP'

435
pyextra/acados_template/acados_ocp_solver.py
View File

@ -37,7 +37,7 @@ import os
import json
import numpy as np
from datetime import datetime
import ctypes
import importlib
from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref
from copy import deepcopy
@ -51,9 +51,9 @@ from .generate_c_code_nls_cost import generate_c_code_nls_cost
from .generate_c_code_external_cost import generate_c_code_external_cost
from .acados_ocp import AcadosOcp
from .acados_model import acados_model_strip_casadi_symbolics
from .utils import is_column, is_empty, casadi_length, render_template, acados_class2dict,\
from .utils import is_column, is_empty, casadi_length, render_template,\
format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
set_up_imported_gnsf_model, get_acados_path, get_ocp_nlp_layout, get_python_interface_path
set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path
def make_ocp_dims_consistent(acados_ocp):
@ -90,7 +90,7 @@ def make_ocp_dims_consistent(acados_ocp):
raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
f'\nGot np = {dims.np}, acados_ocp.parameter_values.shape = {acados_ocp.parameter_values.shape[0]}\n')
# cost
## cost
# initial stage - if not set, copy fields from path constraints
if cost.cost_type_0 is None:
cost.cost_type_0 = cost.cost_type
@ -434,18 +434,14 @@ def make_ocp_dims_consistent(acados_ocp):
if np.shape(opts.shooting_nodes)[0] != dims.N+1:
raise Exception('inconsistent dimension N, regarding shooting_nodes.')
# time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1]
# # identify constant time-steps: due to numerical reasons the content of time_steps might vary a bit
# delta_time_steps = time_steps[1:] - time_steps[0:-1]
# avg_time_steps = np.average(time_steps)
# # criterion for constant time-step detection: the min/max difference in values normalized by the average
# check_const_time_step = np.max(delta_time_steps)-np.min(delta_time_steps) / avg_time_steps
# # if the criterion is small, we have a constant time-step
# if check_const_time_step < 1e-9:
# time_steps[:] = avg_time_steps # if we have a constant time-step: apply the average time-step
time_steps = np.zeros((dims.N,))
for i in range(dims.N):
time_steps[i] = opts.shooting_nodes[i+1] - opts.shooting_nodes[i] # TODO use commented code above
time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1]
# identify constant time_steps: due to numerical reasons the content of time_steps might vary a bit
avg_time_steps = np.average(time_steps)
# criterion for constant time step detection: the min/max difference in values normalized by the average
check_const_time_step = (np.max(time_steps)-np.min(time_steps)) / avg_time_steps
# if the criterion is small, we have a constant time_step
if check_const_time_step < 1e-9:
time_steps[:] = avg_time_steps # if we have a constant time_step: apply the average time_step
opts.time_steps = time_steps
@ -525,8 +521,7 @@ def ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file='acados_ocp_n
# strip shooting_nodes
ocp_nlp_dict['solver_options'].pop('shooting_nodes', None)
dims_dict = acados_class2dict(acados_ocp.dims)
dims_dict = format_class_dict(acados_ocp.dims.__dict__)
ocp_check_against_layout(ocp_nlp_dict, dims_dict)
@ -782,8 +777,15 @@ class AcadosOcpSolver:
dlclose.argtypes = [c_void_p]
@classmethod
def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True):
def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None):
"""
Generates the code for an acados OCP solver, given the description in acados_ocp.
:param acados_ocp: type AcadosOcp - description of the OCP for acados
:param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
:param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
"""
model = acados_ocp.model
acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory)
if simulink_opts is None:
simulink_opts = get_simulink_default_opts()
@ -807,24 +809,91 @@ class AcadosOcpSolver:
# dump to json
ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file)
code_export_dir = acados_ocp.code_export_directory
# render templates
ocp_render_templates(acados_ocp, json_file)
acados_ocp.json_file = json_file
if build:
## Compile solver
cwd=os.getcwd()
os.chdir(code_export_dir)
os.system('make clean_ocp_shared_lib')
os.system('make ocp_shared_lib')
os.chdir(cwd)
def __init__(self, model_name, N, code_export_dir):
self.model_name = model_name
self.N = N
@classmethod
def build(cls, code_export_dir, with_cython=False):
"""
Builds the code for an acados OCP solver, that has been generated in code_export_dir
:param code_export_dir: directory in which acados OCP solver has been generated, see generate()
:param with_cython: option indicating if the cython interface is build, default: False.
"""
cwd=os.getcwd()
os.chdir(code_export_dir)
if with_cython:
os.system('make clean_ocp_cython')
os.system('make ocp_cython')
else:
os.system('make clean_ocp_shared_lib')
os.system('make ocp_shared_lib')
os.chdir(cwd)
@classmethod
def create_cython_solver(cls, json_file):
"""
Returns an `AcadosOcpSolverCython` object.
This is an alternative Cython based Python wrapper to the acados OCP solver in C.
This offers faster interaction with the solver, because getter and setter calls, which include shape checking are done in compiled C code.
The default wrapper `AcadosOcpSolver` is based on ctypes.
"""
with open(json_file, 'r') as f:
acados_ocp_json = json.load(f)
code_export_directory = acados_ocp_json['code_export_directory']
importlib.invalidate_caches()
rel_code_export_directory = os.path.relpath(code_export_directory)
acados_ocp_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_ocp_solver_pyx')
AcadosOcpSolverCython = getattr(acados_ocp_solver_pyx, 'AcadosOcpSolverCython')
return AcadosOcpSolverCython(acados_ocp_json['model']['name'],
acados_ocp_json['solver_options']['nlp_solver_type'],
acados_ocp_json['dims']['N'])
def __init__(self, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True):
self.solver_created = False
self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{self.model_name}.so'
if generate:
self.generate(acados_ocp, json_file=json_file, simulink_opts=simulink_opts)
# load json, store options in object
with open(json_file, 'r') as f:
acados_ocp_json = json.load(f)
self.N = acados_ocp_json['dims']['N']
self.model_name = acados_ocp_json['model']['name']
self.solver_options = acados_ocp_json['solver_options']
acados_lib_path = acados_ocp_json['acados_lib_path']
code_export_directory = acados_ocp_json['code_export_directory']
if build:
self.build(code_export_directory, with_cython=False)
# Load acados library to avoid unloading the library.
# This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
# Unloading a library which uses OpenMP results in a segfault (on any platform?).
# see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
# or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
libacados_name = 'libacados.so'
libacados_filepath = os.path.join(acados_lib_path, libacados_name)
self.__acados_lib = CDLL(libacados_filepath)
# find out if acados was compiled with OpenMP
try:
self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
except AttributeError as e:
self.__acados_lib_uses_omp = False
if self.__acados_lib_uses_omp:
print('acados was compiled with OpenMP.')
else:
print('acados was compiled without OpenMP.')
self.shared_lib_name = f'{code_export_directory}/libacados_ocp_solver_{self.model_name}.so'
# get shared_lib
self.shared_lib = CDLL(self.shared_lib_name)
@ -842,6 +911,8 @@ class AcadosOcpSolver:
# get pointers solver
self.__get_pointers_solver()
self.status = 0
def __get_pointers_solver(self):
"""
@ -864,6 +935,10 @@ class AcadosOcpSolver:
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").restype = c_void_p
self.nlp_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out")(self.capsule)
getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").argtypes = [c_void_p]
getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").restype = c_void_p
self.sens_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out")(self.capsule)
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").argtypes = [c_void_p]
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").restype = c_void_p
self.nlp_in = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in")(self.capsule)
@ -872,46 +947,26 @@ class AcadosOcpSolver:
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").restype = c_void_p
self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule)
# treat parameters separately
getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
self._set_param = getattr(self.shared_lib, f"{self.model_name}_acados_update_params")
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = 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):
"""
Solve the ocp with current input.
"""
getattr(self.shared_lib, f"{self.model_name}_acados_solve").argtypes = [c_void_p]
getattr(self.shared_lib, f"{self.model_name}_acados_solve").restype = c_int
status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
return status
self.status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
return self.status
def set_new_time_steps(self, new_time_steps):
"""
Set new time steps before solving. Only reload library without code generation but with new time steps.
Set new time steps.
Recreates the solver if N changes.
:param new_time_steps: vector of new time steps for the solver
:param new_time_steps: 1 dimensional np array of new time steps for the solver
.. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
.. note:: This allows for different use-cases: either set a new size of time_steps or a new distribution of
the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
do not require a new code export and compilation.
"""
@ -921,15 +976,14 @@ class AcadosOcpSolver:
raise Exception('Solver was not yet created!')
# check if time steps really changed in value
if np.array_equal(self.acados_ocp.solver_options.time_steps, new_time_steps):
if np.array_equal(self.solver_options['time_steps'], new_time_steps):
return
N = new_time_steps.size
model = self.acados_ocp.model
new_time_steps_data = cast(new_time_steps.ctypes.data, POINTER(c_double))
# check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
if self.acados_ocp.solver_options.time_steps.size == N:
if len(self.solver_options['time_steps']) == N:
getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").argtypes = [c_void_p, c_int, c_void_p]
getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").restype = c_int
assert getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps")(self.capsule, N, new_time_steps_data) == 0
@ -941,11 +995,6 @@ class AcadosOcpSolver:
getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
# store N and new time steps
self.N = self.acados_ocp.dims.N = N
self.acados_ocp.solver_options.time_steps = new_time_steps
self.acados_ocp.solver_options.Tsim = self.acados_ocp.solver_options.time_steps[0]
# create solver with new time steps
getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").argtypes = [c_void_p, c_int, c_void_p]
getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").restype = c_int
@ -956,6 +1005,75 @@ class AcadosOcpSolver:
# get pointers solver
self.__get_pointers_solver()
# store time_steps, N
self.solver_options['time_steps'] = new_time_steps
self.N = N
self.solver_options['Tsim'] = self.solver_options['time_steps'][0]
def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
"""
Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
:param qp_solver_cond_N: new number of condensing stages for the solver
.. note:: This function can only be used in combination with a partial condensing QP solver.
.. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
`qp_solver_cond_N < N`.
"""
# unlikely but still possible
if not self.solver_created:
raise Exception('Solver was not yet created!')
if self.N < qp_solver_cond_N:
raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
if self.solver_options['qp_solver_cond_N'] != qp_solver_cond_N:
self.solver_created = False
# recreate the solver
fun_name = f'{self.model_name}_acados_update_qp_solver_cond_N'
getattr(self.shared_lib, fun_name).argtypes = [c_void_p, c_int]
getattr(self.shared_lib, fun_name).restype = c_int
assert getattr(self.shared_lib, fun_name)(self.capsule, qp_solver_cond_N) == 0
# store the new value
self.solver_options['qp_solver_cond_N'] = qp_solver_cond_N
self.solver_created = True
# get pointers solver
self.__get_pointers_solver()
def eval_param_sens(self, index, stage=0, field="ex"):
"""
Calculate the sensitivity of the curent solution with respect to the initial state component of index
:param index: integer corresponding to initial state index in range(nx)
"""
field_ = field
field = field_.encode('utf-8')
# checks
if not isinstance(index, int):
raise Exception('AcadosOcpSolver.eval_param_sens(): index must be Integer.')
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
nx = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
if index < 0 or index > nx:
raise Exception(f'AcadosOcpSolver.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
# actual eval_param
self.shared_lib.ocp_nlp_eval_param_sens.argtypes = [c_void_p, c_char_p, c_int, c_int, c_void_p]
self.shared_lib.ocp_nlp_eval_param_sens.restype = None
self.shared_lib.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
return
def get(self, stage_, field_):
"""
@ -978,23 +1096,30 @@ class AcadosOcpSolver:
out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
# mem_fields = ['sl', 'su']
field = field_
field = field.encode('utf-8')
sens_fields = ['sens_u', "sens_x"]
all_fields = out_fields + sens_fields
if (field_ not in out_fields):
field = field_
if (field_ not in all_fields):
raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
\n Possible values are {}. Exiting.'.format(field_, out_fields))
\n Possible values are {}. Exiting.'.format(field_, all_fields))
if not isinstance(stage_, int):
raise Exception('AcadosOcpSolver.get(): stage index must be Integer.')
if stage_ < 0 or stage_ > self.N:
raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(self.N))
raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(stage_))
if stage_ == self.N and field_ == 'pi':
raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
.format(field_, stage_))
if field_ in sens_fields:
field = field_.replace('sens_', '')
field = field.encode('utf-8')
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
@ -1015,6 +1140,11 @@ class AcadosOcpSolver:
# [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
# self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
# self.nlp_dims, self.nlp_solver, stage_, field, out_data)
elif field_ in sens_fields:
self.shared_lib.ocp_nlp_out_get.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
self.nlp_dims, self.sens_out, stage_, field, out_data)
return out
@ -1029,6 +1159,7 @@ class AcadosOcpSolver:
- res_comp: residual wrt complementarity conditions
- qp_stat: status of QP solver
- qp_iter: number of QP iterations
- alpha: SQP step size
- qp_res_stat: stationarity residual of the last QP solution
- qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
- qp_res_ineq: residual wrt inequality constraints (constraints) of the last QP solution
@ -1036,19 +1167,18 @@ class AcadosOcpSolver:
"""
stat = self.get_stats("statistics")
if self.acados_ocp.solver_options.nlp_solver_type == 'SQP':
print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter')
if stat.shape[0]>7:
if self.solver_options['nlp_solver_type'] == 'SQP':
print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha')
if stat.shape[0]>8:
print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
for jj in range(stat.shape[1]):
print('{:d}\t{:e}\t{:e}\t{:e}\t{:e}\t{:d}\t{:d}'.format( \
int(stat[0][jj]), stat[1][jj], stat[2][jj], \
stat[3][jj], stat[4][jj], int(stat[5][jj]), int(stat[6][jj])))
if stat.shape[0]>7:
print(f'{int(stat[0][jj]):d}\t{stat[1][jj]:e}\t{stat[2][jj]:e}\t{stat[3][jj]:e}\t' +
f'{stat[4][jj]:e}\t{int(stat[5][jj]):d}\t{int(stat[6][jj]):d}\t{stat[7][jj]:e}\t')
if stat.shape[0]>8:
print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
stat[7][jj], stat[8][jj], stat[9][jj], stat[10][jj]))
stat[8][jj], stat[9][jj], stat[10][jj], stat[11][jj]))
print('\n')
elif self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
print('\niter\tqp_stat\tqp_iter')
if stat.shape[0]>3:
print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
@ -1108,6 +1238,7 @@ class AcadosOcpSolver:
with open(filename, 'r') as f:
solution = json.load(f)
print(f"loading iterate {filename}")
for key in solution.keys():
(field, stage) = key.split('_')
self.set(int(stage), field, np.array(solution[key]))
@ -1117,62 +1248,99 @@ class AcadosOcpSolver:
"""
Get the information of the last solver call.
:param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
:param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter', 'residuals', 'qp_iter', 'alpha']
Available fileds:
- time_tot: total CPU time previous call
- time_lin: CPU time for linearization
- time_sim: CPU time for integrator
- time_sim_ad: CPU time for integrator contribution of external function calls
- time_sim_la: CPU time for integrator contribution of linear algebra
- time_qp: CPU time qp solution
- time_qp_solver_call: CPU time inside qp solver (without converting the QP)
- time_qp_xcond: time_glob: CPU time globalization
- time_solution_sensitivities: CPU time for previous call to eval_param_sens
- time_reg: CPU time regularization
- sqp_iter: number of SQP iterations
- qp_iter: vector of QP iterations for last SQP call
- statistics: table with info about last iteration
- stat_m: number of rows in statistics matrix
- stat_n: number of columns in statistics matrix
- residuals: residuals of last iterate
- alpha: step sizes of SQP iterations
"""
fields = ['time_tot', # total cpu time previous call
'time_lin', # cpu time for linearization
'time_sim', # cpu time for integrator
'time_sim_ad', # cpu time for integrator contribution of external function calls
'time_sim_la', # cpu time for integrator contribution of linear algebra
'time_qp', # cpu time qp solution
'time_qp_solver_call', # cpu time inside qp solver (without converting the QP)
double_fields = ['time_tot',
'time_lin',
'time_sim',
'time_sim_ad',
'time_sim_la',
'time_qp',
'time_qp_solver_call',
'time_qp_xcond',
'time_glob', # cpu time globalization
'time_reg', # cpu time regularization
'sqp_iter', # number of SQP iterations
'qp_iter', # vector of QP iterations for last SQP call
'statistics', # table with info about last iteration
'time_glob',
'time_solution_sensitivities',
'time_reg'
]
fields = double_fields + [
'sqp_iter',
'qp_iter',
'statistics',
'stat_m',
'stat_n',]
'stat_n',
'residuals',
'alpha',
]
field = field_.encode('utf-8')
field = field_
field = field.encode('utf-8')
if (field_ not in fields):
raise Exception('AcadosOcpSolver.get_stats(): {} is not a valid argument.\
\n Possible values are {}. Exiting.'.format(fields, fields))
if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
out = np.ascontiguousarray(np.zeros((1,)), dtype=np.int64)
out_data = cast(out.ctypes.data, POINTER(c_int64))
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
return out
# TODO: just return double instead of np.
elif field_ in double_fields:
out = np.zeros((1,))
out_data = cast(out.ctypes.data, POINTER(c_double))
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
return out
elif field_ == 'statistics':
sqp_iter = self.get_stats("sqp_iter")
stat_m = self.get_stats("stat_m")
stat_n = self.get_stats("stat_n")
min_size = min([stat_m, sqp_iter+1])
out = np.ascontiguousarray(
np.zeros((stat_n[0]+1, min_size[0])), dtype=np.float64)
out_data = cast(out.ctypes.data, POINTER(c_double))
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
return out
elif field_ == 'qp_iter':
full_stats = self.get_stats('statistics')
if self.acados_ocp.solver_options.nlp_solver_type == 'SQP':
out = full_stats[6, :]
elif self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
out = full_stats[2, :]
if self.solver_options['nlp_solver_type'] == 'SQP':
return full_stats[6, :]
elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
return full_stats[2, :]
elif field_ == 'alpha':
full_stats = self.get_stats('statistics')
if self.solver_options['nlp_solver_type'] == 'SQP':
return full_stats[7, :]
else: # self.solver_options['nlp_solver_type'] == 'SQP_RTI':
raise Exception("alpha values are not available for SQP_RTI")
elif field_ == 'residuals':
return self.get_residuals()
else:
out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
out_data = cast(out.ctypes.data, POINTER(c_double))
if not field_ == 'qp_iter':
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
return out
raise Exception(f'AcadosOcpSolver.get_stats(): {field} is not a valid argument.'
+ f'\n Possible values are {fields}.')
def get_cost(self):
@ -1201,7 +1369,7 @@ class AcadosOcpSolver:
Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
"""
# compute residuals if RTI
if self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
if self.solver_options['nlp_solver_type'] == 'SQP_RTI':
self.shared_lib.ocp_nlp_eval_residuals.argtypes = [c_void_p, c_void_p, c_void_p]
self.shared_lib.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
@ -1230,9 +1398,7 @@ class AcadosOcpSolver:
# Note: this function should not be used anymore, better use cost_set, constraints_set
def set(self, stage_, field_, value_):
"""
Set numerical data inside the solver.
@ -1253,6 +1419,7 @@ class AcadosOcpSolver:
cost_fields = ['y_ref', 'yref']
constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
mem_fields = ['xdot_guess']
# cast value_ to avoid conversion issues
if isinstance(value_, (float, int)):
@ -1294,18 +1461,25 @@ class AcadosOcpSolver:
value_data_p = cast((value_data), c_void_p)
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.nlp_dims, self.nlp_in, stage, field, value_data_p)
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.nlp_dims, self.nlp_in, stage, field, value_data_p)
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.nlp_dims, self.nlp_out, stage, field, value_data_p)
# elif field_ in mem_fields:
# self.shared_lib.ocp_nlp_set(self.nlp_config, \
# self.nlp_solver, stage, field, value_data_p)
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.nlp_solver, stage, field, value_data_p)
return
@ -1364,9 +1538,8 @@ class AcadosOcpSolver:
raise Exception("Unknown api: '{}'".format(api))
if value_shape != tuple(dims):
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
' for field "{}" with dimension {} (you have {})'.format( \
field_, tuple(dims), value_shape))
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension' +
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
value_data = cast(value_.ctypes.data, POINTER(c_double))
value_data_p = cast((value_data), c_void_p)
@ -1433,8 +1606,8 @@ class AcadosOcpSolver:
raise Exception("Unknown api: '{}'".format(api))
if value_shape != tuple(dims):
raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
raise Exception(f'AcadosOcpSolver.constraints_set(): mismatching dimension' +
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
value_data = cast(value_.ctypes.data, POINTER(c_double))
value_data_p = cast((value_data), c_void_p)
@ -1490,11 +1663,11 @@ class AcadosOcpSolver:
"""
Set options of the solver.
:param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction'
:param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC'
:param value: of type int, float
"""
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks']
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction']
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC']
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent']
string_fields = ['globalization']
# check field availability and type
@ -1522,10 +1695,10 @@ class AcadosOcpSolver:
if field_ == 'rti_phase':
if value_ < 0 or value_ > 2:
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
'take only values 0, 1, 2 for SQP-RTI-type solvers')
if self.acados_ocp.solver_options.nlp_solver_type != 'SQP_RTI' and value_ > 0:
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
if self.solver_options['nlp_solver_type'] != 'SQP_RTI' and value_ > 0:
raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
'take only value 0 for SQP-type solvers')
# encode

402
pyextra/acados_template/acados_ocp_solver_fast.py
View File

@ -1,402 +0,0 @@
import sys
import os
import json
import numpy as np
from datetime import datetime
from ctypes import POINTER, CDLL, c_void_p, c_int, cast, c_double, c_char_p
from copy import deepcopy
from .generate_c_code_explicit_ode import generate_c_code_explicit_ode
from .generate_c_code_implicit_ode import generate_c_code_implicit_ode
from .generate_c_code_gnsf import generate_c_code_gnsf
from .generate_c_code_discrete_dynamics import generate_c_code_discrete_dynamics
from .generate_c_code_constraint import generate_c_code_constraint
from .generate_c_code_nls_cost import generate_c_code_nls_cost
from .generate_c_code_external_cost import generate_c_code_external_cost
from .acados_ocp import AcadosOcp
from .acados_model import acados_model_strip_casadi_symbolics
from .utils import is_column, is_empty, casadi_length, render_template, acados_class2dict,\
format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
set_up_imported_gnsf_model, get_acados_path
class AcadosOcpSolverFast:
dlclose = CDLL(None).dlclose
dlclose.argtypes = [c_void_p]
def __init__(self, model_name, N, code_export_dir):
self.solver_created = False
self.N = N
self.model_name = model_name
self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{model_name}.so'
# get shared_lib
self.shared_lib = CDLL(self.shared_lib_name)
# create capsule
getattr(self.shared_lib, f"{model_name}_acados_create_capsule").restype = c_void_p
self.capsule = getattr(self.shared_lib, f"{model_name}_acados_create_capsule")()
# create solver
getattr(self.shared_lib, f"{model_name}_acados_create").argtypes = [c_void_p]
getattr(self.shared_lib, f"{model_name}_acados_create").restype = c_int
assert getattr(self.shared_lib, f"{model_name}_acados_create")(self.capsule)==0
self.solver_created = True
# get pointers solver
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts").restype = c_void_p
self.nlp_opts = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts")(self.capsule)
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims").argtypes = [c_void_p]
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims").restype = c_void_p
self.nlp_dims = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims")(self.capsule)
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config").argtypes = [c_void_p]
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config").restype = c_void_p
self.nlp_config = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config")(self.capsule)
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out").argtypes = [c_void_p]
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out").restype = c_void_p
self.nlp_out = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out")(self.capsule)
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in").argtypes = [c_void_p]
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in").restype = c_void_p
self.nlp_in = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in")(self.capsule)
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver").argtypes = [c_void_p]
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver").restype = c_void_p
self.nlp_solver = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver")(self.capsule)
def solve(self):
"""
Solve the ocp with current input.
"""
model_name = self.model_name
getattr(self.shared_lib, f"{model_name}_acados_solve").argtypes = [c_void_p]
getattr(self.shared_lib, f"{model_name}_acados_solve").restype = c_int
status = getattr(self.shared_lib, f"{model_name}_acados_solve")(self.capsule)
return status
def cost_set(self, start_stage_, field_, value_, api='warn'):
self.cost_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
return
def cost_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
"""
Set numerical data in the cost module of the solver.
:param stage: integer corresponding to shooting node
:param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
:param value: of appropriate size
"""
# cast value_ to avoid conversion issues
if isinstance(value_, (float, int)):
value_ = np.array([value_])
value_ = np.ascontiguousarray(np.copy(value_), dtype=np.float64)
field = field_
field = field.encode('utf-8')
dim = np.product(value_.shape[1:])
start_stage = c_int(start_stage_)
end_stage = c_int(end_stage_)
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
dims_data = cast(dims.ctypes.data, POINTER(c_int))
self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config,
self.nlp_dims, self.nlp_out, start_stage_, field, dims_data)
value_shape = value_.shape
expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
if len(value_shape) == 2:
value_shape = (value_shape[0], value_shape[1], 0)
elif len(value_shape) == 3:
if api=='old':
pass
elif api=='warn':
if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
raise Exception("Ambiguity in API detected.\n"
"Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n"
"Are you seeing this error suddenly in previously running code? Read on.\n"
" You are relying on a now-fixed bug in cost_set for field '{}'.\n".format(field_) +
" acados_template now correctly passes on any matrices to acados in column major format.\n" +
" Two options to fix this error: \n" +
" * Add api='old' to cost_set to restore old incorrect behaviour\n" +
" * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " +
"such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
"If there is no such manipulation, then you have probably been getting an incorrect solution before.")
# Get elements in column major order
value_ = np.ravel(value_, order='F')
elif api=='new':
# Get elements in column major order
value_ = np.ravel(value_, order='F')
else:
raise Exception("Unknown api: '{}'".format(api))
if value_shape != expected_shape:
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension',
' for field "{}" with dimension {} (you have {})'.format(
field_, expected_shape, value_shape))
value_data = cast(value_.ctypes.data, POINTER(c_double))
value_data_p = cast((value_data), c_void_p)
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]
self.shared_lib.ocp_nlp_cost_model_set_slice(self.nlp_config,
self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
return
def constraints_set(self, start_stage_, field_, value_, api='warn'):
self.constraints_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
return
def constraints_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
"""
Set numerical data in the constraint module of the solver.
:param stage: integer corresponding to shooting node
:param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi']
:param value: of appropriate size
"""
# cast value_ to avoid conversion issues
if isinstance(value_, (float, int)):
value_ = np.array([value_])
value_ = value_.astype(float)
field = field_
field = field.encode('utf-8')
dim = np.product(value_.shape[1:])
start_stage = c_int(start_stage_)
end_stage = c_int(end_stage_)
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
dims_data = cast(dims.ctypes.data, POINTER(c_int))
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, start_stage_, field, dims_data)
value_shape = value_.shape
expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
if len(value_shape) == 2:
value_shape = (value_shape[0], value_shape[1], 0)
elif len(value_shape) == 3:
if api=='old':
pass
elif api=='warn':
if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
raise Exception("Ambiguity in API detected.\n"
"Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n"
"Are you seeing this error suddenly in previously running code? Read on.\n"
" You are relying on a now-fixed bug in constraints_set for field '{}'.\n".format(field_) +
" acados_template now correctly passes on any matrices to acados in column major format.\n" +
" Two options to fix this error: \n" +
" * Add api='old' to constraints_set to restore old incorrect behaviour\n" +
" * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " +
"such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
"If there is no such manipulation, then you have probably been getting an incorrect solution before.")
# Get elements in column major order
value_ = np.ravel(value_, order='F')
elif api=='new':
# Get elements in column major order
value_ = np.ravel(value_, order='F')
else:
raise Exception("Unknown api: '{}'".format(api))
if value_shape != expected_shape:
raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
' for field "{}" with dimension {} (you have {})'.format(field_, expected_shape, value_shape))
value_data = cast(value_.ctypes.data, POINTER(c_double))
value_data_p = cast((value_data), c_void_p)
self.shared_lib.ocp_nlp_constraints_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]
self.shared_lib.ocp_nlp_constraints_model_set_slice(self.nlp_config, \
self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
return
# Note: this function should not be used anymore, better use cost_set, constraints_set
def set(self, stage_, field_, value_):
"""
Set numerical data inside the solver.
:param stage: integer corresponding to shooting node
:param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
.. note:: regarding lam, t: \n
the inequalities are internally organized in the following order: \n
[ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
.. note:: pi: multipliers for dynamics equality constraints \n
lam: multipliers for inequalities \n
t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
sl: slack variables of soft lower inequality constraints \n
su: slack variables of soft upper inequality constraints \n
"""
cost_fields = ['y_ref', 'yref']
constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
out_fields = ['x', 'u', 'pi', 'lam', 't', 'z']
mem_fields = ['sl', 'su']
# cast value_ to avoid conversion issues
if isinstance(value_, (float, int)):
value_ = np.array([value_])
value_ = value_.astype(float)
model_name = self.model_name
field = field_
field = field.encode('utf-8')
stage = c_int(stage_)
# treat parameters separately
if field_ == 'p':
getattr(self.shared_lib, f"{model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
getattr(self.shared_lib, f"{model_name}_acados_update_params").restype = c_int
value_data = cast(value_.ctypes.data, POINTER(c_double))
assert getattr(self.shared_lib, f"{model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
else:
if field_ not in constraints_fields + cost_fields + out_fields + mem_fields:
raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
\nPossible values are {}. Exiting.".format(field, \
constraints_fields + cost_fields + out_fields + ['p']))
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage_, field)
if value_.shape[0] != dims:
msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
msg += 'with dimension {} (you have {})'.format(dims, value_.shape)
raise Exception(msg)
value_data = cast(value_.ctypes.data, POINTER(c_double))
value_data_p = cast((value_data), c_void_p)
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.nlp_dims, self.nlp_in, stage, field, value_data_p)
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.nlp_dims, self.nlp_in, stage, field, value_data_p)
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.nlp_dims, self.nlp_out, stage, field, value_data_p)
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.nlp_solver, stage, field, value_data_p)
return
def get_slice(self, start_stage_, end_stage_, field_):
"""
Get the last solution of the solver:
:param start_stage: integer corresponding to shooting node that indicates start of slice
:param end_stage: integer corresponding to shooting node that indicates end of slice
:param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
.. note:: regarding lam, t: \n
the inequalities are internally organized in the following order: \n
[ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
.. note:: pi: multipliers for dynamics equality constraints \n
lam: multipliers for inequalities \n
t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
sl: slack variables of soft lower inequality constraints \n
su: slack variables of soft upper inequality constraints \n
"""
out_fields = ['x', 'u', 'z', 'pi', 'lam', 't']
mem_fields = ['sl', 'su']
field = field_
field = field.encode('utf-8')
if (field_ not in out_fields + mem_fields):
raise Exception('AcadosOcpSolver.get_slice(): {} is an invalid argument.\
\n Possible values are {}. Exiting.'.format(field_, out_fields))
if not isinstance(start_stage_, int):
raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
if not isinstance(end_stage_, int):
raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
if start_stage_ >= end_stage_:
raise Exception('AcadosOcpSolver.get_slice(): end stage index must be larger than start stage index')
if start_stage_ < 0 or end_stage_ > self.N + 1:
raise Exception('AcadosOcpSolver.get_slice(): stage index must be in [0, N], got: {}.'.format(self.N))
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, start_stage_, field)
out = np.ascontiguousarray(np.zeros((end_stage_ - start_stage_, dims)), dtype=np.float64)
out_data = cast(out.ctypes.data, POINTER(c_double))
if (field_ in out_fields):
self.shared_lib.ocp_nlp_out_get_slice.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_out_get_slice(self.nlp_config, \
self.nlp_dims, self.nlp_out, start_stage_, end_stage_, field, out_data)
elif field_ in mem_fields:
self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
self.nlp_dims, self.nlp_solver, start_stage_, end_stage_, field, out_data)
return out
def get_cost(self):
"""
Returns the cost value of the current solution.
"""
# compute cost internally
self.shared_lib.ocp_nlp_eval_cost.argtypes = [c_void_p, c_void_p, c_void_p]
self.shared_lib.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
# create output array
out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
out_data = cast(out.ctypes.data, POINTER(c_double))
# call getter
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
field = "cost_value".encode('utf-8')
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
return out[0]

262
pyextra/acados_template/acados_ocp_solver_pyx.pyx
View File

@ -39,22 +39,19 @@ cimport cython
from libc cimport string
cimport acados_solver_common
# TODO: make this import more clear? it is not a general solver, but problem specific.
cimport acados_solver
cimport numpy as cnp
import os
import json
from datetime import datetime
import numpy as np
cdef class AcadosOcpSolverFast:
cdef class AcadosOcpSolverCython:
"""
Class to interact with the acados ocp solver C object.
:param model_name:
:param N:
"""
cdef acados_solver.nlp_solver_capsule *capsule
@ -62,19 +59,26 @@ cdef class AcadosOcpSolverFast:
cdef acados_solver_common.ocp_nlp_dims *nlp_dims
cdef acados_solver_common.ocp_nlp_config *nlp_config
cdef acados_solver_common.ocp_nlp_out *nlp_out
cdef acados_solver_common.ocp_nlp_out *sens_out
cdef acados_solver_common.ocp_nlp_in *nlp_in
cdef acados_solver_common.ocp_nlp_solver *nlp_solver
cdef str model_name
cdef int N
cdef int status
cdef bint solver_created
def __cinit__(self, str model_name, int N):
self.model_name = model_name
self.N = N
cdef str model_name
cdef int N
cdef str nlp_solver_type
def __cinit__(self, model_name, nlp_solver_type, N):
self.solver_created = False
self.N = N
self.model_name = model_name
self.nlp_solver_type = nlp_solver_type
# create capsule
self.capsule = acados_solver.acados_create_capsule()
@ -82,11 +86,21 @@ cdef class AcadosOcpSolverFast:
assert acados_solver.acados_create(self.capsule) == 0
self.solver_created = True
# get pointers solver
self.__get_pointers_solver()
self.status = 0
def __get_pointers_solver(self):
"""
Private function to get the pointers for solver
"""
# get pointers solver
self.nlp_opts = acados_solver.acados_get_nlp_opts(self.capsule)
self.nlp_dims = acados_solver.acados_get_nlp_dims(self.capsule)
self.nlp_config = acados_solver.acados_get_nlp_config(self.capsule)
self.nlp_out = acados_solver.acados_get_nlp_out(self.capsule)
self.sens_out = acados_solver.acados_get_sens_out(self.capsule)
self.nlp_in = acados_solver.acados_get_nlp_in(self.capsule)
self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule)
@ -100,15 +114,112 @@ cdef class AcadosOcpSolverFast:
def set_new_time_steps(self, new_time_steps):
"""
Set new time steps before solving. Only reload library without code generation but with new time steps.
Set new time steps.
Recreates the solver if N changes.
:param new_time_steps: vector of new time steps for the solver
:param new_time_steps: 1 dimensional np array of new time steps for the solver
.. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
do not require a new code export and compilation.
"""
raise NotImplementedError()
raise NotImplementedError("AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature")
# # unlikely but still possible
# if not self.solver_created:
# raise Exception('Solver was not yet created!')
# ## check if time steps really changed in value
# # get time steps
# cdef cnp.ndarray[cnp.float64_t, ndim=1] old_time_steps = np.ascontiguousarray(np.zeros((self.N,)), dtype=np.float64)
# assert acados_solver.acados_get_time_steps(self.capsule, self.N, <double *> old_time_steps.data)
# if np.array_equal(old_time_steps, new_time_steps):
# return
# N = new_time_steps.size
# cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(new_time_steps, dtype=np.float64)
# # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
# if len(old_time_steps) == N:
# assert acados_solver.acados_update_time_steps(self.capsule, N, <double *> value.data) == 0
# else: # recreate the solver with the new time steps
# self.solver_created = False
# # delete old memory (analog to __del__)
# acados_solver.acados_free(self.capsule)
# # create solver with new time steps
# assert acados_solver.acados_create_with_discretization(self.capsule, N, <double *> value.data) == 0
# self.solver_created = True
# # get pointers solver
# self.__get_pointers_solver()
# # store time_steps, N
# self.time_steps = new_time_steps
# self.N = N
def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
"""
Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
:param qp_solver_cond_N: new number of condensing stages for the solver
.. note:: This function can only be used in combination with a partial condensing QP solver.
.. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
`qp_solver_cond_N < N`.
"""
raise NotImplementedError("AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature")
# # unlikely but still possible
# if not self.solver_created:
# raise Exception('Solver was not yet created!')
# if self.N < qp_solver_cond_N:
# raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
# if self.qp_solver_cond_N != qp_solver_cond_N:
# self.solver_created = False
# # recreate the solver
# acados_solver.acados_update_qp_solver_cond_N(self.capsule, qp_solver_cond_N)
# # store the new value
# self.qp_solver_cond_N = qp_solver_cond_N
# self.solver_created = True
# # get pointers solver
# self.__get_pointers_solver()
def eval_param_sens(self, index, stage=0, field="ex"):
"""
Calculate the sensitivity of the curent solution with respect to the initial state component of index
:param index: integer corresponding to initial state index in range(nx)
"""
field_ = field
field = field_.encode('utf-8')
# checks
if not isinstance(index, int):
raise Exception('AcadosOcpSolverCython.eval_param_sens(): index must be Integer.')
cdef int nx = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
if index < 0 or index > nx:
raise Exception(f'AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
# actual eval_param
acados_solver_common.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
return
def get(self, int stage, str field_):
@ -134,14 +245,14 @@ cdef class AcadosOcpSolverFast:
field = field_.encode('utf-8')
if field_ not in out_fields:
raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\
\n Possible values are {}. Exiting.'.format(field_, out_fields))
if stage < 0 or stage > self.N:
raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(self.N))
raise Exception('AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}.'.format(self.N))
if stage == self.N and field_ == 'pi':
raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
raise Exception('AcadosOcpSolverCython.get(): field {} does not exist at final stage {}.'\
.format(field_, stage))
cdef int dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
@ -179,6 +290,7 @@ cdef class AcadosOcpSolverFast:
:param filename: if not set, use model_name + timestamp + '.json'
:param overwrite: if false and filename exists add timestamp to filename
"""
import json
if filename == '':
filename += self.model_name + '_' + 'iterate' + '.json'
@ -212,6 +324,7 @@ cdef class AcadosOcpSolverFast:
"""
Loads the iterate stored in json file with filename into the ocp solver.
"""
import json
if not os.path.isfile(filename):
raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
@ -228,34 +341,53 @@ cdef class AcadosOcpSolverFast:
Get the information of the last solver call.
:param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
Available fileds:
- time_tot: total CPU time previous call
- time_lin: CPU time for linearization
- time_sim: CPU time for integrator
- time_sim_ad: CPU time for integrator contribution of external function calls
- time_sim_la: CPU time for integrator contribution of linear algebra
- time_qp: CPU time qp solution
- time_qp_solver_call: CPU time inside qp solver (without converting the QP)
- time_qp_xcond: time_glob: CPU time globalization
- time_solution_sensitivities: CPU time for previous call to eval_param_sens
- time_reg: CPU time regularization
- sqp_iter: number of SQP iterations
- qp_iter: vector of QP iterations for last SQP call
- statistics: table with info about last iteration
- stat_m: number of rows in statistics matrix
- stat_n: number of columns in statistics matrix
- residuals: residuals of last iterate
- alpha: step sizes of SQP iterations
"""
fields = ['time_tot', # total cpu time previous call
'time_lin', # cpu time for linearization
'time_sim', # cpu time for integrator
'time_sim_ad', # cpu time for integrator contribution of external function calls
'time_sim_la', # cpu time for integrator contribution of linear algebra
'time_qp', # cpu time qp solution
'time_qp_solver_call', # cpu time inside qp solver (without converting the QP)
double_fields = ['time_tot',
'time_lin',
'time_sim',
'time_sim_ad',
'time_sim_la',
'time_qp',
'time_qp_solver_call',
'time_qp_xcond',
'time_glob', # cpu time globalization
'time_reg', # cpu time regularization
'sqp_iter', # number of SQP iterations
'qp_iter', # vector of QP iterations for last SQP call
'statistics', # table with info about last iteration
'time_glob',
'time_solution_sensitivities',
'time_reg'
]
fields = double_fields + [
'sqp_iter',
'qp_iter',
'statistics',
'stat_m',
'stat_n',]
field = field_
field = field.encode('utf-8')
if (field_ not in fields):
raise Exception('AcadosOcpSolver.get_stats(): {} is not a valid argument.\
\n Possible values are {}. Exiting.'.format(fields, fields))
'stat_n',
'residuals',
'alpha',
]
field = field_.encode('utf-8')
if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
return self.__get_stat_int(field)
elif field_.startswith('time'):
elif field_ in double_fields:
return self.__get_stat_double(field)
elif field_ == 'statistics':
@ -266,14 +398,24 @@ cdef class AcadosOcpSolverFast:
return self.__get_stat_matrix(field, stat_n+1, min_size)
elif field_ == 'qp_iter':
NotImplementedError("TODO! Cython not aware if SQP or SQP_RTI")
full_stats = self.get_stats('statistics')
if self.acados_ocp.solver_options.nlp_solver_type == 'SQP':
out = full_stats[6, :]
elif self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
out = full_stats[2, :]
if self.nlp_solver_type == 'SQP':
return full_stats[6, :]
elif self.nlp_solver_type == 'SQP_RTI':
return full_stats[2, :]
elif field_ == 'alpha':
full_stats = self.get_stats('statistics')
if self.nlp_solver_type == 'SQP':
return full_stats[7, :]
else: # self.nlp_solver_type == 'SQP_RTI':
raise Exception("alpha values are not available for SQP_RTI")
elif field_ == 'residuals':
return self.get_residuals()
else:
NotImplementedError("TODO!")
raise NotImplementedError("TODO!")
def __get_stat_int(self, field):
@ -312,10 +454,9 @@ cdef class AcadosOcpSolverFast:
"""
Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
"""
# TODO: check if RTI, only eval then
# if self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
# compute residuals if RTI
acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
if self.nlp_solver_type == 'SQP_RTI':
acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
# create output array
cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((4,), dtype=np.float64))
@ -363,6 +504,7 @@ cdef class AcadosOcpSolverFast:
cost_fields = ['y_ref', 'yref']
constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
mem_fields = ['xdot_guess']
field = field_.encode('utf-8')
@ -373,7 +515,7 @@ cdef class AcadosOcpSolverFast:
assert acados_solver.acados_update_params(self.capsule, stage, <double *> value.data, value.shape[0]) == 0
else:
if field_ not in constraints_fields + cost_fields + out_fields:
raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\
\nPossible values are {}. Exiting.".format(field, \
constraints_fields + cost_fields + out_fields + ['p']))
@ -381,7 +523,7 @@ cdef class AcadosOcpSolverFast:
self.nlp_dims, self.nlp_out, stage, field)
if value_.shape[0] != dims:
msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
msg = 'AcadosOcpSolverCython.set(): mismatching dimension for field "{}" '.format(field_)
msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
raise Exception(msg)
@ -394,6 +536,9 @@ cdef class AcadosOcpSolverFast:
elif field_ in out_fields:
acados_solver_common.ocp_nlp_out_set(self.nlp_config,
self.nlp_dims, self.nlp_out, stage, field, <void *> value.data)
elif field_ in mem_fields:
acados_solver_common.ocp_nlp_set(self.nlp_config, \
self.nlp_solver, stage, field, <void *> value.data)
def cost_set(self, int stage, str field_, value_):
@ -422,9 +567,8 @@ cdef class AcadosOcpSolverFast:
value = np.asfortranarray(value_)
if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
' for field "{}" with dimension {} (you have {})'.format( \
field_, tuple(dims), value_shape))
raise Exception('AcadosOcpSolverCython.cost_set(): mismatching dimension' +
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
@ -456,8 +600,8 @@ cdef class AcadosOcpSolverFast:
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))
raise Exception(f'AcadosOcpSolverCython.constraints_set(): mismatching dimension' +
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
@ -494,8 +638,8 @@ cdef class AcadosOcpSolverFast:
:param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction'
:param value: of type int, float
"""
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks']
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction']
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC']
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent']
string_fields = ['globalization']
# encode
@ -512,10 +656,10 @@ cdef class AcadosOcpSolverFast:
if field_ == 'rti_phase':
if value_ < 0 or value_ > 2:
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
'take only values 0, 1, 2 for SQP-RTI-type solvers')
if self.acados_ocp.solver_options.nlp_solver_type != 'SQP_RTI' and value_ > 0:
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
if self.nlp_solver_type != 'SQP_RTI' and value_ > 0:
raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
'take only value 0 for SQP-type solvers')
int_value = value_
@ -536,7 +680,7 @@ cdef class AcadosOcpSolverFast:
acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &string_value[0])
else:
raise Exception('AcadosOcpSolver.options_set() does not support field {}.'\
raise Exception('AcadosOcpSolverCython.options_set() does not support field {}.'\
'\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))

9
pyextra/acados_template/acados_sim.py
View File

@ -70,28 +70,28 @@ class AcadosSimDims:
@nx.setter
def nx(self, nx):
if type(nx) == int and nx > 0:
if isinstance(nx, int) and nx > 0:
self.__nx = nx
else:
raise Exception('Invalid nx value, expected positive integer. Exiting.')
@nz.setter
def nz(self, nz):
if type(nz) == int and nz > -1:
if isinstance(nz, int) and nz > -1:
self.__nz = nz
else:
raise Exception('Invalid nz value, expected nonnegative integer. Exiting.')
@nu.setter
def nu(self, nu):
if type(nu) == int and nu > -1:
if isinstance(nu, int) and nu > -1:
self.__nu = nu
else:
raise Exception('Invalid nu value, expected nonnegative integer. Exiting.')
@np.setter
def np(self, np):
if type(np) == int and np > -1:
if isinstance(np, int) and np > -1:
self.__np = np
else:
raise Exception('Invalid np value, expected nonnegative integer. Exiting.')
@ -302,6 +302,7 @@ class AcadosSim:
self.code_export_directory = 'c_generated_code'
"""Path to where code will be exported. Default: `c_generated_code`."""
self.cython_include_dirs = ''
self.__parameter_values = np.array([])
@property

18
pyextra/acados_template/acados_sim_solver.py
View File

@ -215,6 +215,24 @@ class AcadosSimSolver:
model_name = self.sim_struct.model.name
self.model_name = model_name
# Load acados library to avoid unloading the library.
# This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
# Unloading a library which uses OpenMP results in a segfault (on any platform?).
# see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
# or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
libacados_name = 'libacados.so'
libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name)
self.__acados_lib = CDLL(libacados_filepath)
# find out if acados was compiled with OpenMP
try:
self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
except AttributeError as e:
self.__acados_lib_uses_omp = False
if self.__acados_lib_uses_omp:
print('acados was compiled with OpenMP.')
else:
print('acados was compiled without OpenMP.')
# Ctypes
shared_lib = f'{code_export_dir}/libacados_sim_solver_{model_name}.so'
self.shared_lib = CDLL(shared_lib)

1
pyextra/acados_template/acados_solver_common.pxd
View File

@ -95,6 +95,7 @@ cdef extern from "acados_c/ocp_nlp_interface.h":
# solver
void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)
void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out)
void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in_, ocp_nlp_out *nlp_out)
# get/set

480
pyextra/acados_template/c_templates_tera/Makefile.in
View File

@ -125,134 +125,134 @@
{%- endif %}
{%- endif %}
{# acados flags #}
ACADOS_FLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
ACADOS_FLAGS += -DACADOS_WITH_QPOASES
{%- endif %}
{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
ACADOS_FLAGS += -DACADOS_WITH_OSQP
{%- endif %}
{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
ACADOS_FLAGS += -DACADOS_WITH_QPDUNES
{%- endif %}
# # Debugging
# ACADOS_FLAGS += -g3
# define sources and use make's implicit rules to generate object files (*.o)
MODEL_OBJ=
# model
MODEL_SRC=
{%- if solver_options.integrator_type == "ERK" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.o
{%- if hessian_approx == "EXACT" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.o
{%- endif %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
{%- if hessian_approx == "EXACT" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
{%- endif %}
{%- elif solver_options.integrator_type == "IRK" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.o
{%- if hessian_approx == "EXACT" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
{%- endif %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
{%- if hessian_approx == "EXACT" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
{%- endif %}
{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.o
{%- if hessian_approx == "EXACT" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
{%- endif %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
{%- if hessian_approx == "EXACT" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
{%- endif %}
{%- elif solver_options.integrator_type == "GNSF" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.o
{% if model.gnsf.purely_linear != 1 %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
{% if model.gnsf.nontrivial_f_LO == 1 %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
{%- endif %}
{%- endif %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
{%- elif solver_options.integrator_type == "DISCRETE" %}
{%- if model.dyn_ext_fun_type == "casadi" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.o
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.o
{%- if hessian_approx == "EXACT" %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.o
{%- endif %}
{%- else %}
MODEL_OBJ+= {{ model.name }}_model/{{ model.dyn_source_discrete }}
{%- endif %}
{%- if model.dyn_ext_fun_type == "casadi" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
{%- if hessian_approx == "EXACT" %}
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
{%- endif %}
{%- else %}
MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_source_discrete }}
{%- endif %}
{%- endif %}
MODEL_OBJ := $(MODEL_SRC:.c=.o)
OCP_OBJ=
# optimal control problem - mostly CasADi exports
OCP_SRC=
{%- if constr_type == "BGP" and dims_nphi > 0 %}
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.o
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
{%- endif %}
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.o
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
{%- endif %}
{%- if constr_type == "BGH" and dims_nh > 0 %}
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.o
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.o
{%- if hessian_approx == "EXACT" %}
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.o
{%- endif %}
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
{%- if hessian_approx == "EXACT" %}
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
{%- endif %}
{%- endif %}
{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.o
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.o
{%- if hessian_approx == "EXACT" %}
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.o
{%- endif %}
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
{%- if hessian_approx == "EXACT" %}
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
{%- endif %}
{%- endif %}
{%- if cost_type_0 == "NONLINEAR_LS" %}
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
{%- elif cost_type_0 == "EXTERNAL" %}
{% if cost.cost_ext_fun_type_0 == "casadi" %}
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
{% else %}
OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
{% endif %}
{%- if cost.cost_ext_fun_type_0 == "casadi" %}
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
{%- else %}
OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
{%- endif %}
{%- endif %}
{%- if cost_type == "NONLINEAR_LS" %}
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
{%- elif cost_type == "EXTERNAL" %}
{% if cost.cost_ext_fun_type == "casadi" %}
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
{% elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
{% endif %}
{%- if cost.cost_ext_fun_type == "casadi" %}
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
{%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
{%- endif %}
{%- endif %}
{%- if cost_type_e == "NONLINEAR_LS" %}
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
{%- elif cost_type_e == "EXTERNAL" %}
{% if cost.cost_ext_fun_type_e == "casadi" %}
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
{% elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
{% endif %}
{%- if cost.cost_ext_fun_type_e == "casadi" %}
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
{%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
{%- endif %}
{%- endif %}
OCP_OBJ+= acados_solver_{{ model.name }}.o
OCP_SRC+= acados_solver_{{ model.name }}.c
OCP_OBJ := $(OCP_SRC:.c=.o)
# for sim solver
SIM_SRC= acados_sim_solver_{{ model.name }}.c
SIM_OBJ := $(SIM_SRC:.c=.o)
SIM_OBJ=
SIM_OBJ+= acados_sim_solver_{{ model.name }}.o
# for target example
EX_SRC= main_{{ model.name }}.c
EX_OBJ := $(EX_SRC:.c=.o)
EX_EXE := $(EX_SRC:.c=)
EX_OBJ=
EX_OBJ+= main_{{ model.name }}.o
EX_SIM_OBJ=
EX_SIM_OBJ+= main_sim_{{ model.name }}.o
# for target example_sim
EX_SIM_SRC= main_sim_{{ model.name }}.c
EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
EX_SIM_EXE := $(EX_SIM_SRC:.c=)
# combine model, sim and ocp object files
OBJ=
OBJ+= $(MODEL_OBJ)
{%- if solver_options.integrator_type != "DISCRETE" %}
@ -271,233 +271,103 @@ EXTERNAL_LIB+= {{ model_external_shared_lib_name }}
INCLUDE_PATH = {{ acados_include_path }}
LIB_PATH = {{ acados_lib_path }}
{%- if solver_options.integrator_type == "DISCRETE" %}
all: clean casadi_fun example
# preprocessor flags for make's implicit rules
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
CPPFLAGS += -DACADOS_WITH_QPOASES
{%- endif %}
{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
CPPFLAGS += -DACADOS_WITH_OSQP
{%- endif %}
{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
CPPFLAGS += -DACADOS_WITH_QPDUNES
{%- endif %}
CPPFLAGS+= -I$(INCLUDE_PATH)
CPPFLAGS+= -I$(INCLUDE_PATH)/acados
CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/
{%- endif %}
{# c-compiler flags #}
# define the c-compiler flags for make's implicit rules
CFLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g
# # Debugging
# CFLAGS += -g3
# linker flags
LDFLAGS+= -L$(LIB_PATH)
# link to libraries
LDLIBS+= -lacados
LDLIBS+= -lhpipm
LDLIBS+= -lblasfeo
LDLIBS+= -lm
LDLIBS+= {{ link_libs }}
# libraries
LIBACADOS_SOLVER=libacados_solver_{{ model.name }}.so
LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}.so
LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so)
# virtual targets
.PHONY : all clean
#all: clean example_sim example shared_lib
{% if solver_options.integrator_type == "DISCRETE" -%}
all: clean example
shared_lib: ocp_shared_lib
{%- else %}
all: clean casadi_fun example_sim example
all: clean example_sim example
shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
{%- endif %}
CASADI_MODEL_SOURCE=
{%- if solver_options.integrator_type == "ERK" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_fun.c
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_vde_forw.c
{%- if hessian_approx == "EXACT" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_hess.c
{%- endif %}
{%- elif solver_options.integrator_type == "IRK" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
{%- if hessian_approx == "EXACT" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
{%- endif %}
{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
{%- if hessian_approx == "EXACT" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
{%- endif %}
{%- elif solver_options.integrator_type == "GNSF" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun.c
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun_jac_y.c
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_jac_y_uhat.c
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_get_matrices_fun.c
{%- elif solver_options.integrator_type == "DISCRETE" and model.dyn_ext_fun_type == "casadi" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun.c
CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun_jac.c
{%- if hessian_approx == "EXACT" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun_jac_hess.c
{%- endif %}
{%- endif %}
{%- if constr_type == "BGP" and dims_nphi > 0 %}
CASADI_CON_PHI_SOURCE=
CASADI_CON_PHI_SOURCE+= {{ model.name }}_phi_constraint.c
{%- endif %}
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
CASADI_CON_PHI_E_SOURCE=
CASADI_CON_PHI_E_SOURCE+= {{ model.name }}_phi_e_constraint.c
{%- endif %}
{%- if constr_type == "BGH" and dims_nh > 0 %}
CASADI_CON_H_SOURCE=
CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun_jac_uxt_zt.c
CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun.c
{%- if hessian_approx == "EXACT" %}
CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
{%- endif %}
# some linker targets
example: $(EX_OBJ) $(OBJ)
$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
{% if solver_options.integrator_type != "DISCRETE" -%}
bundled_shared_lib: $(OBJ)
$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
{%- endif %}
{%- if dims_nh_e > 0 %}
CASADI_CON_H_E_SOURCE=
CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun.c
{%- if hessian_approx == "EXACT" %}
CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
{%- endif %}
{%- endif %}
ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
{%- if cost_type == "NONLINEAR_LS" %}
CASADI_COST_Y_SOURCE=
CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_fun.c
CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_fun_jac_ut_xt.c
CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_hess.c
{%- endif %}
{%- if cost_type_e == "NONLINEAR_LS" %}
CASADI_COST_Y_E_SOURCE=
CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_fun.c
CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_fun_jac_ut_xt.c
CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_hess.c
{%- endif %}
{%- if cost_type_0 == "NONLINEAR_LS" %}
CASADI_COST_Y_0_SOURCE=
CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_fun.c
CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_fun_jac_ut_xt.c
CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_hess.c
{%- endif %}
casadi_fun:
{%- if model.dyn_ext_fun_type == "casadi" %}
( cd {{ model.name }}_model {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_MODEL_SOURCE))
{%- endif %}
{%- if constr_type == "BGP" and dims_nphi > 0 %}
( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_PHI_SOURCE))
{%- endif %}
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_PHI_E_SOURCE))
{%- endif %}
{%- if constr_type == "BGH" and dims_nh > 0 %}
( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_H_SOURCE))
{%- endif %}
{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_H_E_SOURCE))
{%- endif %}
{%- if cost_type == "NONLINEAR_LS" %}
( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_SOURCE))
{%- endif %}
{%- if cost_type_e == "NONLINEAR_LS" %}
( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_E_SOURCE))
{%- endif %}
{%- if cost_type_0 == "NONLINEAR_LS" %}
( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_0_SOURCE))
{%- endif %}
main:
gcc $(ACADOS_FLAGS) -c main_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-I $(INCLUDE_PATH)/qpOASES_e/
{%- endif %}
main_sim:
gcc $(ACADOS_FLAGS) -c main_sim_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/
ocp_solver:
gcc $(ACADOS_FLAGS) -c acados_solver_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-I $(INCLUDE_PATH)/qpOASES_e/
{%- endif %}
sim_solver:
gcc $(ACADOS_FLAGS) -c acados_sim_solver_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-I $(INCLUDE_PATH)/qpOASES_e/
{%- endif %}
example: ocp_solver main
gcc $(ACADOS_FLAGS) -o main_{{ model.name }} $(EX_OBJ) $(OBJ) -L $(LIB_PATH) \
-lacados -lhpipm -lblasfeo \
{{ link_libs }} \
-lm \
-I $(INCLUDE_PATH)/blasfeo/include/ \
-I $(INCLUDE_PATH)/hpipm/include/ \
-I $(INCLUDE_PATH) \
-I $(INCLUDE_PATH)/acados/ \
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
-I $(INCLUDE_PATH)/qpOASES_e/
{%- endif %}
sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
example_sim: sim_solver main_sim
gcc $(ACADOS_FLAGS) -o main_sim_{{ model.name }} $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) -L $(LIB_PATH) \
-lacados -lhpipm -lblasfeo \
{{ link_libs }} \
-lm \
-I $(INCLUDE_PATH)/blasfeo/include/ \
-I $(INCLUDE_PATH)/acados/ \
{%- if solver_options.integrator_type != "DISCRETE" %}
bundled_shared_lib: casadi_fun ocp_solver sim_solver
gcc $(ACADOS_FLAGS) -shared -o libacados_solver_{{ model.name }}.so $(OBJ) \
-I $(INCLUDE_PATH)/blasfeo/include/ \
-I $(INCLUDE_PATH)/hpipm/include/ \
-I $(INCLUDE_PATH) \
-L $(LIB_PATH) \
-lacados -lhpipm -lblasfeo \
{{ link_libs }} \
-lm \
ocp_shared_lib: casadi_fun ocp_solver
gcc $(ACADOS_FLAGS) -shared -o libacados_ocp_solver_{{ model.name }}.so $(OCP_OBJ) $(MODEL_OBJ) \
-I $(INCLUDE_PATH)/blasfeo/include/ \
-I $(INCLUDE_PATH)/hpipm/include/ \
-I $(INCLUDE_PATH) \
-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
{{ link_libs }} \
-lm \
{%- else %}
ocp_shared_lib: casadi_fun ocp_solver
gcc $(ACADOS_FLAGS) -shared -o libacados_ocp_solver_{{ model.name }}.so $(OCP_OBJ) $(MODEL_OBJ) \
-I $(INCLUDE_PATH)/blasfeo/include/ \
-I $(INCLUDE_PATH)/hpipm/include/ \
-I $(INCLUDE_PATH) \
-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
{{ link_libs }} \
-lm \
{%- endif %}
# Cython targets
ocp_cython_c: ocp_shared_lib
cython \
-o acados_ocp_solver_pyx.c \
-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
-I {{ code_export_directory }} \
ocp_cython_o: ocp_cython_c
clang $(ACADOS_FLAGS) -c -O2 \
$(CC) $(ACADOS_FLAGS) -c -O2 \
-fPIC \
-o acados_ocp_solver_pyx.o \
-I /usr/include/python3.8 \
-I $(INCLUDE_PATH)/blasfeo/include/ \
-I $(INCLUDE_PATH)/hpipm/include/ \
-I $(INCLUDE_PATH) \
-I {{ cython_include_dirs }} \
acados_ocp_solver_pyx.c \
ocp_cython: ocp_cython_o
clang $(ACADOS_FLAGS) -shared \
$(CC) $(ACADOS_FLAGS) -shared \
-o acados_ocp_solver_pyx.so \
-Wl,-rpath=$(LIB_PATH) \
acados_ocp_solver_pyx.o \
$(abspath .)/libacados_ocp_solver_{{ model.name }}.so \
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo -lqpOASES_e \
{{ link_libs }} \
-lm \
sim_shared_lib: casadi_fun sim_solver
gcc $(ACADOS_FLAGS) -shared -o libacados_sim_solver_{{ model.name }}.so $(SIM_OBJ) $(MODEL_OBJ) -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
{{ link_libs }} \
-lm \
$(LDFLAGS) $(LDLIBS)
{%- if os and os == "pc" %}
@ -510,15 +380,27 @@ clean_ocp_shared_lib:
del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
del \Q acados_solver_{{ model.name }}.o 2>nul
clean_ocp_cython:
del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
del \Q acados_solver_{{ model.name }}.o 2>nul
del \Q acados_ocp_solver_pyx.so 2>nul
del \Q acados_ocp_solver_pyx.o 2>nul
{%- else %}
clean:
rm -f *.o
rm -f *.so
rm -f main_{{ model.name }}
$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
$(RM) $(EX_EXE) $(EX_SIM_EXE)
clean_ocp_shared_lib:
rm -f libacados_ocp_solver_{{ model.name }}.so
rm -f acados_solver_{{ model.name }}.o
$(RM) $(LIBACADOS_OCP_SOLVER)
$(RM) $(OCP_OBJ)
clean_ocp_cython:
$(RM) libacados_ocp_solver_{{ model.name }}.so
$(RM) acados_solver_{{ model.name }}.o
$(RM) acados_ocp_solver_pyx.so
$(RM) acados_ocp_solver_pyx.o
{%- endif %}

6
pyextra/acados_template/c_templates_tera/acados_mex_create.in.c
View File

@ -63,7 +63,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
mexPrintf("{{ model.name }}_acados_create() -> success!\n");
// get pointers to nlp solver related objects
ocp_nlp_plan *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule);
ocp_nlp_plan_t *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule);
ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
@ -238,14 +238,18 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_hess;
{%- endif %}
{% elif solver_options.integrator_type == "GNSF" %}
{% if model.gnsf.purely_linear != 1 %}
l_ptr = mxGetData(gnsf_phi_fun_mat);
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun;
l_ptr = mxGetData(gnsf_phi_fun_jac_y_mat);
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun_jac_y;
l_ptr = mxGetData(gnsf_phi_jac_y_uhat_mat);
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_jac_y_uhat;
{% if model.gnsf.nontrivial_f_LO == 1 %}
l_ptr = mxGetData(gnsf_f_lo_jac_x1_x1dot_u_z_mat);
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_f_lo_jac_x1_x1dot_u_z;
{%- endif %}
{%- endif %}
l_ptr = mxGetData(gnsf_get_matrices_fun_mat);
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_get_matrices_fun;
{% elif solver_options.integrator_type == "DISCRETE" %}

8
pyextra/acados_template/c_templates_tera/acados_mex_set.in.c
View File

@ -69,7 +69,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
// plan
ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) );
ocp_nlp_plan *plan = (ocp_nlp_plan *) ptr[0];
ocp_nlp_plan_t *plan = (ocp_nlp_plan_t *) ptr[0];
// config
ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "config" ) );
ocp_nlp_config *config = (ocp_nlp_config *) ptr[0];
@ -404,7 +404,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
}
else if (!strcmp(field, "init_z"))
{
sim_solver_plan sim_plan = plan->sim_solver_plan[0];
sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
sim_solver_t type = sim_plan.sim_solver;
if (type == IRK)
{
@ -426,7 +426,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
}
else if (!strcmp(field, "init_xdot"))
{
sim_solver_plan sim_plan = plan->sim_solver_plan[0];
sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
sim_solver_t type = sim_plan.sim_solver;
if (type == IRK)
{
@ -448,7 +448,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
}
else if (!strcmp(field, "init_gnsf_phi"))
{
sim_solver_plan sim_plan = plan->sim_solver_plan[0];
sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
sim_solver_t type = sim_plan.sim_solver;
if (type == GNSF)
{

22
pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c
View File

@ -164,12 +164,17 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
{%- endif %}
{% elif solver_options.integrator_type == "GNSF" -%}
{% if model.gnsf.purely_linear != 1 %}
capsule->sim_gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
{% if model.gnsf.nontrivial_f_LO == 1 %}
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
{%- endif %}
{%- endif %}
capsule->sim_gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
{% if model.gnsf.purely_linear != 1 %}
capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun;
capsule->sim_gnsf_phi_fun->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_n_in;
capsule->sim_gnsf_phi_fun->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_n_out;
@ -194,6 +199,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work;
external_function_param_casadi_create(capsule->sim_gnsf_phi_jac_y_uhat, np);
{% if model.gnsf.nontrivial_f_LO == 1 %}
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz;
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in;
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out;
@ -201,6 +207,8 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out;
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work;
external_function_param_casadi_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np);
{%- endif %}
{%- endif %}
capsule->sim_gnsf_get_matrices_fun->casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun;
capsule->sim_gnsf_get_matrices_fun->casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in;
@ -212,7 +220,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
{% endif %}
// sim plan & config
sim_solver_plan plan;
sim_solver_plan_t plan;
plan.sim_solver = {{ solver_options.integrator_type }};
// create correct config based on plan
@ -307,14 +315,18 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
"expl_ode_hess", capsule->sim_expl_ode_hess);
{%- endif %}
{%- elif solver_options.integrator_type == "GNSF" %}
{% if model.gnsf.purely_linear != 1 %}
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
"phi_fun", capsule->sim_gnsf_phi_fun);
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
"phi_fun_jac_y", capsule->sim_gnsf_phi_fun_jac_y);
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
"phi_jac_y_uhat", capsule->sim_gnsf_phi_jac_y_uhat);
{% if model.gnsf.nontrivial_f_LO == 1 %}
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
"f_lo_jac_x1_x1dot_u_z", capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
{%- endif %}
{%- endif %}
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
"gnsf_get_matrices_fun", capsule->sim_gnsf_get_matrices_fun);
{%- endif %}
@ -409,10 +421,14 @@ int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule)
external_function_param_casadi_free(capsule->sim_expl_ode_hess);
{%- endif %}
{%- elif solver_options.integrator_type == "GNSF" %}
{% if model.gnsf.purely_linear != 1 %}
external_function_param_casadi_free(capsule->sim_gnsf_phi_fun);
external_function_param_casadi_free(capsule->sim_gnsf_phi_fun_jac_y);
external_function_param_casadi_free(capsule->sim_gnsf_phi_jac_y_uhat);
{% if model.gnsf.nontrivial_f_LO == 1 %}
external_function_param_casadi_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
{%- endif %}
{%- endif %}
external_function_param_casadi_free(capsule->sim_gnsf_get_matrices_fun);
{% endif %}
@ -445,10 +461,14 @@ int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, doubl
capsule->sim_impl_dae_hess[0].set_param(capsule->sim_impl_dae_hess, p);
{%- endif %}
{%- elif solver_options.integrator_type == "GNSF" %}
{% if model.gnsf.purely_linear != 1 %}
capsule->sim_gnsf_phi_fun[0].set_param(capsule->sim_gnsf_phi_fun, p);
capsule->sim_gnsf_phi_fun_jac_y[0].set_param(capsule->sim_gnsf_phi_fun_jac_y, p);
capsule->sim_gnsf_phi_jac_y_uhat[0].set_param(capsule->sim_gnsf_phi_jac_y_uhat, p);
{% if model.gnsf.nontrivial_f_LO == 1 %}
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z[0].set_param(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, p);
{%- endif %}
{%- endif %}
capsule->sim_gnsf_get_matrices_fun[0].set_param(capsule->sim_gnsf_get_matrices_fun, p);
{% endif %}

2
pyextra/acados_template/c_templates_tera/acados_sim_solver_sfun.in.c
View File

@ -37,7 +37,7 @@
#define MDL_START
// acados
#include "acados/utils/print.h"
// #include "acados/utils/print.h"
#include "acados_c/ocp_nlp_interface.h"
#include "acados_c/external_function_interface.h"

1008
pyextra/acados_template/c_templates_tera/acados_solver.in.c
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File diff suppressed because it is too large Load Diff

10
pyextra/acados_template/c_templates_tera/acados_solver.in.h
View File

@ -78,9 +78,10 @@ typedef struct {{ model.name }}_solver_capsule
// acados objects
ocp_nlp_in *nlp_in;
ocp_nlp_out *nlp_out;
ocp_nlp_out *sens_out;
ocp_nlp_solver *nlp_solver;
void *nlp_opts;
ocp_nlp_plan *nlp_solver_plan;
ocp_nlp_plan_t *nlp_solver_plan;
ocp_nlp_config *nlp_config;
ocp_nlp_dims *nlp_dims;
@ -186,6 +187,10 @@ int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_c
* nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0.
*/
int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps);
/**
* This function is used for updating an already initialized solver with a different number of qp_cond_N.
*/
int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N);
int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
@ -193,11 +198,12 @@ void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsu
ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule);
ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule);
ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule);
void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule);
ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule);
ocp_nlp_plan *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
#ifdef __cplusplus
} /* extern "C" */

39
pyextra/acados_template/c_templates_tera/acados_solver.in.pxd
View File

@ -1,3 +1,36 @@
#
# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
#
# This file is part of acados.
#
# The 2-Clause BSD License
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.;
#
cimport acados_solver_common
cdef extern from "acados_solver_{{ model.name }}.h":
@ -8,6 +41,11 @@ cdef extern from "acados_solver_{{ model.name }}.h":
int acados_free_capsule "{{ model.name }}_acados_free_capsule"(nlp_solver_capsule *capsule)
int acados_create "{{ model.name }}_acados_create"(nlp_solver_capsule * capsule)
int acados_create_with_discretization "{{ model.name }}_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps)
int acados_update_time_steps "{{ model.name }}_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps)
int acados_update_qp_solver_cond_N "{{ model.name }}_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N)
int acados_update_params "{{ model.name }}_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_)
int acados_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule)
int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule)
@ -15,6 +53,7 @@ cdef extern from "acados_solver_{{ model.name }}.h":
acados_solver_common.ocp_nlp_in *acados_get_nlp_in "{{ model.name }}_acados_get_nlp_in"(nlp_solver_capsule * capsule)
acados_solver_common.ocp_nlp_out *acados_get_nlp_out "{{ model.name }}_acados_get_nlp_out"(nlp_solver_capsule * capsule)
acados_solver_common.ocp_nlp_out *acados_get_sens_out "{{ model.name }}_acados_get_sens_out"(nlp_solver_capsule * capsule)
acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "{{ model.name }}_acados_get_nlp_solver"(nlp_solver_capsule * capsule)
acados_solver_common.ocp_nlp_config *acados_get_nlp_config "{{ model.name }}_acados_get_nlp_config"(nlp_solver_capsule * capsule)
void *acados_get_nlp_opts "{{ model.name }}_acados_get_nlp_opts"(nlp_solver_capsule * capsule)

2
pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c
View File

@ -37,7 +37,7 @@
#define MDL_START
// acados
#include "acados/utils/print.h"
// #include "acados/utils/print.h"
#include "acados_c/sim_interface.h"
#include "acados_c/external_function_interface.h"

3
pyextra/acados_template/c_templates_tera/main.in.c
View File

@ -156,11 +156,12 @@ int main()
for (int ii = 0; ii < NTIMINGS; ii++)
{
// initialize solution
for (int i = 0; i <= nlp_dims->N; i++)
for (int i = 0; i < N; i++)
{
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
}
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init);
ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase);
status = {{ model.name }}_acados_solve(acados_ocp_capsule);
ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);

4
pyextra/acados_template/c_templates_tera/make_sfun.in.m
View File

@ -46,10 +46,14 @@ SOURCES = { ...
'{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c',...
{%- endif %}
{%- elif solver_options.integrator_type == "GNSF" %}
{% if model.gnsf.purely_linear != 1 %}
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c',...
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c',...
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c',...
{% if model.gnsf.nontrivial_f_LO == 1 %}
'{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c',...
{%- endif %}
{%- endif %}
'{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c',...
{%- elif solver_options.integrator_type == "DISCRETE" %}
'{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c',...

4
pyextra/acados_template/c_templates_tera/make_sfun_sim.in.m
View File

@ -47,10 +47,14 @@ SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ...
'{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',...
{%- endif %}
{%- elif solver_options.integrator_type == "GNSF" %}
{% if model.gnsf.purely_linear != 1 %}
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c '
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c '
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c '
{% if model.gnsf.nontrivial_f_LO == 1 %}
'{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c '
{%- endif %}
{%- endif %}
'{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c '
{%- endif %}
];

10
pyextra/acados_template/c_templates_tera/mex_solver.in.m
View File

@ -125,15 +125,15 @@ classdef {{ model.name }}_mex_solver < handle
if strcmp(field, 'stat')
stat = obj.get('stat');
{%- if solver_options.nlp_solver_type == "SQP" %}
fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter');
if size(stat,2)>7
fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha');
if size(stat,2)>8
fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
end
fprintf('\n');
for jj=1:size(stat,1)
fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7));
if size(stat,2)>7
fprintf('\t%e\t%e\t%e\t%e', stat(jj,8), stat(jj,9), stat(jj,10), stat(jj,11));
fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d\t%e', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7), stat(jj, 8));
if size(stat,2)>8
fprintf('\t%e\t%e\t%e\t%e', stat(jj,9), stat(jj,10), stat(jj,11), stat(jj,12));
end
fprintf('\n');
end

20
pyextra/acados_template/c_templates_tera/model.in.h
View File

@ -90,14 +90,7 @@ int {{ model.name }}_impl_dae_hess_n_out(void);
{% elif solver_options.integrator_type == "GNSF" %}
/* GNSF Functions */
// used to import model matrices
int {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
int {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
int {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
int {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
{% if model.gnsf.purely_linear != 1 %}
// phi_fun
int {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem);
int {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *);
@ -121,7 +114,7 @@ const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int);
const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int);
int {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void);
int {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void);
{% if model.gnsf.nontrivial_f_LO == 1 %}
// f_lo_fun_jac_x1k1uz
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem);
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *);
@ -129,6 +122,15 @@ const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int);
const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int);
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void);
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void);
{%- endif %}
{%- endif %}
// used to import model matrices
int {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
int {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
int {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
int {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
{% elif solver_options.integrator_type == "ERK" %}
/* explicit ODE */

23
pyextra/acados_template/utils.py
View File

@ -254,22 +254,6 @@ def format_class_dict(d):
return out
def acados_class2dict(class_instance):
"""
removes the __ artifact from class to dict conversion
"""
d = dict(class_instance.__dict__)
out = {}
for k, v in d.items():
if isinstance(v, dict):
v = format_class_dict(v)
out_key = k.split('__', 1)[-1]
out[k.replace(k, out_key)] = v
return out
def get_ocp_nlp_layout():
python_interface_path = get_python_interface_path()
abs_path = os.path.join(python_interface_path, 'acados_layout.json')
@ -433,6 +417,13 @@ def set_up_imported_gnsf_model(acados_formulation):
acados_formulation.model.phi_jac_y_uhat = phi_jac_y_uhat
acados_formulation.model.get_matrices_fun = get_matrices_fun
# get_matrices_fun = Function([model_name,'_gnsf_get_matrices_fun'], {dummy},...
# {A, B, C, E, L_x, L_xdot, L_z, L_u, A_LO, c, E_LO, B_LO,...
# nontrivial_f_LO, purely_linear, ipiv_x, ipiv_z, c_LO});
get_matrices_out = get_matrices_fun(0)
acados_formulation.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12])
acados_formulation.model.gnsf['purely_linear'] = int(get_matrices_out[13])
if "f_lo_fun_jac_x1k1uz" in gnsf:
f_lo_fun_jac_x1k1uz = Function.deserialize(gnsf['f_lo_fun_jac_x1k1uz'])
acados_formulation.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz

10
selfdrive/controls/lib/lateral_mpc_lib/SConscript
View File

@ -43,11 +43,19 @@ generated_files = [
f'{gen}/lat_cost/lat_cost_y_0_fun.h',
] + build_files
acados_dir = '#third_party/acados'
source_list = ['lat_mpc.py',
f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
f'{acados_dir}/aarch64/lib/libacados.so',
f'{acados_dir}/x86_64/lib/libacados.so',
f'{acados_dir}/larch64/lib/libacados.so',
]
lenv = env.Clone()
lenv.Clean(generated_files, Dir(gen))
lenv.Command(generated_files,
["lat_mpc.py"],
source_list,
f"cd {Dir('.').abspath} && python3 lat_mpc.py")
lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")

20
selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
View File

@ -11,18 +11,19 @@ from selfdrive.modeld.constants import T_IDXS
if __name__ == '__main__': # generating code
from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
else:
# from pyextra.acados_template import AcadosOcpSolverFast
from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast # pylint: disable=no-name-in-module, import-error
from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error
LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
JSON_FILE = "acados_ocp_lat.json"
JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json")
X_DIM = 4
P_DIM = 2
MODEL_NAME = 'lat'
ACADOS_SOLVER_TYPE = 'SQP_RTI'
def gen_lat_model():
model = AcadosModel()
model.name = 'lat'
model.name = MODEL_NAME
# set up states & controls
x_ego = SX.sym('x_ego')
@ -58,7 +59,7 @@ def gen_lat_model():
return model
def gen_lat_mpc_solver():
def gen_lat_ocp():
ocp = AcadosOcp()
ocp.model = gen_lat_model()
@ -103,7 +104,7 @@ def gen_lat_mpc_solver():
ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
ocp.solver_options.integrator_type = 'ERK'
ocp.solver_options.nlp_solver_type = 'SQP_RTI'
ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE
ocp.solver_options.qp_solver_iter_max = 1
ocp.solver_options.qp_solver_cond_N = 1
@ -117,7 +118,7 @@ def gen_lat_mpc_solver():
class LateralMpc():
def __init__(self, x0=np.zeros(X_DIM)):
self.solver = AcadosOcpSolverFast('lat', N)
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
self.reset(x0)
def reset(self, x0=np.zeros(X_DIM)):
@ -173,5 +174,6 @@ class LateralMpc():
if __name__ == "__main__":
ocp = gen_lat_mpc_solver()
AcadosOcpSolver.generate(ocp, json_file=JSON_FILE, build=False)
ocp = gen_lat_ocp()
AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
# AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)

10
selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
View File

@ -50,11 +50,19 @@ generated_files = [
f'{gen}/long_cost/long_cost_y_0_fun.h',
] + build_files
acados_dir = '#third_party/acados'
source_list = ['long_mpc.py',
f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
f'{acados_dir}/aarch64/lib/libacados.so',
f'{acados_dir}/x86_64/lib/libacados.so',
f'{acados_dir}/larch64/lib/libacados.so',
]
lenv = env.Clone()
lenv.Clean(generated_files, Dir(gen))
lenv.Command(generated_files,
["long_mpc.py"],
source_list,
f"cd {Dir('.').abspath} && python3 long_mpc.py")
lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")

20
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
View File

@ -11,14 +11,14 @@ from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
if __name__ == '__main__': # generating code
from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
else:
# from pyextra.acados_template import AcadosOcpSolver as AcadosOcpSolverFast
from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverFast # pylint: disable=no-name-in-module, import-error
from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error
from casadi import SX, vertcat
MODEL_NAME = 'long'
LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
JSON_FILE = "acados_ocp_long.json"
JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")
SOURCES = ['lead0', 'lead1', 'cruise']
@ -38,6 +38,7 @@ A_CHANGE_COST = 200.
DANGER_ZONE_COST = 100.
CRASH_DISTANCE = .5
LIMIT_COST = 1e6
ACADOS_SOLVER_TYPE = 'SQP_RTI'
# Fewer timestamps don't hurt performance and lead to
@ -65,7 +66,7 @@ def desired_follow_distance(v_ego, v_lead):
def gen_long_model():
model = AcadosModel()
model.name = 'long'
model.name = MODEL_NAME
# set up states & controls
x_ego = SX.sym('x_ego')
@ -97,7 +98,7 @@ def gen_long_model():
return model
def gen_long_mpc_solver():
def gen_long_ocp():
ocp = AcadosOcp()
ocp.model = gen_long_model()
@ -172,7 +173,7 @@ def gen_long_mpc_solver():
ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
ocp.solver_options.integrator_type = 'ERK'
ocp.solver_options.nlp_solver_type = 'SQP_RTI'
ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE
ocp.solver_options.qp_solver_cond_N = 1
# More iterations take too much time and less lead to inaccurate convergence in
@ -195,7 +196,7 @@ class LongitudinalMpc:
self.source = SOURCES[2]
def reset(self):
self.solver = AcadosOcpSolverFast('long', N)
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
self.v_solution = np.zeros(N+1)
self.a_solution = np.zeros(N+1)
self.prev_a = np.array(self.a_solution)
@ -388,5 +389,6 @@ class LongitudinalMpc:
if __name__ == "__main__":
ocp = gen_long_mpc_solver()
AcadosOcpSolver.generate(ocp, json_file=JSON_FILE, build=False)
ocp = gen_long_ocp()
AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
# AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)

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third_party/acados/aarch64/lib/libacados.so vendored
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third_party/acados/aarch64/lib/libblasfeo.so vendored
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10
third_party/acados/build.sh vendored
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@ -13,19 +13,19 @@ elif [ -f /EON ]; then
fi
if [ ! -d acados_repo/ ]; then
#git clone https://github.com/acados/acados.git $DIR/acados
git clone https://github.com/commaai/acados.git $DIR/acados_repo
git clone https://github.com/acados/acados.git $DIR/acados_repo
# git clone https://github.com/commaai/acados.git $DIR/acados_repo
fi
cd acados_repo
git fetch
git checkout 92b85c61f7358a1b08b7cd30aeb9d32ad15942e8
git checkout 105e06df87f06ea02df4af825867c946b31defdd
git submodule update --recursive --init
# build
mkdir -p build
cd build
cmake -DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET ..
make -j4 install
make -j20 install
INSTALL_DIR="$DIR/$ARCHNAME"
rm -rf $INSTALL_DIR
@ -33,8 +33,10 @@ mkdir -p $INSTALL_DIR
rm $DIR/acados_repo/lib/*.json
rm -rf $DIR/include
cp -r $DIR/acados_repo/include $DIR
cp -r $DIR/acados_repo/lib $INSTALL_DIR
rm -rf $DIR/../../pyextra/acados_template
cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/../../pyextra
#pip3 install -e $DIR/acados/interfaces/acados_template

26
third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h vendored
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@ -234,11 +234,7 @@ typedef struct ocp_nlp_out
// NOTE: the inequalities are internally organized in the following order:
// [ lbu lbx lg lh lphi ubu ubx ug uh uphi; lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
int sqp_iter;
int qp_iter;
double inf_norm_res;
double total_time;
void *raw_memory; // Pointer to allocated memory, to be used for freeing
@ -274,11 +270,16 @@ typedef struct ocp_nlp_opts
double levenberg_marquardt; // LM factor to be added to the hessian before regularization
int reuse_workspace;
int num_threads;
int print_level;
// TODO: move to separate struct?
ocp_nlp_globalization_t globalization;
int full_step_dual;
int line_search_use_sufficient_descent;
int globalization_use_SOC;
double alpha_min;
double alpha_reduction;
double eps_sufficient_descent;
} ocp_nlp_opts;
//
@ -316,6 +317,8 @@ typedef struct ocp_nlp_res
acados_size_t ocp_nlp_res_calculate_size(ocp_nlp_dims *dims);
//
ocp_nlp_res *ocp_nlp_res_assign(ocp_nlp_dims *dims, void *raw_memory);
//
void ocp_nlp_res_get_inf_norm(ocp_nlp_res *res, double *out);
/************************************************
* memory
@ -351,7 +354,7 @@ typedef struct ocp_nlp_memory
bool *set_sim_guess; // indicate if there is new explicitly provided guess for integration variables
struct blasfeo_dvec *sim_guess;
int *sqp_iter; // pointer to iteration number
int *sqp_iter; // pointer to iteration number
} ocp_nlp_memory;
@ -375,8 +378,12 @@ typedef struct ocp_nlp_workspace
void **cost; // cost_workspace
void **constraints; // constraints_workspace
ocp_nlp_out *tmp_nlp_out;
ocp_nlp_out *weight_merit_fun;
// for globalization: -> move to module?!
ocp_nlp_out *tmp_nlp_out;
ocp_nlp_out *weight_merit_fun;
struct blasfeo_dvec tmp_nxu;
struct blasfeo_dvec tmp_ni;
struct blasfeo_dvec dxnext_dy;
} ocp_nlp_workspace;
@ -392,6 +399,8 @@ ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims
* function
************************************************/
void ocp_nlp_alias_memory_to_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
//
void ocp_nlp_initialize_qp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
@ -409,7 +418,8 @@ void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, oc
ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha);
//
double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work,
int check_early_termination);
//
double ocp_nlp_evaluate_merit_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);

1
third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h vendored
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@ -84,6 +84,7 @@ typedef struct
/* memory */
acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
// get shooting node gap x_next(x_n, u_n) - x_{n+1}
struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory_);
struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory_);
void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory_);

11
third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h vendored
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@ -65,11 +65,6 @@ extern "C" {
* options
************************************************/
typedef struct
{
int dummy;
} ocp_nlp_reg_noreg_opts;
//
acados_size_t ocp_nlp_reg_noreg_opts_calculate_size(void);
//
@ -84,12 +79,6 @@ void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opt
/************************************************
* memory
************************************************/
typedef struct
{
int dummy;
} ocp_nlp_reg_noreg_memory;
//
acados_size_t ocp_nlp_reg_noreg_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts);
//

2
third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h vendored
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@ -68,7 +68,6 @@ typedef struct
int qp_warm_start; // qp_warm_start in all but the first sqp iterations
bool warm_start_first_qp; // to set qp_warm_start in first iteration
int rti_phase; // only phase 0 at the moment
int print_level; // verbosity
int initialize_t_slacks; // 0-false or 1-true
} ocp_nlp_sqp_opts;
@ -107,6 +106,7 @@ typedef struct
double time_sim;
double time_sim_la;
double time_sim_ad;
double time_solution_sensitivities;
// statistics
double *stat;

2
third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h vendored
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@ -64,7 +64,6 @@ typedef struct
int qp_warm_start; // NOTE: this is not actually setting the warm_start! Just for compatibility with sqp.
bool warm_start_first_qp; // to set qp_warm_start in first iteration
int rti_phase; // phase of RTI. Possible values 1 (preparation), 2 (feedback) 0 (both)
int print_level; // verbosity
} ocp_nlp_sqp_rti_opts;
@ -100,6 +99,7 @@ typedef struct
double time_reg;
double time_tot;
double time_glob;
double time_solution_sensitivities;
// statistics
double *stat;

12
third_party/acados/include/acados/utils/print.h vendored
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@ -69,28 +69,32 @@ void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out);
void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res);
// ocp qp
// TODO: move printing routines below that print qp structures to HPIPM!
void print_ocp_qp_dims(ocp_qp_dims *dims);
// void print_dense_qp_dims(dense_qp_dims *dims);
void print_ocp_qp_in(ocp_qp_in *qp_in);
void print_ocp_qp_in_to_file(FILE *file, ocp_qp_in *qp_in);
void print_ocp_qp_out(ocp_qp_out *qp_out);
void print_ocp_qp_out_to_file(FILE *file, ocp_qp_out *qp_out);
void print_ocp_qp_res(ocp_qp_res *qp_res);
void print_dense_qp_in(dense_qp_in *qp_in);
// void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in);
// void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out);
void print_ocp_qp_res(ocp_qp_res *qp_res);
// void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp);
// void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp);
// void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out);
void print_dense_qp_in(dense_qp_in *qp_in);
void print_qp_info(qp_info *info);
// void acados_warning(char warning_string[]);

20
third_party/acados/include/acados_c/ocp_nlp_interface.h vendored
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@ -107,13 +107,13 @@ typedef enum
/// Structure to store the configuration of a non-linear program
typedef struct ocp_nlp_plan
typedef struct ocp_nlp_plan_t
{
/// QP solver configuration.
ocp_qp_solver_plan ocp_qp_solver_plan;
ocp_qp_solver_plan_t ocp_qp_solver_plan;
/// Simulation solver configuration for each stage.
sim_solver_plan *sim_solver_plan;
sim_solver_plan_t *sim_solver_plan;
/// Nlp solver type.
ocp_nlp_solver_t nlp_solver;
@ -133,7 +133,7 @@ typedef struct ocp_nlp_plan
/// Horizon length.
int N;
} ocp_nlp_plan;
} ocp_nlp_plan_t;
/// Structure to store the state/configuration for the non-linear programming solver
@ -151,7 +151,7 @@ typedef struct ocp_nlp_solver
/// default/invalid state.
///
/// \param N Horizon length
ocp_nlp_plan *ocp_nlp_plan_create(int N);
ocp_nlp_plan_t *ocp_nlp_plan_create(int N);
/// Destructor for plan struct, frees memory.
///
@ -162,7 +162,7 @@ void ocp_nlp_plan_destroy(void* plan_);
/// Constructs an nlp configuration struct from a plan.
///
/// \param plan The plan (user nlp configuration).
ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan plan);
ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan);
/// Desctructor of the nlp configuration.
///
@ -372,6 +372,14 @@ void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *
//
void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
/// Computes the residuals.
///
/// \param solver The solver struct.
/// \param nlp_in The inputs struct.
/// \param nlp_out The output struct.
void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
//
void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out);

4
third_party/acados/include/acados_c/ocp_qp_interface.h vendored
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@ -105,7 +105,7 @@ typedef enum {
typedef struct
{
ocp_qp_solver_t qp_solver;
} ocp_qp_solver_plan;
} ocp_qp_solver_plan_t;
/// Linear ocp configuration.
@ -127,7 +127,7 @@ void ocp_qp_xcond_solver_config_initialize_from_plan(
/// Constructs a qp solver config and Initializes with default values.
///
/// \param plan The qp solver plan struct.
ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan plan);
ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan_t plan);
/// Destructor for config struct, frees memory.
///

4
third_party/acados/include/acados_c/sim_interface.h vendored
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@ -57,7 +57,7 @@ typedef enum
typedef struct
{
sim_solver_t sim_solver;
} sim_solver_plan;
} sim_solver_plan_t;
@ -74,7 +74,7 @@ typedef struct
/* config */
//
sim_config *sim_config_create(sim_solver_plan plan);
sim_config *sim_config_create(sim_solver_plan_t plan);
//
void sim_config_destroy(void *config);

7
third_party/acados/include/blasfeo/include/blasfeo_d_aux.h vendored
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@ -185,9 +185,14 @@ void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec
void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi);
// y <= alpha*x
void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi);
// z[idx] += alpha * x
void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
// z[idx] <= alpha * x
void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
// z <= alpha * x[idx]
void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
// z += alpha * x[idx]
void blasfeo_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
void blasfeo_dveccl(int m,
struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,

2
third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h vendored
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@ -182,6 +182,8 @@ void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi,
void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi);
void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi);
// z += alpha * x[idx]
void blasfeo_ref_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
void blasfeo_ref_dveccl(int m,
struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi,

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third_party/acados/include/blasfeo/include/blasfeo_s_aux.h vendored
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@ -127,6 +127,8 @@ float blasfeo_svecex1(struct blasfeo_svec *sx, int xi);
void blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
void blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
void blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
// z += alpha * x[idx]
void blasfeo_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
void blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
void blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
void blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);

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@ -128,6 +128,8 @@ float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi);
void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi);
void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi);
// z += alpha * x[idx]
void blasfeo_ref_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi);
void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi);
void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi);
void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei);

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