222 lines
6.7 KiB
C
222 lines
6.7 KiB
C
/*
|
|
* 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.;
|
|
*/
|
|
|
|
|
|
#ifndef ACADOS_SIM_SIM_COMMON_H_
|
|
#define ACADOS_SIM_SIM_COMMON_H_
|
|
|
|
#include <stdbool.h>
|
|
|
|
#include "acados/sim/sim_collocation_utils.h"
|
|
#include "acados/utils/timing.h"
|
|
#include "acados/utils/types.h"
|
|
|
|
#include "acados/utils/external_function_generic.h"
|
|
|
|
// maximum number of integration stages
|
|
#define NS_MAX 15
|
|
|
|
|
|
|
|
typedef enum
|
|
{
|
|
// ERK and LIFTED_ERK
|
|
EXPL_ODE_FUN,
|
|
EXPL_ODE_HES, // wrt x and u ???
|
|
EXPL_VDE_FOR,
|
|
EXPL_VDE_ADJ,
|
|
// IRK
|
|
IMPL_ODE_FUN,
|
|
IMPL_ODE_FUN_JAC_X_XDOT,
|
|
IMPL_ODE_JAC_X_XDOT_U,
|
|
IMPL_ODE_FUN_JAC_X_XDOT_U,
|
|
IMPL_ODE_HESS,
|
|
// gnsf
|
|
PHI_FUN,
|
|
PHI_FUN_JAC_Y,
|
|
PHI_JAC_Y_UHAT,
|
|
LO_FUN,
|
|
GET_GNSF_MATRICES
|
|
} sim_function_t;
|
|
|
|
|
|
|
|
typedef struct
|
|
{
|
|
void *dims;
|
|
|
|
double *x; // x[NX] - initial state value for simulation
|
|
double *u; // u[NU] - control - constant over simulation time
|
|
|
|
double *S_forw; // forward seed [Sx, Su]
|
|
double *S_adj; // backward seed
|
|
|
|
bool identity_seed; // indicating if S_forw = [eye(nx), zeros(nx x nu)]
|
|
|
|
void *model;
|
|
|
|
double T; // simulation time
|
|
|
|
} sim_in;
|
|
|
|
|
|
|
|
typedef struct
|
|
{
|
|
double CPUtime; // in seconds
|
|
double LAtime; // in seconds
|
|
double ADtime; // in seconds
|
|
|
|
} sim_info;
|
|
|
|
|
|
|
|
typedef struct
|
|
{
|
|
double *xn; // xn[NX]
|
|
double *S_forw; // S_forw[NX*(NX+NU)]
|
|
double *S_adj; //
|
|
double *S_hess; //
|
|
|
|
double *zn; // z - algebraic variables - reported at start of simulation interval
|
|
double *S_algebraic; // sensitivities of reported value of algebraic variables w.r.t.
|
|
// initial stat & control (x_n,u)
|
|
|
|
double *grad; // gradient correction
|
|
|
|
sim_info *info;
|
|
|
|
} sim_out;
|
|
|
|
|
|
|
|
typedef struct
|
|
{
|
|
int ns; // number of integration stages
|
|
|
|
int num_steps;
|
|
int num_forw_sens;
|
|
|
|
int tableau_size; // check that is consistent with ns
|
|
// only update when butcher tableau is changed
|
|
// kind of private -> no setter!
|
|
double *A_mat;
|
|
double *c_vec;
|
|
double *b_vec;
|
|
|
|
bool sens_forw;
|
|
bool sens_adj;
|
|
bool sens_hess;
|
|
|
|
bool output_z; // 1 -- if zn should be computed
|
|
bool sens_algebraic; // 1 -- if S_algebraic should be computed
|
|
bool exact_z_output; // 1 -- if z, S_algebraic should be computed exactly, extra Newton iterations
|
|
|
|
// for explicit integrators: newton_iter == 0 && scheme == NULL
|
|
// && jac_reuse=false
|
|
int newton_iter;
|
|
bool jac_reuse;
|
|
Newton_scheme *scheme;
|
|
|
|
// workspace
|
|
void *work;
|
|
|
|
} sim_opts;
|
|
|
|
|
|
|
|
typedef struct
|
|
{
|
|
int (*evaluate)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
|
|
int (*precompute)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work);
|
|
// opts
|
|
acados_size_t (*opts_calculate_size)(void *config_, void *dims);
|
|
void *(*opts_assign)(void *config_, void *dims, void *raw_memory);
|
|
void (*opts_initialize_default)(void *config_, void *dims, void *opts);
|
|
void (*opts_update)(void *config_, void *dims, void *opts);
|
|
void (*opts_set)(void *config_, void *opts_, const char *field, void *value);
|
|
void (*opts_get)(void *config_, void *opts_, const char *field, void *value);
|
|
// mem
|
|
acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts);
|
|
void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory);
|
|
int (*memory_set)(void *config, void *dims, void *mem, const char *field, void *value);
|
|
int (*memory_set_to_zero)(void *config, void *dims, void *opts, void *mem, const char *field);
|
|
void (*memory_get)(void *config, void *dims, void *mem, const char *field, void *value);
|
|
// work
|
|
acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts);
|
|
// model
|
|
acados_size_t (*model_calculate_size)(void *config, void *dims);
|
|
void *(*model_assign)(void *config, void *dims, void *raw_memory);
|
|
int (*model_set)(void *model, const char *field, void *value);
|
|
// config
|
|
void (*config_initialize_default)(void *config);
|
|
// dims
|
|
acados_size_t (*dims_calculate_size)();
|
|
void *(*dims_assign)(void *config, void *raw_memory);
|
|
void (*dims_set)(void *config, void *dims, const char *field, const int *value);
|
|
void (*dims_get)(void *config, void *dims, const char *field, int *value);
|
|
|
|
} sim_config;
|
|
|
|
|
|
|
|
/* config */
|
|
//
|
|
acados_size_t sim_config_calculate_size();
|
|
//
|
|
sim_config *sim_config_assign(void *raw_memory);
|
|
|
|
/* in */
|
|
//
|
|
acados_size_t sim_in_calculate_size(void *config, void *dims);
|
|
//
|
|
sim_in *sim_in_assign(void *config, void *dims, void *raw_memory);
|
|
//
|
|
int sim_in_set_(void *config_, void *dims_, sim_in *in, const char *field, void *value);
|
|
|
|
/* out */
|
|
//
|
|
acados_size_t sim_out_calculate_size(void *config, void *dims);
|
|
//
|
|
sim_out *sim_out_assign(void *config, void *dims, void *raw_memory);
|
|
//
|
|
int sim_out_get_(void *config, void *dims, sim_out *out, const char *field, void *value);
|
|
|
|
/* opts */
|
|
//
|
|
void sim_opts_set_(sim_opts *opts, const char *field, void *value);
|
|
//
|
|
void sim_opts_get_(sim_config *config, sim_opts *opts, const char *field, void *value);
|
|
|
|
#endif // ACADOS_SIM_SIM_COMMON_H_
|