104 lines
4.4 KiB
Matlab
104 lines
4.4 KiB
Matlab
%
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% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
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% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
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% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
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% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
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%
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% This file is part of acados.
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%
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% The 2-Clause BSD License
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%
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% Redistribution and use in source and binary forms, with or without
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% modification, are permitted provided that the following conditions are met:
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%
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% 1. Redistributions of source code must retain the above copyright notice,
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% this list of conditions and the following disclaimer.
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%
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% 2. Redistributions in binary form must reproduce the above copyright notice,
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% this list of conditions and the following disclaimer in the documentation
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% and/or other materials provided with the distribution.
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%
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% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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% POSSIBILITY OF SUCH DAMAGE.;
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%
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SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ...
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'acados_sim_solver_{{ model.name }}.c ', ...
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{%- if solver_options.integrator_type == 'ERK' %}
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'{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ', ...
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'{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c ',...
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{%- if solver_options.hessian_approx == 'EXACT' %}
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'{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c ',...
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{%- endif %}
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{%- elif solver_options.integrator_type == "IRK" %}
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'{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c ', ...
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'{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c ', ...
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'{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c ', ...
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{%- if solver_options.hessian_approx == 'EXACT' %}
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'{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',...
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{%- endif %}
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{%- elif solver_options.integrator_type == "GNSF" %}
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{% if model.gnsf.purely_linear != 1 %}
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'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c '
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'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c '
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'{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c '
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{% if model.gnsf.nontrivial_f_LO == 1 %}
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'{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c '
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{%- endif %}
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{%- endif %}
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'{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c '
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{%- endif %}
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];
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INC_PATH = '{{ acados_include_path }}';
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INCS = [ ' -I', fullfile(INC_PATH, 'blasfeo', 'include'), ...
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' -I', fullfile(INC_PATH, 'hpipm', 'include'), ...
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' -I', INC_PATH, ' -I', fullfile(INC_PATH, 'acados'), ' '];
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CFLAGS = ' -O';
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LIB_PATH = '{{ acados_lib_path }}';
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LIBS = '-lacados -lblasfeo -lhpipm';
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eval( [ 'mex -v -output acados_sim_solver_sfunction_{{ model.name }} ', ...
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CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]);
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fprintf( [ '\n\nSuccessfully created sfunction:\nacados_sim_solver_sfunction_{{ model.name }}', '.', ...
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eval('mexext')] );
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%% print note on usage of s-function
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fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
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input_note = 'Inputs are:\n1) x0, initial state, size [{{ dims.nx }}]\n ';
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i_in = 2;
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{%- if dims.nu > 0 %}
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input_note = strcat(input_note, num2str(i_in), ') u, size [{{ dims.nu }}]\n ');
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i_in = i_in + 1;
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{%- endif %}
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{%- if dims.np > 0 %}
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input_note = strcat(input_note, num2str(i_in), ') parameters, size [{{ dims.np }}]\n ');
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i_in = i_in + 1;
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{%- endif %}
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fprintf(input_note)
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disp(' ')
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output_note = strcat('Outputs are:\n', ...
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'1) x1 - simulated state, size [{{ dims.nx }}]\n');
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fprintf(output_note)
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