412 lines
13 KiB
C
412 lines
13 KiB
C
/*
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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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#ifndef INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
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#define INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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// acados
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#include "acados/ocp_nlp/ocp_nlp_common.h"
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#include "acados/ocp_nlp/ocp_nlp_constraints_bgh.h"
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#include "acados/sim/sim_erk_integrator.h"
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#include "acados/sim/sim_irk_integrator.h"
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#include "acados/sim/sim_lifted_irk_integrator.h"
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#include "acados/sim/sim_gnsf.h"
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// acados_c
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#include "acados_c/ocp_qp_interface.h"
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#include "acados_c/sim_interface.h"
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/// Solution methods for optimal control problems.
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typedef enum
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{
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SQP,
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SQP_RTI,
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INVALID_NLP_SOLVER,
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} ocp_nlp_solver_t;
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/// Types of the cost function.
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typedef enum
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{
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LINEAR_LS,
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NONLINEAR_LS,
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EXTERNAL,
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INVALID_COST,
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} ocp_nlp_cost_t;
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/// Types of the system dynamics, discrete or continuous time.
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typedef enum
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{
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CONTINUOUS_MODEL,
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DISCRETE_MODEL,
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INVALID_DYNAMICS,
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} ocp_nlp_dynamics_t;
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/// Constraint types
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typedef enum
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{
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/// Comprises simple bounds, polytopic constraints,
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/// general non-linear constraints.
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BGH,
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/// Comprises simple bounds, polytopic constraints,
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/// general non-linear constraints, and positive definite constraints.
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BGP,
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INVALID_CONSTRAINT,
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} ocp_nlp_constraints_t;
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/// Regularization types
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typedef enum
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{
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NO_REGULARIZE,
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MIRROR,
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PROJECT,
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PROJECT_REDUC_HESS,
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CONVEXIFY,
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INVALID_REGULARIZE,
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} ocp_nlp_reg_t;
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/// Structure to store the configuration of a non-linear program
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typedef struct ocp_nlp_plan_t
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{
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/// QP solver configuration.
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ocp_qp_solver_plan_t ocp_qp_solver_plan;
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/// Simulation solver configuration for each stage.
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sim_solver_plan_t *sim_solver_plan;
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/// Nlp solver type.
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ocp_nlp_solver_t nlp_solver;
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/// Regularization type, defaults to no regularization.
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ocp_nlp_reg_t regularization;
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/// Cost type for each stage.
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ocp_nlp_cost_t *nlp_cost;
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/// Dynamics type for each stage.
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ocp_nlp_dynamics_t *nlp_dynamics;
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/// Constraints type for each stage.
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ocp_nlp_constraints_t *nlp_constraints;
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/// Horizon length.
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int N;
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} ocp_nlp_plan_t;
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/// Structure to store the state/configuration for the non-linear programming solver
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typedef struct ocp_nlp_solver
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{
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ocp_nlp_config *config;
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void *dims;
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void *opts;
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void *mem;
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void *work;
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} ocp_nlp_solver;
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/// Constructs an empty plan struct (user nlp configuration), all fields are set to a
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/// default/invalid state.
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///
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/// \param N Horizon length
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ocp_nlp_plan_t *ocp_nlp_plan_create(int N);
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/// Destructor for plan struct, frees memory.
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///
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/// \param plan_ The plan struct to destroy.
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void ocp_nlp_plan_destroy(void* plan_);
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/// Constructs an nlp configuration struct from a plan.
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///
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/// \param plan The plan (user nlp configuration).
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ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan);
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/// Desctructor of the nlp configuration.
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///
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/// \param config_ The configuration struct.
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void ocp_nlp_config_destroy(void *config_);
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/// Constructs an struct that contains the dimensions of the variables.
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///
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/// \param config_ The configuration struct.
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ocp_nlp_dims *ocp_nlp_dims_create(void *config_);
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/// Destructor of The dimension struct.
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///
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/// \param dims_ The dimension struct.
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void ocp_nlp_dims_destroy(void *dims_);
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/// Constructs an input struct for a non-linear programs.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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ocp_nlp_in *ocp_nlp_in_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
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/// Destructor of the inputs struct.
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///
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/// \param in The inputs struct.
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void ocp_nlp_in_destroy(void *in);
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/// Sets the sampling times for the given stage.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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/// \param in The inputs struct.
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/// \param stage Stage number.
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/// \param field Has to be "Ts" (TBC other options).
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/// \param value The sampling times (floating point).
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void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage,
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const char *field, void *value);
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/// Sets the function pointers to the dynamics functions for the given stage.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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/// \param in The inputs struct.
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/// \param stage Stage number.
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/// \param fun_type The name of the function type, either impl_ode_fun,
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/// impl_ode_fun_jac_x_xdot, impl_ode_jac_x_xdot_u (TBC)
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/// \param fun_ptr Function pointer to the dynamics function.
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int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
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int stage, const char *fun_type, void *fun_ptr);
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/// Sets the function pointers to the cost functions for the given stage.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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/// \param in The inputs struct.
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/// \param stage Stage number.
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/// \param field The name of the field, either nls_res_jac,
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/// y_ref, W (others TBC)
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/// \param value Cost values.
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int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
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int stage, const char *field, void *value);
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/// Sets the function pointers to the constraints functions for the given stage.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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/// \param in The inputs struct.
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/// \param stage Stage number.
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/// \param field The name of the field, either lb, ub (others TBC)
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/// \param value Constraints function or values.
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int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
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ocp_nlp_in *in, int stage, const char *field, void *value);
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/* out */
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/// Constructs an output struct for the non-linear program.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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ocp_nlp_out *ocp_nlp_out_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
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/// Destructor of the output struct.
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///
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/// \param out The output struct.
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void ocp_nlp_out_destroy(void *out);
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/// Sets fields in the output struct of an nlp solver, used to initialize the solver.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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/// \param out The output struct.
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/// \param stage Stage number.
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/// \param field The name of the field, either x, u, pi.
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/// \param value Initialization values.
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void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
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int stage, const char *field, void *value);
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/// Gets values of fields in the output struct of an nlp solver.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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/// \param out The output struct.
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/// \param stage Stage number.
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/// \param field The name of the field, either x, u, z, pi.
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/// \param value Pointer to the output memory.
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void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
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int stage, const char *field, void *value);
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//
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void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
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int stage, const char *field, void *value);
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// TODO(andrea): remove this once/if the MATLAB interface uses the new setters below?
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int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
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int stage, const char *field);
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void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
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int stage, const char *field, int *dims_out);
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void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
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int stage, const char *field, int *dims_out);
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void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
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int stage, const char *field, int *dims_out);
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/* opts */
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/// Creates an options struct for the non-linear program.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims);
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/// Destructor of the options.
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///
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/// \param opts The options struct.
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void ocp_nlp_solver_opts_destroy(void *opts);
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/// Sets an option.
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///
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/// \param config The configuration struct.
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/// \param opts_ The options struct.
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/// \param field Name of the option.
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/// \param value Value of the option.
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void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value);
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void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void* value);
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/// TBC
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/// Updates the options.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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/// \param opts_ The options struct.
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void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
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/* solver */
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/// Creates an ocp solver.
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///
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/// \param config The configuration struct.
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/// \param dims The dimension struct.
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/// \param opts_ The options struct.
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/// \return The solver.
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ocp_nlp_solver *ocp_nlp_solver_create(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_);
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/// Destructor of the solver.
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///
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/// \param solver The solver struct.
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void ocp_nlp_solver_destroy(void *solver);
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/// Solves the optimal control problem. Call ocp_nlp_precompute before
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/// calling this functions (TBC).
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///
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/// \param solver The solver struct.
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/// \param nlp_in The inputs struct.
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/// \param nlp_out The output struct.
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int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
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/// Performs precomputations for the solver. Needs to be called before
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/// ocl_nlp_solve (TBC).
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///
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/// \param solver The solver struct.
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/// \param nlp_in The inputs struct.
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/// \param nlp_out The output struct.
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int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
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/// Computes cost function value.
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///
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/// \param solver The solver struct.
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/// \param nlp_in The inputs struct.
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/// \param nlp_out The output struct.
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void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
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//
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void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
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/// Computes the residuals.
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///
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/// \param solver The solver struct.
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/// \param nlp_in The inputs struct.
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/// \param nlp_out The output struct.
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void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
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//
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void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out);
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/* get */
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/// \param config The configuration struct.
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/// \param solver The solver struct.
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/// \param field Supports "sqp_iter", "status", "nlp_res", "time_tot", ...
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/// \param return_value_ Pointer to the output memory.
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void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver,
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const char *field, void *return_value_);
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/* set */
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/// Sets the initial guesses for the integrator for the given stage.
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///
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/// \param config The configuration struct.
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/// \param solver The ocp_nlp_solver struct.
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/// \param stage Stage number.
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/// \param field Supports "z_guess", "xdot_guess" (IRK), "phi_guess" (GNSF-IRK)
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/// \param value The initial guess for the algebraic variables in the integrator (if continuous model is used).
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void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver,
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int stage, const char *field, void *value);
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif // INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_
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