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longitudinal MPC: use reset() function instead of recreating the solver in (#24091)

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* scons: add acados_template as dependency for lat and long mpc

* long MPC: use acados reset instead of recreating the solver

* long MPC: print timings and reset commented

* update acados x86_64

* update acados include folder

* update acados Python interface

* update acados reference commit to latest acados/master

* update x86 libs

* update comma two

* update acados again with commit 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584

* update comma two

* update comma three

* update x86

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Jonathan Frey
2022-04-02 00:39:41 +02:00
committed by GitHub
parent b51deb97d1
commit a9bac5acf8
59 changed files with 1532 additions and 233 deletions
Download Patch File Download Diff File Expand all files Collapse all files
pyextra/acados_template/acados_layout.json
+3
View File
@@ -668,6 +668,9 @@
"hessian_approx": [
"str"
],
"hpipm_mode": [
"str"
],
"regularize_method": [
"str"
],
pyextra/acados_template/acados_ocp.py
+29 -4
View File
@@ -2155,6 +2155,7 @@ class AcadosOcpOptions:
self.__globalization_use_SOC = 0
self.__full_step_dual = 0
self.__eps_sufficient_descent = 1e-4
self.__hpipm_mode = 'BALANCE'
@property
@@ -2165,6 +2166,21 @@ class AcadosOcpOptions:
"""
return self.__qp_solver
@property
def hpipm_mode(self):
"""
Mode of HPIPM to be used,
String in ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST').
Default: 'BALANCE'.
see https://cdn.syscop.de/publications/Frison2020a.pdf
and the HPIPM code:
https://github.com/giaf/hpipm/blob/master/ocp_qp/x_ocp_qp_ipm.c#L69
"""
return self.__hpipm_mode
@property
def hessian_approx(self):
"""Hessian approximation.
@@ -2541,6 +2557,15 @@ class AcadosOcpOptions:
raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
+ ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\nExiting.')
@hpipm_mode.setter
def hpipm_mode(self, hpipm_mode):
hpipm_modes = ('BALANCE', 'SPEED_ABS', 'SPEED', 'ROBUST')
if hpipm_mode in hpipm_modes:
self.__hpipm_mode = hpipm_mode
else:
raise Exception('Invalid hpipm_mode value. Possible values are:\n\n' \
+ ',\n'.join(hpipm_modes) + '.\n\nYou have: ' + hpipm_mode + '.\n\nExiting.')
@hessian_approx.setter
def hessian_approx(self, hessian_approx):
hessian_approxs = ('GAUSS_NEWTON', 'EXACT')
@@ -2890,10 +2915,10 @@ class AcadosOcp:
self.solver_options = AcadosOcpOptions()
"""Solver Options, type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`"""
self.acados_include_path = f'{acados_path}/include'
"""Path to acados include directory, type: string"""
self.acados_lib_path = f'{acados_path}/lib'
"""Path to where acados library is located, type: string"""
self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake
"""Path to acados include directory (set automatically), type: `string`"""
self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake
"""Path to where acados library is located, type: `string`"""
import numpy
self.cython_include_dirs = numpy.get_include()
pyextra/acados_template/acados_ocp_solver.py
+112 -29
View File
@@ -54,6 +54,7 @@ from .acados_model import acados_model_strip_casadi_symbolics
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_ocp_nlp_layout, get_python_interface_path
from .builders import CMakeBuilder
def make_ocp_dims_consistent(acados_ocp):
@@ -132,6 +133,15 @@ def make_ocp_dims_consistent(acados_ocp):
f'\nGot W_0[{cost.W.shape}], yref_0[{cost.yref_0.shape}]\n')
dims.ny_0 = ny_0
elif cost.cost_type_0 == 'EXTERNAL':
if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_0 is None:
print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
"got cost_type_0: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
"GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
"If you continue, acados will proceed computing the exact hessian for the cost term.\n"
"Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
"OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
# path
if cost.cost_type == 'LINEAR_LS':
ny = cost.W.shape[0]
@@ -161,6 +171,15 @@ def make_ocp_dims_consistent(acados_ocp):
f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
dims.ny = ny
elif cost.cost_type == 'EXTERNAL':
if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess is None:
print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
"got cost_type: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
"GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
"If you continue, acados will proceed computing the exact hessian for the cost term.\n"
"Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
"OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
# terminal
if cost.cost_type_e == 'LINEAR_LS':
ny_e = cost.W_e.shape[0]
@@ -183,6 +202,14 @@ def make_ocp_dims_consistent(acados_ocp):
raise Exception('inconsistent dimension: regarding W_e, yref_e.')
dims.ny_e = ny_e
elif cost.cost_type_e == 'EXTERNAL':
if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_e is None:
print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
"got cost_type_e: EXTERNAL, hessian_approx: 'GAUSS_NEWTON.'\n"
"GAUSS_NEWTON hessian is only supported for cost_types [NON]LINEAR_LS.\n"
"If you continue, acados will proceed computing the exact hessian for the cost term.\n"
"Note: There is also the option to use the external cost module with a numerical hessian approximation (see `ext_cost_num_hess`).\n"
"OR the option to provide a symbolic custom hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
## constraints
# initial
@@ -622,15 +649,25 @@ def ocp_generate_external_functions(acados_ocp, model):
generate_c_code_external_cost(model, 'terminal', opts)
def ocp_render_templates(acados_ocp, json_file):
def ocp_get_default_cmake_builder() -> CMakeBuilder:
"""
If :py:class:`~acados_template.acados_ocp_solver.AcadosOcpSolver` is used with `CMake` this function returns a good first setting.
:return: default :py:class:`~acados_template.builders.CMakeBuilder`
"""
cmake_builder = CMakeBuilder()
cmake_builder.options_on = ['BUILD_ACADOS_OCP_SOLVER_LIB']
return cmake_builder
def ocp_render_templates(acados_ocp, json_file, cmake_builder=None):
name = acados_ocp.model.name
# setting up loader and environment
json_path = os.path.join(os.getcwd(), json_file)
json_path = os.path.abspath(json_file)
if not os.path.exists(json_path):
raise Exception('{} not found!'.format(json_path))
raise Exception(f'Path "{json_path}" not found!')
code_export_dir = acados_ocp.code_export_directory
template_dir = code_export_dir
@@ -652,9 +689,14 @@ def ocp_render_templates(acados_ocp, json_file):
out_file = f'acados_solver.pxd'
render_template(in_file, out_file, template_dir, json_path)
in_file = 'Makefile.in'
out_file = 'Makefile'
render_template(in_file, out_file, template_dir, json_path)
if cmake_builder is not None:
in_file = 'CMakeLists.in.txt'
out_file = 'CMakeLists.txt'
render_template(in_file, out_file, template_dir, json_path)
else:
in_file = 'Makefile.in'
out_file = 'Makefile'
render_template(in_file, out_file, template_dir, json_path)
in_file = 'acados_solver_sfun.in.c'
out_file = f'acados_solver_sfunction_{name}.c'
@@ -764,25 +806,30 @@ class AcadosOcpSolver:
"""
Class to interact with the acados ocp solver C object.
:param acados_ocp: type AcadosOcp - description of the OCP for acados
:param acados_ocp: type :py:class:`~acados_template.acados_ocp.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
"""
if sys.platform=="win32":
from ctypes import wintypes
dlclose = ctypes.WinDLL('kernel32', use_last_error=True).FreeLibrary
from ctypes import WinDLL
dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary
dlclose.argtypes = [wintypes.HMODULE]
else:
dlclose = CDLL(None).dlclose
dlclose.argtypes = [c_void_p]
@classmethod
def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None):
def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, cmake_builder: CMakeBuilder = 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
: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; default: `None`
:param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use
the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
`MS Visual Studio`); default: `None`
"""
model = acados_ocp.model
acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory)
@@ -810,25 +857,32 @@ class AcadosOcpSolver:
ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file)
# render templates
ocp_render_templates(acados_ocp, json_file)
ocp_render_templates(acados_ocp, json_file, cmake_builder=cmake_builder)
acados_ocp.json_file = json_file
@classmethod
def build(cls, code_export_dir, with_cython=False):
def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None):
"""
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.
:param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use
the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
`MS Visual Studio`); default: `None`
"""
code_export_dir = os.path.abspath(code_export_dir)
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')
if cmake_builder is not None:
cmake_builder.exec(code_export_dir)
else:
os.system('make clean_ocp_shared_lib')
os.system('make ocp_shared_lib')
os.chdir(cwd)
@@ -856,11 +910,11 @@ class AcadosOcpSolver:
acados_ocp_json['dims']['N'])
def __init__(self, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True):
def __init__(self, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True, cmake_builder: CMakeBuilder = None):
self.solver_created = False
if generate:
self.generate(acados_ocp, json_file=json_file, simulink_opts=simulink_opts)
self.generate(acados_ocp, json_file=json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder)
# load json, store options in object
with open(json_file, 'r') as f:
@@ -873,14 +927,22 @@ class AcadosOcpSolver:
code_export_directory = acados_ocp_json['code_export_directory']
if build:
self.build(code_export_directory, with_cython=False)
self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder)
# prepare library loading
lib_prefix = 'lib'
lib_ext = '.so'
if os.name == 'nt':
lib_prefix = ''
lib_ext = ''
# ToDo: check for mac
# 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_name = f'{lib_prefix}acados{lib_ext}'
libacados_filepath = os.path.join(acados_lib_path, libacados_name)
self.__acados_lib = CDLL(libacados_filepath)
# find out if acados was compiled with OpenMP
@@ -892,8 +954,8 @@ class AcadosOcpSolver:
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'
libacados_ocp_solver_name = f'{lib_prefix}acados_ocp_solver_{self.model_name}{lib_ext}'
self.shared_lib_name = os.path.join(code_export_directory, libacados_ocp_solver_name)
# get shared_lib
self.shared_lib = CDLL(self.shared_lib_name)
@@ -959,6 +1021,17 @@ class AcadosOcpSolver:
return self.status
def reset(self):
"""
Sets current iterate to all zeros.
"""
getattr(self.shared_lib, f"{self.model_name}_acados_reset").argtypes = [c_void_p]
getattr(self.shared_lib, f"{self.model_name}_acados_reset").restype = c_int
getattr(self.shared_lib, f"{self.model_name}_acados_reset")(self.capsule)
return
def set_new_time_steps(self, new_time_steps):
"""
Set new time steps.
@@ -1364,12 +1437,12 @@ class AcadosOcpSolver:
return out[0]
def get_residuals(self):
def get_residuals(self, recompute=False):
"""
Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
"""
# compute residuals if RTI
if self.solver_options['nlp_solver_type'] == 'SQP_RTI':
if self.solver_options['nlp_solver_type'] == 'SQP_RTI' or recompute:
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)
@@ -1403,7 +1476,7 @@ class AcadosOcpSolver:
Set numerical data inside the solver.
:param stage: integer corresponding to shooting node
:param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
:param field: string in ['x', 'u', 'pi', 'lam', 't', 'p', 'xdot_guess', 'z_guess']
.. note:: regarding lam, t: \n
the inequalities are internally organized in the following order: \n
@@ -1419,7 +1492,7 @@ 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']
mem_fields = ['xdot_guess', 'z_guess']
# cast value_ to avoid conversion issues
if isinstance(value_, (float, int)):
@@ -1663,11 +1736,21 @@ 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', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC'
:param value: of type int, float
: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', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'
:param value: of type int, float, string
- qp_tol_stat: QP solver tolerance stationarity
- qp_tol_eq: QP solver tolerance equalities
- qp_tol_ineq: QP solver tolerance inequalities
- qp_tol_comp: QP solver tolerance complementarity
- qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM
- qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness
- warm_start_first_qp: indicates if first QP in SQP is warm_started
"""
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']
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp']
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent',
'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0']
string_fields = ['globalization']
# check field availability and type
pyextra/acados_template/acados_ocp_solver_pyx.pyx
+24 -7
View File
@@ -112,6 +112,13 @@ cdef class AcadosOcpSolverCython:
return acados_solver.acados_solve(self.capsule)
def reset(self):
"""
Sets current iterate to all zeros.
"""
return acados_solver.acados_reset(self.capsule)
def set_new_time_steps(self, new_time_steps):
"""
Set new time steps.
@@ -450,12 +457,12 @@ cdef class AcadosOcpSolverCython:
return out
def get_residuals(self):
def get_residuals(self, recompute=False):
"""
Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
"""
# compute residuals if RTI
if self.nlp_solver_type == 'SQP_RTI':
if self.nlp_solver_type == 'SQP_RTI' or recompute:
acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
# create output array
@@ -504,7 +511,7 @@ cdef class AcadosOcpSolverCython:
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']
mem_fields = ['xdot_guess', 'z_guess']
field = field_.encode('utf-8')
@@ -635,11 +642,21 @@ cdef class AcadosOcpSolverCython:
"""
Set options of the solver.
:param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction'
:param value: of type int, float
: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', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0'
:param value: of type int, float, string
- qp_tol_stat: QP solver tolerance stationarity
- qp_tol_eq: QP solver tolerance equalities
- qp_tol_ineq: QP solver tolerance inequalities
- qp_tol_comp: QP solver tolerance complementarity
- qp_tau_min: for HPIPM QP solvers: minimum value of barrier parameter in HPIPM
- qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness
- warm_start_first_qp: indicates if first QP in SQP is warm_started
"""
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']
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp']
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent',
'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0']
string_fields = ['globalization']
# encode
pyextra/acados_template/acados_sim.py
+3 -3
View File
@@ -294,9 +294,9 @@ class AcadosSim:
self.solver_options = AcadosSimOpts()
"""Solver Options, type :py:class:`acados_template.acados_sim.AcadosSimOpts`"""
self.acados_include_path = f'{acados_path}/include'
"""Path to acados include directors (set automatically), type: `string`"""
self.acados_lib_path = f'{acados_path}/lib'
self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake
"""Path to acados include directory (set automatically), type: `string`"""
self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake
"""Path to where acados library is located (set automatically), type: `string`"""
self.code_export_directory = 'c_generated_code'
pyextra/acados_template/acados_sim_solver.py
+45 -13
View File
@@ -47,6 +47,7 @@ from .acados_ocp import AcadosOcp
from .acados_model import acados_model_strip_casadi_symbolics
from .utils import is_column, render_template, format_class_dict, np_array_to_list,\
make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path
from .builders import CMakeBuilder
def make_sim_dims_consistent(acados_sim):
@@ -111,7 +112,17 @@ def sim_formulation_json_dump(acados_sim, json_file='acados_sim.json'):
json.dump(sim_json, f, default=np_array_to_list, indent=4, sort_keys=True)
def sim_render_templates(json_file, model_name, code_export_dir):
def sim_get_default_cmake_builder() -> CMakeBuilder:
"""
If :py:class:`~acados_template.acados_sim_solver.AcadosSimSolver` is used with `CMake` this function returns a good first setting.
:return: default :py:class:`~acados_template.builders.CMakeBuilder`
"""
cmake_builder = CMakeBuilder()
cmake_builder.options_on = ['BUILD_ACADOS_SIM_SOLVER_LIB']
return cmake_builder
def sim_render_templates(json_file, model_name, code_export_dir, cmake_options: CMakeBuilder = None):
# setting up loader and environment
json_path = os.path.join(os.getcwd(), json_file)
@@ -129,9 +140,15 @@ def sim_render_templates(json_file, model_name, code_export_dir):
out_file = f'acados_sim_solver_{model_name}.h'
render_template(in_file, out_file, template_dir, json_path)
in_file = 'Makefile.in'
out_file = f'Makefile'
render_template(in_file, out_file, template_dir, json_path)
# Builder
if cmake_options is not None:
in_file = 'CMakeLists.in.txt'
out_file = 'CMakeLists.txt'
render_template(in_file, out_file, template_dir, json_path)
else:
in_file = 'Makefile.in'
out_file = 'Makefile'
render_template(in_file, out_file, template_dir, json_path)
in_file = 'main_sim.in.c'
out_file = f'main_sim_{model_name}.c'
@@ -161,15 +178,19 @@ def sim_generate_casadi_functions(acados_sim):
elif integrator_type == 'GNSF':
generate_c_code_gnsf(model, opts)
class AcadosSimSolver:
"""
Class to interact with the acados integrator C object.
:param acados_sim: type :py:class:`acados_template.acados_ocp.AcadosOcp` (takes values to generate an instance :py:class:`acados_template.acados_sim.AcadosSim`) or :py:class:`acados_template.acados_sim.AcadosSim`
:param json_file: Default: 'acados_sim.json'
:param build: Default: True
:param acados_sim: type :py:class:`~acados_template.acados_ocp.AcadosOcp` (takes values to generate an instance :py:class:`~acados_template.acados_sim.AcadosSim`) or :py:class:`~acados_template.acados_sim.AcadosSim`
:param json_file: Default: 'acados_sim.json'
:param build: Default: True
:param cmake_builder: type :py:class:`~acados_template.utils.CMakeBuilder` generate a `CMakeLists.txt` and use
the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
`MS Visual Studio`); default: `None`
"""
def __init__(self, acados_sim_, json_file='acados_sim.json', build=True):
def __init__(self, acados_sim_, json_file='acados_sim.json', build=True, cmake_builder: CMakeBuilder = None):
self.solver_created = False
@@ -203,12 +224,16 @@ class AcadosSimSolver:
code_export_dir = acados_sim.code_export_directory
if build:
# render templates
sim_render_templates(json_file, model_name, code_export_dir)
sim_render_templates(json_file, model_name, code_export_dir, cmake_builder)
## Compile solver
# Compile solver
cwd = os.getcwd()
code_export_dir = os.path.abspath(code_export_dir)
os.chdir(code_export_dir)
os.system('make sim_shared_lib')
if cmake_builder is not None:
cmake_builder.exec(code_export_dir)
else:
os.system('make sim_shared_lib')
os.chdir(cwd)
self.sim_struct = acados_sim
@@ -234,8 +259,15 @@ class AcadosSimSolver:
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)
lib_prefix = 'lib'
lib_ext = '.so'
if os.name == 'nt':
lib_prefix = ''
lib_ext = ''
self.shared_lib_name = os.path.join(code_export_dir, f'{lib_prefix}acados_sim_solver_{model_name}{lib_ext}')
print(f'self.shared_lib_name = "{self.shared_lib_name}"')
self.shared_lib = CDLL(self.shared_lib_name)
# create capsule
pyextra/acados_template/builders.py
+116
View File
@@ -0,0 +1,116 @@
# -*- coding: future_fstrings -*-
#
# 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.;
#
import os
import sys
from subprocess import call
class CMakeBuilder:
"""
Class to work with the `CMake` build system.
"""
def __init__(self):
self._source_dir = None # private source directory, this is set to code_export_dir
self.build_dir = 'build'
self._build_dir = None # private build directory, usually rendered to abspath(build_dir)
self.generator = None
"""Defines the generator, options can be found via `cmake --help` under 'Generator'. Type: string. Linux default 'Unix Makefiles', Windows 'Visual Studio 15 2017 Win64'; default value: `None`."""
# set something for Windows
if os.name == 'nt':
self.generator = 'Visual Studio 15 2017 Win64'
self.build_targets = None
"""A comma-separated list of the build targets, if `None` then all targets will be build; type: List of strings; default: `None`."""
self.options_on = None
"""List of strings as CMake options which are translated to '-D Opt[0]=ON -D Opt[1]=ON ...'; default: `None`."""
# Generate the command string for handling the cmake command.
def get_cmd1_cmake(self):
defines_str = ''
if self.options_on is not None:
defines_arr = [f' -D{opt}=ON' for opt in self.options_on]
defines_str = ' '.join(defines_arr)
generator_str = ''
if self.generator is not None:
generator_str = f' -G"{self.generator}"'
return f'cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="{self._source_dir}"{defines_str}{generator_str} -Wdev -S"{self._source_dir}" -B"{self._build_dir}"'
# Generate the command string for handling the build.
def get_cmd2_build(self):
import multiprocessing
cmd = f'cmake --build "{self._build_dir}" --config Release -j{multiprocessing.cpu_count()}'
if self.build_targets is not None:
cmd += f' -t {self.build_targets}'
return cmd
# Generate the command string for handling the install command.
def get_cmd3_install(self):
return f'cmake --install "{self._build_dir}"'
def exec(self, code_export_directory):
"""
Execute the compilation using `CMake` with the given settings.
:param code_export_directory: must be the absolute path to the directory where the code was exported to
"""
if(os.path.isabs(code_export_directory) is False):
print(f'(W) the code export directory "{code_export_directory}" is not an absolute path!')
self._source_dir = code_export_directory
self._build_dir = os.path.abspath(self.build_dir)
try:
os.mkdir(self._build_dir)
except FileExistsError as e:
pass
try:
os.chdir(self._build_dir)
cmd_str = self.get_cmd1_cmake()
print(f'call("{cmd_str})"')
retcode = call(cmd_str, shell=True)
if retcode != 0:
raise RuntimeError(f'CMake command "{cmd_str}" was terminated by signal {retcode}')
cmd_str = self.get_cmd2_build()
print(f'call("{cmd_str}")')
retcode = call(cmd_str, shell=True)
if retcode != 0:
raise RuntimeError(f'Build command "{cmd_str}" was terminated by signal {retcode}')
cmd_str = self.get_cmd3_install()
print(f'call("{cmd_str}")')
retcode = call(cmd_str, shell=True)
if retcode != 0:
raise RuntimeError(f'Install command "{cmd_str}" was terminated by signal {retcode}')
except OSError as e:
print("Execution failed:", e, file=sys.stderr)
except Exception as e:
print("Execution failed:", e, file=sys.stderr)
exit(1)
pyextra/acados_template/c_templates_tera/CMakeLists.in.txt
+374
View File
@@ -0,0 +1,374 @@
#
# 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.;
#
{%- if solver_options.qp_solver %}
{%- set qp_solver = solver_options.qp_solver %}
{%- else %}
{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
{%- endif %}
{%- if solver_options.hessian_approx %}
{%- set hessian_approx = solver_options.hessian_approx %}
{%- elif solver_options.sens_hess %}
{%- set hessian_approx = "EXACT" %}
{%- else %}
{%- set hessian_approx = "GAUSS_NEWTON" %}
{%- endif %}
{%- if constraints.constr_type %}
{%- set constr_type = constraints.constr_type %}
{%- else %}
{%- set constr_type = "NONE" %}
{%- endif %}
{%- if constraints.constr_type_e %}
{%- set constr_type_e = constraints.constr_type_e %}
{%- else %}
{%- set constr_type_e = "NONE" %}
{%- endif %}
{%- if cost.cost_type %}
{%- set cost_type = cost.cost_type %}
{%- else %}
{%- set cost_type = "NONE" %}
{%- endif %}
{%- if cost.cost_type_e %}
{%- set cost_type_e = cost.cost_type_e %}
{%- else %}
{%- set cost_type_e = "NONE" %}
{%- endif %}
{%- if cost.cost_type_0 %}
{%- set cost_type_0 = cost.cost_type_0 %}
{%- else %}
{%- set cost_type_0 = "NONE" %}
{%- endif %}
{%- if dims.nh %}
{%- set dims_nh = dims.nh %}
{%- else %}
{%- set dims_nh = 0 %}
{%- endif %}
{%- if dims.nphi %}
{%- set dims_nphi = dims.nphi %}
{%- else %}
{%- set dims_nphi = 0 %}
{%- endif %}
{%- if dims.nh_e %}
{%- set dims_nh_e = dims.nh_e %}
{%- else %}
{%- set dims_nh_e = 0 %}
{%- endif %}
{%- if dims.nphi_e %}
{%- set dims_nphi_e = dims.nphi_e %}
{%- else %}
{%- set dims_nphi_e = 0 %}
{%- endif %}
{%- if solver_options.model_external_shared_lib_dir %}
{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
{%- endif %}
{%- if solver_options.model_external_shared_lib_name %}
{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
{%- endif %}
{#- control operator #}
{%- if os and os == "pc" %}
{%- set control = "&" %}
{%- else %}
{%- set control = ";" %}
{%- endif %}
{%- if acados_link_libs and os and os == "pc" %}{# acados linking libraries and flags #}
{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
{%- set openmp_flag = acados_link_libs.openmp %}
{%- else %}
{%- set openmp_flag = " " %}
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
{%- set link_libs = "-lqpOASES_e" %}
{%- else %}
{%- set link_libs = "" %}
{%- endif %}
{%- endif %}
cmake_minimum_required(VERSION 3.10)
project({{ model.name }})
# build options.
option(BUILD_ACADOS_SOLVER_LIB "Should the solver library acados_solver_{{ model.name }} be build?" OFF)
option(BUILD_ACADOS_OCP_SOLVER_LIB "Should the OCP solver library acados_ocp_solver_{{ model.name }} be build?" OFF)
option(BUILD_EXAMPLE "Should the example main_{{ model.name }} be build?" OFF)
{%- if solver_options.integrator_type != "DISCRETE" %}
option(BUILD_SIM_EXAMPLE "Should the simulation example main_sim_{{ model.name }} be build?" OFF)
option(BUILD_ACADOS_SIM_SOLVER_LIB "Should the simulation solver library acados_sim_solver_{{ model.name }} be build?" OFF)
{%- endif %}
# object target names
set(MODEL_OBJ model_{{ model.name }})
set(OCP_OBJ ocp_{{ model.name }})
set(SIM_OBJ sim_{{ model.name }})
# model
set(MODEL_SRC
{%- if solver_options.integrator_type == "ERK" %}
{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
{%- if hessian_approx == "EXACT" %}
{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
{%- endif %}
{%- elif solver_options.integrator_type == "IRK" %}
{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
{%- if hessian_approx == "EXACT" %}
{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
{%- endif %}
{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
{%- if hessian_approx == "EXACT" %}
{{ 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" %}
{%- if model.dyn_ext_fun_type == "casadi" %}
{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
{%- if hessian_approx == "EXACT" %}
{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
{%- endif %}
{%- else %}
{{ model.name }}_model/{{ model.dyn_source_discrete }}
{%- endif %}
{%- endif -%}
)
add_library(${MODEL_OBJ} OBJECT ${MODEL_SRC} )
# optimal control problem - mostly CasADi exports
if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMPLE})
set(OCP_SRC
{%- if constr_type == "BGP" and dims_nphi > 0 %}
{{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
{%- endif %}
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
{%- endif %}
{%- if constr_type == "BGH" and dims_nh > 0 %}
{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
{{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
{%- if hessian_approx == "EXACT" %}
{{ 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 %}
{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
{%- if hessian_approx == "EXACT" %}
{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
{%- endif %}
{%- endif %}
{%- if cost_type_0 == "NONLINEAR_LS" %}
{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
{{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
{%- elif cost_type_0 == "EXTERNAL" %}
{%- if cost.cost_ext_fun_type_0 == "casadi" %}
{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
{%- else %}
{{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
{%- endif %}
{%- endif %}
{%- if cost_type == "NONLINEAR_LS" %}
{{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
{{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
{{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
{%- elif cost_type == "EXTERNAL" %}
{%- if cost.cost_ext_fun_type == "casadi" %}
{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
{%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
{{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
{%- endif %}
{%- endif %}
{%- if cost_type_e == "NONLINEAR_LS" %}
{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
{{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
{%- elif cost_type_e == "EXTERNAL" %}
{%- if cost.cost_ext_fun_type_e == "casadi" %}
{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
{{ 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 %}
{{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
{%- endif %}
{%- endif %}
acados_solver_{{ model.name }}.c)
add_library(${OCP_OBJ} OBJECT ${OCP_SRC})
endif()
{%- if solver_options.integrator_type != "DISCRETE" %}
# for sim solver
if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_EXAMPLE}
{%- if solver_options.integrator_type != "DISCRETE" %}
OR ${BUILD_SIM_EXAMPLE} OR ${BUILD_ACADOS_SIM_SOLVER_LIB}
{%- endif -%}
)
set(SIM_SRC acados_sim_solver_{{ model.name }}.c)
add_library(${SIM_OBJ} OBJECT ${SIM_SRC})
endif()
{%- endif %}
# for target example
set(EX_SRC main_{{ model.name }}.c)
set(EX_EXE main_{{ model.name }})
{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
set(EXTERNAL_DIR {{ model_external_shared_lib_dir }})
set(EXTERNAL_LIB {{ model_external_shared_lib_name }})
{%- else %}
set(EXTERNAL_DIR)
set(EXTERNAL_LIB)
{%- endif %}
# set some search paths for preprocessor and linker
set(ACADOS_INCLUDE_PATH {{ acados_include_path }} CACHE PATH "Define the path which contains the include directory for acados.")
set(ACADOS_LIB_PATH {{ acados_lib_path }} CACHE PATH "Define the path which contains the lib directory for acados.")
# c-compiler flags for debugging
set(CMAKE_C_FLAGS_DEBUG "-O0 -ggdb")
set(CMAKE_C_FLAGS "
{%- if qp_solver == "FULL_CONDENSING_QPOASES" -%}
-DACADOS_WITH_QPOASES
{%- endif -%}
{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" -%}
-DACADOS_WITH_OSQP
{%- endif -%}
{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" -%}
-DACADOS_WITH_QPDUNES
{%- endif -%}
-fPIC -std=c99 {{ openmp_flag }}")
#-fno-diagnostics-show-line-numbers -g
include_directories(
${ACADOS_INCLUDE_PATH}
${ACADOS_INCLUDE_PATH}/acados
${ACADOS_INCLUDE_PATH}/blasfeo/include
${ACADOS_INCLUDE_PATH}/hpipm/include
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
${ACADOS_INCLUDE_PATH}/qpOASES_e/
{%- endif %}
)
# linker flags
link_directories(${ACADOS_LIB_PATH})
# link to libraries
if(UNIX)
link_libraries(acados hpipm blasfeo m {{ link_libs }})
else()
link_libraries(acados hpipm blasfeo {{ link_libs }})
endif()
# the targets
# bundled_shared_lib
if(${BUILD_ACADOS_SOLVER_LIB})
set(LIB_ACADOS_SOLVER acados_solver_{{ model.name }})
add_library(${LIB_ACADOS_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>
{%- if solver_options.integrator_type != "DISCRETE" %}
$<TARGET_OBJECTS:${SIM_OBJ}>
{%- endif -%}
)
install(TARGETS ${LIB_ACADOS_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
endif(${BUILD_ACADOS_SOLVER_LIB})
# ocp_shared_lib
if(${BUILD_ACADOS_OCP_SOLVER_LIB})
set(LIB_ACADOS_OCP_SOLVER acados_ocp_solver_{{ model.name }})
add_library(${LIB_ACADOS_OCP_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>)
# Specify libraries or flags to use when linking a given target and/or its dependents.
target_link_libraries(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_LIB})
target_link_directories(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_DIR})
install(TARGETS ${LIB_ACADOS_OCP_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
endif(${BUILD_ACADOS_OCP_SOLVER_LIB})
# example
if(${BUILD_EXAMPLE})
add_executable(${EX_EXE} ${EX_SRC} $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>
{%- if solver_options.integrator_type != "DISCRETE" %}
$<TARGET_OBJECTS:${SIM_OBJ}>
{%- endif -%}
)
install(TARGETS ${EX_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX})
endif(${BUILD_EXAMPLE})
{% if solver_options.integrator_type != "DISCRETE" -%}
# example_sim
if(${BUILD_SIM_EXAMPLE})
set(EX_SIM_SRC main_sim_{{ model.name }}.c)
set(EX_SIM_EXE main_sim_{{ model.name }})
add_executable(${EX_SIM_EXE} ${EX_SIM_SRC} $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${SIM_OBJ}>)
install(TARGETS ${EX_SIM_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX})
endif(${BUILD_SIM_EXAMPLE})
# sim_shared_lib
if(${BUILD_ACADOS_SIM_SOLVER_LIB})
set(LIB_ACADOS_SIM_SOLVER acados_sim_solver_{{ model.name }})
add_library(${LIB_ACADOS_SIM_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${SIM_OBJ}>)
install(TARGETS ${LIB_ACADOS_SIM_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX})
endif(${BUILD_ACADOS_SIM_SOLVER_LIB})
{%- endif %}
pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h
+12 -12
View File
@@ -80,21 +80,21 @@ typedef struct sim_solver_capsule
} sim_solver_capsule;
int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule);
int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule);
int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule);
int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule);
sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule);
sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule);
void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule);
sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule);
sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule);
sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void);
int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
#ifdef __cplusplus
}
pyextra/acados_template/c_templates_tera/acados_solver.in.c
+63 -1
View File
@@ -1862,6 +1862,11 @@ void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule*
{%- endif %}
{%- if solver_options.qp_solver is containing("HPIPM") %}
// set HPIPM mode: should be done before setting other QP solver options
ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "{{ solver_options.hpipm_mode }}");
{%- endif %}
{% if solver_options.nlp_solver_type == "SQP" %}
// set SQP specific options
double nlp_solver_tol_stat = {{ solver_options.nlp_solver_tol_stat }};
@@ -2071,6 +2076,63 @@ int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_caps
}
int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule)
{
// set initialization to all zeros
{# TODO: use guess values / initial state value from json instead?! #}
const int N = capsule->nlp_solver_plan->N;
ocp_nlp_config* nlp_config = capsule->nlp_config;
ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
ocp_nlp_out* nlp_out = capsule->nlp_out;
ocp_nlp_in* nlp_in = capsule->nlp_in;
ocp_nlp_solver* nlp_solver = capsule->nlp_solver;
int nx, nu, nv, ns, nz, ni, dim;
double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double));
for(int i=0; i<N+1; i++)
{
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", buffer);
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", buffer);
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "sl", buffer);
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "su", buffer);
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "lam", buffer);
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "t", buffer);
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "z", buffer);
if (i<N)
{
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "pi", buffer);
{%- if solver_options.integrator_type == "IRK" %}
ocp_nlp_set(nlp_config, nlp_solver, i, "xdot_guess", buffer);
ocp_nlp_set(nlp_config, nlp_solver, i, "z_guess", buffer);
{% elif solver_options.integrator_type == "LIFTED_IRK" %}
ocp_nlp_set(nlp_config, nlp_solver, i, "xdot_guess", buffer);
{% elif solver_options.integrator_type == "GNSF" %}
ocp_nlp_set(nlp_config, nlp_solver, i, "gnsf_phi_guess", buffer);
{%- endif %}
}
}
{%- if solver_options.qp_solver == 'PARTIAL_CONDENSING_HPIPM' %}
// get qp_status: if NaN -> reset memory
int qp_status;
ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status);
if (qp_status == 3)
{
// printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status);
ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out);
}
{%- endif %}
free(buffer);
return 0;
}
int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsule, int stage, double *p, int np)
{
int solver_status = 0;
@@ -2096,7 +2158,7 @@ int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsu
{%- endif %}
{% elif solver_options.integrator_type == "LIFTED_IRK" %}
capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p);
capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_z+stage, p);
capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_u+stage, p);
{% elif solver_options.integrator_type == "ERK" %}
capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p);
capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p);
pyextra/acados_template/c_templates_tera/acados_solver.in.h
+24 -19
View File
@@ -34,6 +34,8 @@
#ifndef ACADOS_SOLVER_{{ model.name }}_H_
#define ACADOS_SOLVER_{{ model.name }}_H_
#include "acados/utils/types.h"
#include "acados_c/ocp_nlp_interface.h"
#include "acados_c/external_function_interface.h"
@@ -172,38 +174,41 @@ typedef struct {{ model.name }}_solver_capsule
} {{ model.name }}_solver_capsule;
{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void);
int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT {{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule);
int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule);
/**
* Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than
* the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code
* generation, the time-steps from code generation is used.
*/
int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps);
/**
* Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the
* 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);
ACADOS_SYMBOL_EXPORT 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);
void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule);
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_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule);
ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
#ifdef __cplusplus
} /* extern "C" */
pyextra/acados_template/c_templates_tera/acados_solver.in.pxd
+1
View File
@@ -48,6 +48,7 @@ cdef extern from "acados_solver_{{ model.name }}.h":
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_reset "{{ model.name }}_acados_reset"(nlp_solver_capsule * capsule)
int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule)
void acados_print_stats "{{ model.name }}_acados_print_stats"(nlp_solver_capsule * capsule)
pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c
+29 -8
View File
@@ -126,10 +126,14 @@ static void mdlInitializeSizes (SimStruct *S)
{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #}
{%- set n_inputs = n_inputs + 1 %}
{%- endif -%}
{%- if dims.ny > 0 and simulink_opts.inputs.cost_W -%} {#- cost_W #}
{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #}
{%- set n_inputs = n_inputs + 1 %}
{%- endif -%}
{%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e -%} {#- cost_W_e #}
{%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #}
{%- set n_inputs = n_inputs + 1 -%}
{%- endif -%}
{%- if simulink_opts.inputs.reset_solver -%} {#- reset_solver #}
{%- set n_inputs = n_inputs + 1 -%}
{%- endif -%}
@@ -256,7 +260,7 @@ static void mdlInitializeSizes (SimStruct *S)
ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 * dims.ny_0 }});
{%- endif %}
{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #}
{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #}
{%- set i_input = i_input + 1 %}
// cost_W
ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny * dims.ny }});
@@ -268,6 +272,12 @@ static void mdlInitializeSizes (SimStruct *S)
ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e * dims.ny_e }});
{%- endif %}
{%- if simulink_opts.inputs.reset_solver -%} {#- reset_solver #}
{%- set i_input = i_input + 1 %}
// reset_solver
ssSetInputPortVectorDimension(S, {{ i_input }}, 1);
{%- endif -%}
{%- if simulink_opts.inputs.x_init -%} {#- x_init #}
{%- set i_input = i_input + 1 %}
// x_init
@@ -406,13 +416,13 @@ static void mdlOutputs(SimStruct *S, int_T tid)
{%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e)) %}
{%- endif %}
{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {# cost_W_0 #}
{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #}
{%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0 * dims.ny_0)) %}
{%- endif %}
{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {# cost_W #}
{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #}
{%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny * dims.ny)) %}
{%- endif %}
{%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {# cost_W_e #}
{%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #}
{%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e * dims.ny_e)) %}
{%- endif %}
@@ -602,7 +612,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", buffer);
{%- endif -%}
{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {# cost_W_0 #}
{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #}
// cost_W_0
{%- set i_input = i_input + 1 %}
in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
@@ -612,7 +622,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", buffer);
{%- endif %}
{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {# cost_W #}
{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #}
// cost_W
{%- set i_input = i_input + 1 %}
in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
@@ -633,6 +643,17 @@ static void mdlOutputs(SimStruct *S, int_T tid)
ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "W", buffer);
{%- endif %}
{%- if simulink_opts.inputs.reset_solver %} {#- reset_solver #}
// reset_solver
{%- set i_input = i_input + 1 %}
in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
double reset = (double)(*in_sign[0]);
if (reset)
{
{{ model.name }}_acados_reset(capsule);
}
{%- endif %}
{%- if simulink_opts.inputs.x_init %} {#- x_init #}
// x_init
{%- set i_input = i_input + 1 %}
pyextra/acados_template/c_templates_tera/make_sfun.in.m
+5
View File
@@ -264,6 +264,11 @@ input_note = strcat(input_note, num2str(i_in), ') cost_W_e in column-major forma
i_in = i_in + 1;
{%- endif %}
{%- if simulink_opts.inputs.reset_solver %} {#- reset_solver #}
input_note = strcat(input_note, num2str(i_in), ') reset_solver determines if iterate is set to all zeros before other initializations (x_init, u_init) are set and before solver is called, size [1]\n ');
i_in = i_in + 1;
{%- endif %}
{%- if simulink_opts.inputs.x_init %} {#- x_init #}
input_note = strcat(input_note, num2str(i_in), ') initialization of x for all shooting nodes, size [{{ dims.nx * (dims.N+1) }}]\n ');
i_in = i_in + 1;
pyextra/acados_template/generate_c_code_discrete_dynamics.py
+14 -15
View File
@@ -32,12 +32,12 @@
#
import os
from casadi import *
import casadi as ca
from .utils import ALLOWED_CASADI_VERSIONS, casadi_length, casadi_version_warning
def generate_c_code_discrete_dynamics( model, opts ):
casadi_version = CasadiMeta.version()
casadi_version = ca.CasadiMeta.version()
casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
if casadi_version not in (ALLOWED_CASADI_VERSIONS):
@@ -49,13 +49,12 @@ def generate_c_code_discrete_dynamics( model, opts ):
p = model.p
phi = model.disc_dyn_expr
model_name = model.name
nx = x.size()[0]
nx = casadi_length(x)
if isinstance(phi, casadi.MX):
symbol = MX.sym
elif isinstance(phi, casadi.SX):
symbol = SX.sym
if isinstance(phi, ca.MX):
symbol = ca.MX.sym
elif isinstance(phi, ca.SX):
symbol = ca.SX.sym
else:
Exception("generate_c_code_disc_dyn: disc_dyn_expr must be a CasADi expression, you have type: {}".format(type(phi)))
@@ -63,12 +62,12 @@ def generate_c_code_discrete_dynamics( model, opts ):
lam = symbol('lam', nx, 1)
# generate jacobians
ux = vertcat(u,x)
jac_ux = jacobian(phi, ux)
ux = ca.vertcat(u,x)
jac_ux = ca.jacobian(phi, ux)
# generate adjoint
adj_ux = jtimes(phi, ux, lam, True)
adj_ux = ca.jtimes(phi, ux, lam, True)
# generate hessian
hess_ux = jacobian(adj_ux, ux)
hess_ux = ca.jacobian(adj_ux, ux)
## change directory
code_export_dir = opts["code_export_directory"]
@@ -85,15 +84,15 @@ def generate_c_code_discrete_dynamics( model, opts ):
# set up & generate Functions
fun_name = model_name + '_dyn_disc_phi_fun'
phi_fun = Function(fun_name, [x, u, p], [phi])
phi_fun = ca.Function(fun_name, [x, u, p], [phi])
phi_fun.generate(fun_name, casadi_opts)
fun_name = model_name + '_dyn_disc_phi_fun_jac'
phi_fun_jac_ut_xt = Function(fun_name, [x, u, p], [phi, jac_ux.T])
phi_fun_jac_ut_xt = ca.Function(fun_name, [x, u, p], [phi, jac_ux.T])
phi_fun_jac_ut_xt.generate(fun_name, casadi_opts)
fun_name = model_name + '_dyn_disc_phi_fun_jac_hess'
phi_fun_jac_ut_xt_hess = Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux])
phi_fun_jac_ut_xt_hess = ca.Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux])
phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_opts)
os.chdir(cwd)
pyextra/acados_template/simulink_default_opts.json
+1
View File
@@ -32,6 +32,7 @@
"cost_W_0": 0,
"cost_W": 0,
"cost_W_e": 0,
"reset_solver": 0,
"x_init": 0,
"u_init": 0
},
pyextra/acados_template/utils.py
+10 -13
View File
@@ -1,3 +1,4 @@
# -*- coding: future_fstrings -*-
#
# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
@@ -49,7 +50,7 @@ def get_acados_path():
ACADOS_PATH = os.path.realpath(acados_path)
msg = 'Warning: Did not find environment variable ACADOS_SOURCE_DIR, '
msg += 'guessed ACADOS_PATH to be {}.\n'.format(ACADOS_PATH)
msg += 'Please export ACADOS_SOURCE_DIR to not avoid this warning.'
msg += 'Please export ACADOS_SOURCE_DIR to avoid this warning.'
print(msg)
return ACADOS_PATH
@@ -74,7 +75,7 @@ def get_tera_exec_path():
platform2tera = {
"linux": "linux",
"darwin": "osx",
"win32": "window.exe"
"win32": "windows"
}
@@ -212,16 +213,14 @@ def render_template(in_file, out_file, template_dir, json_path):
template_glob = os.path.join(acados_path, 'c_templates_tera', '*')
# call tera as system cmd
os_cmd = "{tera_path} '{template_glob}' '{in_file}' '{json_path}' '{out_file}'".format(
tera_path=tera_path,
template_glob=template_glob,
json_path=json_path,
in_file=in_file,
out_file=out_file
)
os_cmd = f"{tera_path} '{template_glob}' '{in_file}' '{json_path}' '{out_file}'"
# Windows cmd.exe can not cope with '...', so use "..." instead:
if os.name == 'nt':
os_cmd = os_cmd.replace('\'', '\"')
status = os.system(os_cmd)
if (status != 0):
raise Exception('Rendering of {} failed!\n\nAttempted to execute OS command:\n{}\n\nExiting.\n'.format(in_file, os_cmd))
raise Exception(f'Rendering of {in_file} failed!\n\nAttempted to execute OS command:\n{os_cmd}\n\nExiting.\n')
os.chdir(cwd)
@@ -235,9 +234,7 @@ def np_array_to_list(np_array):
elif isinstance(np_array, (DM)):
return np_array.full()
else:
raise(Exception(
"Cannot convert to list type {}".format(type(np_array))
))
raise(Exception(f"Cannot convert to list type {type(np_array)}"))
def format_class_dict(d):