You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
124 lines
4.3 KiB
124 lines
4.3 KiB
#
|
|
# 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
|
|
from casadi import *
|
|
from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_version_warning
|
|
|
|
def generate_c_code_explicit_ode( model, opts ):
|
|
|
|
casadi_version = CasadiMeta.version()
|
|
casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
|
|
if casadi_version not in (ALLOWED_CASADI_VERSIONS):
|
|
casadi_version_warning(casadi_version)
|
|
|
|
|
|
generate_hess = opts["generate_hess"]
|
|
code_export_dir = opts["code_export_directory"]
|
|
|
|
# load model
|
|
x = model.x
|
|
u = model.u
|
|
p = model.p
|
|
f_expl = model.f_expl_expr
|
|
model_name = model.name
|
|
|
|
## get model dimensions
|
|
nx = x.size()[0]
|
|
nu = u.size()[0]
|
|
|
|
if isinstance(f_expl, casadi.MX):
|
|
symbol = MX.sym
|
|
elif isinstance(f_expl, casadi.SX):
|
|
symbol = SX.sym
|
|
else:
|
|
raise Exception("Invalid type for f_expl! Possible types are 'SX' and 'MX'. Exiting.")
|
|
## set up functions to be exported
|
|
Sx = symbol('Sx', nx, nx)
|
|
Sp = symbol('Sp', nx, nu)
|
|
lambdaX = symbol('lambdaX', nx, 1)
|
|
|
|
fun_name = model_name + '_expl_ode_fun'
|
|
|
|
## Set up functions
|
|
expl_ode_fun = Function(fun_name, [x, u, p], [f_expl])
|
|
|
|
vdeX = jtimes(f_expl,x,Sx)
|
|
vdeP = jacobian(f_expl,u) + jtimes(f_expl,x,Sp)
|
|
|
|
fun_name = model_name + '_expl_vde_forw'
|
|
|
|
expl_vde_forw = Function(fun_name, [x, Sx, Sp, u, p], [f_expl, vdeX, vdeP])
|
|
|
|
adj = jtimes(f_expl, vertcat(x, u), lambdaX, True)
|
|
|
|
fun_name = model_name + '_expl_vde_adj'
|
|
expl_vde_adj = Function(fun_name, [x, lambdaX, u, p], [adj])
|
|
|
|
if generate_hess:
|
|
S_forw = vertcat(horzcat(Sx, Sp), horzcat(DM.zeros(nu,nx), DM.eye(nu)))
|
|
hess = mtimes(transpose(S_forw),jtimes(adj, vertcat(x,u), S_forw))
|
|
hess2 = []
|
|
for j in range(nx+nu):
|
|
for i in range(j,nx+nu):
|
|
hess2 = vertcat(hess2, hess[i,j])
|
|
|
|
fun_name = model_name + '_expl_ode_hess'
|
|
expl_ode_hess = Function(fun_name, [x, Sx, Sp, lambdaX, u, p], [adj, hess2])
|
|
|
|
## generate C code
|
|
if not os.path.exists(code_export_dir):
|
|
os.makedirs(code_export_dir)
|
|
|
|
cwd = os.getcwd()
|
|
os.chdir(code_export_dir)
|
|
model_dir = model_name + '_model'
|
|
if not os.path.exists(model_dir):
|
|
os.mkdir(model_dir)
|
|
model_dir_location = './' + model_dir
|
|
os.chdir(model_dir_location)
|
|
fun_name = model_name + '_expl_ode_fun'
|
|
expl_ode_fun.generate(fun_name, casadi_opts)
|
|
|
|
fun_name = model_name + '_expl_vde_forw'
|
|
expl_vde_forw.generate(fun_name, casadi_opts)
|
|
|
|
fun_name = model_name + '_expl_vde_adj'
|
|
expl_vde_adj.generate(fun_name, casadi_opts)
|
|
|
|
if generate_hess:
|
|
fun_name = model_name + '_expl_ode_hess'
|
|
expl_ode_hess.generate(fun_name, casadi_opts)
|
|
os.chdir(cwd)
|
|
|
|
return
|
|
|