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180 lines
6.6 KiB
180 lines
6.6 KiB
#
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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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import os
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from casadi import *
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from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_length, casadi_version_warning
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def generate_c_code_constraint( model, con_name, is_terminal, opts ):
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casadi_version = CasadiMeta.version()
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casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
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if casadi_version not in (ALLOWED_CASADI_VERSIONS):
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casadi_version_warning(casadi_version)
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# load constraint variables and expression
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x = model.x
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p = model.p
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if isinstance(x, casadi.MX):
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symbol = MX.sym
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else:
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symbol = SX.sym
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if is_terminal:
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con_h_expr = model.con_h_expr_e
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con_phi_expr = model.con_phi_expr_e
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# create dummy u, z
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u = symbol('u', 0, 0)
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z = symbol('z', 0, 0)
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else:
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con_h_expr = model.con_h_expr
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con_phi_expr = model.con_phi_expr
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u = model.u
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z = model.z
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if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)):
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raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.")
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if not (is_empty(con_h_expr) and is_empty(con_phi_expr)):
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if is_empty(con_h_expr):
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constr_type = 'BGP'
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else:
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constr_type = 'BGH'
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if is_empty(p):
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p = symbol('p', 0, 0)
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if is_empty(z):
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z = symbol('z', 0, 0)
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if not (is_empty(con_h_expr)) and opts['generate_hess']:
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# multipliers for hessian
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nh = casadi_length(con_h_expr)
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lam_h = symbol('lam_h', nh, 1)
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# set up & change directory
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code_export_dir = opts["code_export_directory"]
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if not os.path.exists(code_export_dir):
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os.makedirs(code_export_dir)
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cwd = os.getcwd()
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os.chdir(code_export_dir)
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gen_dir = con_name + '_constraints'
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if not os.path.exists(gen_dir):
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os.mkdir(gen_dir)
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gen_dir_location = './' + gen_dir
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os.chdir(gen_dir_location)
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# export casadi functions
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if constr_type == 'BGH':
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if is_terminal:
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fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt'
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else:
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fun_name = con_name + '_constr_h_fun_jac_uxt_zt'
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jac_ux_t = transpose(jacobian(con_h_expr, vertcat(u,x)))
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jac_z_t = jacobian(con_h_expr, z)
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constraint_fun_jac_tran = Function(fun_name, [x, u, z, p], \
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[con_h_expr, jac_ux_t, jac_z_t])
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constraint_fun_jac_tran.generate(fun_name, casadi_opts)
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if opts['generate_hess']:
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if is_terminal:
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fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess'
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else:
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fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess'
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# adjoint
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adj_ux = jtimes(con_h_expr, vertcat(u, x), lam_h, True)
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# hessian
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hess_ux = jacobian(adj_ux, vertcat(u, x))
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adj_z = jtimes(con_h_expr, z, lam_h, True)
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hess_z = jacobian(adj_z, z)
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# set up functions
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constraint_fun_jac_tran_hess = \
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Function(fun_name, [x, u, lam_h, z, p], \
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[con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z])
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# generate C code
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constraint_fun_jac_tran_hess.generate(fun_name, casadi_opts)
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if is_terminal:
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fun_name = con_name + '_constr_h_e_fun'
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else:
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fun_name = con_name + '_constr_h_fun'
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h_fun = Function(fun_name, [x, u, z, p], [con_h_expr])
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h_fun.generate(fun_name, casadi_opts)
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else: # BGP constraint
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if is_terminal:
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fun_name = con_name + '_phi_e_constraint'
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r = model.con_r_in_phi_e
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con_r_expr = model.con_r_expr_e
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else:
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fun_name = con_name + '_phi_constraint'
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r = model.con_r_in_phi
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con_r_expr = model.con_r_expr
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nphi = casadi_length(con_phi_expr)
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con_phi_expr_x_u_z = substitute(con_phi_expr, r, con_r_expr)
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phi_jac_u = jacobian(con_phi_expr_x_u_z, u)
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phi_jac_x = jacobian(con_phi_expr_x_u_z, x)
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phi_jac_z = jacobian(con_phi_expr_x_u_z, z)
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hess = hessian(con_phi_expr[0], r)[0]
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for i in range(1, nphi):
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hess = vertcat(hess, hessian(con_phi_expr[i], r)[0])
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r_jac_u = jacobian(con_r_expr, u)
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r_jac_x = jacobian(con_r_expr, x)
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constraint_phi = \
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Function(fun_name, [x, u, z, p], \
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[con_phi_expr_x_u_z, \
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vertcat(transpose(phi_jac_u), \
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transpose(phi_jac_x)), \
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transpose(phi_jac_z), \
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hess, vertcat(transpose(r_jac_u), \
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transpose(r_jac_x))])
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constraint_phi.generate(fun_name, casadi_opts)
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# change directory back
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os.chdir(cwd)
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return
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