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111 lines
4.0 KiB
111 lines
4.0 KiB
4 years ago
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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 SX, MX, Function, transpose, vertcat, horzcat, hessian, CasadiMeta
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from .utils import ALLOWED_CASADI_VERSIONS, casadi_version_warning
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def generate_c_code_external_cost(model, stage_type, 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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x = model.x
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p = model.p
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if isinstance(x, 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 stage_type == 'terminal':
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suffix_name = "_cost_ext_cost_e_fun"
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suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess"
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suffix_name_jac = "_cost_ext_cost_e_fun_jac"
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u = symbol("u", 0, 0)
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ext_cost = model.cost_expr_ext_cost_e
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elif stage_type == 'path':
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suffix_name = "_cost_ext_cost_fun"
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suffix_name_hess = "_cost_ext_cost_fun_jac_hess"
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suffix_name_jac = "_cost_ext_cost_fun_jac"
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u = model.u
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ext_cost = model.cost_expr_ext_cost
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elif stage_type == 'initial':
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suffix_name = "_cost_ext_cost_0_fun"
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suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess"
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suffix_name_jac = "_cost_ext_cost_0_fun_jac"
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u = model.u
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ext_cost = model.cost_expr_ext_cost_0
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# set up functions to be exported
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fun_name = model.name + suffix_name
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fun_name_hess = model.name + suffix_name_hess
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fun_name_jac = model.name + suffix_name_jac
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# generate expression for full gradient and Hessian
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full_hess, grad = hessian(ext_cost, vertcat(u, x))
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ext_cost_fun = Function(fun_name, [x, u, p], [ext_cost])
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ext_cost_fun_jac_hess = Function(
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fun_name_hess, [x, u, p], [ext_cost, grad, full_hess]
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)
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ext_cost_fun_jac = Function(
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fun_name_jac, [x, u, p], [ext_cost, grad]
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)
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# generate C code
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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 = model.name + '_cost'
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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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ext_cost_fun.generate(fun_name, casadi_opts)
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ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_opts)
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ext_cost_fun_jac.generate(fun_name_jac, casadi_opts)
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os.chdir(cwd)
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return
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