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707 lines
29 KiB
707 lines
29 KiB
# -*- coding: future_fstrings -*-
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#
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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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# cython: language_level=3
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# cython: profile=False
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# distutils: language=c
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cimport cython
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from libc cimport string
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cimport acados_solver_common
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# TODO: make this import more clear? it is not a general solver, but problem specific.
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cimport acados_solver
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cimport numpy as cnp
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import os
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from datetime import datetime
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import numpy as np
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cdef class AcadosOcpSolverCython:
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"""
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Class to interact with the acados ocp solver C object.
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"""
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cdef acados_solver.nlp_solver_capsule *capsule
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cdef void *nlp_opts
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cdef acados_solver_common.ocp_nlp_dims *nlp_dims
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cdef acados_solver_common.ocp_nlp_config *nlp_config
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cdef acados_solver_common.ocp_nlp_out *nlp_out
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cdef acados_solver_common.ocp_nlp_out *sens_out
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cdef acados_solver_common.ocp_nlp_in *nlp_in
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cdef acados_solver_common.ocp_nlp_solver *nlp_solver
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cdef int status
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cdef bint solver_created
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cdef str model_name
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cdef int N
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cdef str nlp_solver_type
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def __cinit__(self, model_name, nlp_solver_type, N):
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self.solver_created = False
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self.N = N
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self.model_name = model_name
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self.nlp_solver_type = nlp_solver_type
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# create capsule
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self.capsule = acados_solver.acados_create_capsule()
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# create solver
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assert acados_solver.acados_create(self.capsule) == 0
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self.solver_created = True
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# get pointers solver
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self.__get_pointers_solver()
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self.status = 0
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def __get_pointers_solver(self):
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"""
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Private function to get the pointers for solver
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"""
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# get pointers solver
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self.nlp_opts = acados_solver.acados_get_nlp_opts(self.capsule)
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self.nlp_dims = acados_solver.acados_get_nlp_dims(self.capsule)
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self.nlp_config = acados_solver.acados_get_nlp_config(self.capsule)
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self.nlp_out = acados_solver.acados_get_nlp_out(self.capsule)
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self.sens_out = acados_solver.acados_get_sens_out(self.capsule)
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self.nlp_in = acados_solver.acados_get_nlp_in(self.capsule)
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self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule)
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def solve(self):
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"""
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Solve the ocp with current input.
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"""
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return acados_solver.acados_solve(self.capsule)
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def reset(self):
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"""
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Sets current iterate to all zeros.
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"""
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return acados_solver.acados_reset(self.capsule)
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def set_new_time_steps(self, new_time_steps):
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"""
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Set new time steps.
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Recreates the solver if N changes.
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:param new_time_steps: 1 dimensional np array of new time steps for the solver
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.. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
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the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
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do not require a new code export and compilation.
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"""
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raise NotImplementedError("AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature")
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# # unlikely but still possible
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# if not self.solver_created:
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# raise Exception('Solver was not yet created!')
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# ## check if time steps really changed in value
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# # get time steps
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# cdef cnp.ndarray[cnp.float64_t, ndim=1] old_time_steps = np.ascontiguousarray(np.zeros((self.N,)), dtype=np.float64)
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# assert acados_solver.acados_get_time_steps(self.capsule, self.N, <double *> old_time_steps.data)
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# if np.array_equal(old_time_steps, new_time_steps):
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# return
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# N = new_time_steps.size
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# cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(new_time_steps, dtype=np.float64)
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# # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
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# if len(old_time_steps) == N:
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# assert acados_solver.acados_update_time_steps(self.capsule, N, <double *> value.data) == 0
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# else: # recreate the solver with the new time steps
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# self.solver_created = False
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# # delete old memory (analog to __del__)
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# acados_solver.acados_free(self.capsule)
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# # create solver with new time steps
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# assert acados_solver.acados_create_with_discretization(self.capsule, N, <double *> value.data) == 0
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# self.solver_created = True
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# # get pointers solver
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# self.__get_pointers_solver()
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# # store time_steps, N
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# self.time_steps = new_time_steps
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# self.N = N
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def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
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"""
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Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
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This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
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the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
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:param qp_solver_cond_N: new number of condensing stages for the solver
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.. note:: This function can only be used in combination with a partial condensing QP solver.
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.. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
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necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
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`qp_solver_cond_N < N`.
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"""
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raise NotImplementedError("AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature")
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# # unlikely but still possible
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# if not self.solver_created:
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# raise Exception('Solver was not yet created!')
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# if self.N < qp_solver_cond_N:
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# raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
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# if self.qp_solver_cond_N != qp_solver_cond_N:
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# self.solver_created = False
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# # recreate the solver
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# acados_solver.acados_update_qp_solver_cond_N(self.capsule, qp_solver_cond_N)
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# # store the new value
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# self.qp_solver_cond_N = qp_solver_cond_N
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# self.solver_created = True
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# # get pointers solver
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# self.__get_pointers_solver()
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def eval_param_sens(self, index, stage=0, field="ex"):
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"""
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Calculate the sensitivity of the curent solution with respect to the initial state component of index
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:param index: integer corresponding to initial state index in range(nx)
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"""
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field_ = field
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field = field_.encode('utf-8')
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# checks
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if not isinstance(index, int):
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raise Exception('AcadosOcpSolverCython.eval_param_sens(): index must be Integer.')
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cdef int nx = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
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if index < 0 or index > nx:
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raise Exception(f'AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
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# actual eval_param
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acados_solver_common.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
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return
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def get(self, int stage, str field_):
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"""
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Get the last solution of the solver:
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:param stage: integer corresponding to shooting node
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:param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
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.. note:: regarding lam, t: \n
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the inequalities are internally organized in the following order: \n
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[ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
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lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
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.. note:: pi: multipliers for dynamics equality constraints \n
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lam: multipliers for inequalities \n
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t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
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sl: slack variables of soft lower inequality constraints \n
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su: slack variables of soft upper inequality constraints \n
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"""
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out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
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field = field_.encode('utf-8')
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if field_ not in out_fields:
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raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\
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\n Possible values are {}. Exiting.'.format(field_, out_fields))
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if stage < 0 or stage > self.N:
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raise Exception('AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}.'.format(self.N))
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if stage == self.N and field_ == 'pi':
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raise Exception('AcadosOcpSolverCython.get(): field {} does not exist at final stage {}.'\
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.format(field_, stage))
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cdef int dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
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self.nlp_dims, self.nlp_out, stage, field)
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cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims,))
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acados_solver_common.ocp_nlp_out_get(self.nlp_config, \
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self.nlp_dims, self.nlp_out, stage, field, <void *> out.data)
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return out
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def print_statistics(self):
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"""
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prints statistics of previous solver run as a table:
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- iter: iteration number
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- res_stat: stationarity residual
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- res_eq: residual wrt equality constraints (dynamics)
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- res_ineq: residual wrt inequality constraints (constraints)
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- res_comp: residual wrt complementarity conditions
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- qp_stat: status of QP solver
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- qp_iter: number of QP iterations
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- qp_res_stat: stationarity residual of the last QP solution
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- qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
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- qp_res_ineq: residual wrt inequality constraints (constraints) of the last QP solution
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- qp_res_comp: residual wrt complementarity conditions of the last QP solution
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"""
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acados_solver.acados_print_stats(self.capsule)
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def store_iterate(self, filename='', overwrite=False):
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"""
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Stores the current iterate of the ocp solver in a json file.
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:param filename: if not set, use model_name + timestamp + '.json'
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:param overwrite: if false and filename exists add timestamp to filename
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"""
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import json
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if filename == '':
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filename += self.model_name + '_' + 'iterate' + '.json'
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if not overwrite:
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# append timestamp
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if os.path.isfile(filename):
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filename = filename[:-5]
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filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
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# get iterate:
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solution = dict()
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for i in range(self.N+1):
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solution['x_'+str(i)] = self.get(i,'x')
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solution['u_'+str(i)] = self.get(i,'u')
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solution['z_'+str(i)] = self.get(i,'z')
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solution['lam_'+str(i)] = self.get(i,'lam')
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solution['t_'+str(i)] = self.get(i, 't')
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solution['sl_'+str(i)] = self.get(i, 'sl')
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solution['su_'+str(i)] = self.get(i, 'su')
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for i in range(self.N):
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solution['pi_'+str(i)] = self.get(i,'pi')
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# save
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with open(filename, 'w') as f:
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json.dump(solution, f, default=lambda x: x.tolist(), indent=4, sort_keys=True)
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print("stored current iterate in ", os.path.join(os.getcwd(), filename))
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def load_iterate(self, filename):
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"""
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Loads the iterate stored in json file with filename into the ocp solver.
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"""
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import json
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if not os.path.isfile(filename):
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raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
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with open(filename, 'r') as f:
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solution = json.load(f)
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for key in solution.keys():
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(field, stage) = key.split('_')
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self.set(int(stage), field, np.array(solution[key]))
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def get_stats(self, field_):
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"""
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Get the information of the last solver call.
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:param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
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Available fileds:
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- time_tot: total CPU time previous call
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- time_lin: CPU time for linearization
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- time_sim: CPU time for integrator
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- time_sim_ad: CPU time for integrator contribution of external function calls
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- time_sim_la: CPU time for integrator contribution of linear algebra
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- time_qp: CPU time qp solution
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- time_qp_solver_call: CPU time inside qp solver (without converting the QP)
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- time_qp_xcond: time_glob: CPU time globalization
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- time_solution_sensitivities: CPU time for previous call to eval_param_sens
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- time_reg: CPU time regularization
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- sqp_iter: number of SQP iterations
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- qp_iter: vector of QP iterations for last SQP call
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- statistics: table with info about last iteration
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- stat_m: number of rows in statistics matrix
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- stat_n: number of columns in statistics matrix
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- residuals: residuals of last iterate
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- alpha: step sizes of SQP iterations
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"""
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double_fields = ['time_tot',
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'time_lin',
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'time_sim',
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'time_sim_ad',
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'time_sim_la',
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'time_qp',
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'time_qp_solver_call',
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'time_qp_xcond',
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'time_glob',
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'time_solution_sensitivities',
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'time_reg'
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]
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fields = double_fields + [
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'sqp_iter',
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'qp_iter',
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'statistics',
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'stat_m',
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'stat_n',
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'residuals',
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'alpha',
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]
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field = field_.encode('utf-8')
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if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
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return self.__get_stat_int(field)
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elif field_ in double_fields:
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return self.__get_stat_double(field)
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elif field_ == 'statistics':
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sqp_iter = self.get_stats("sqp_iter")
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stat_m = self.get_stats("stat_m")
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stat_n = self.get_stats("stat_n")
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min_size = min([stat_m, sqp_iter+1])
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return self.__get_stat_matrix(field, stat_n+1, min_size)
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elif field_ == 'qp_iter':
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full_stats = self.get_stats('statistics')
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if self.nlp_solver_type == 'SQP':
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return full_stats[6, :]
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elif self.nlp_solver_type == 'SQP_RTI':
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return full_stats[2, :]
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elif field_ == 'alpha':
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full_stats = self.get_stats('statistics')
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if self.nlp_solver_type == 'SQP':
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return full_stats[7, :]
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else: # self.nlp_solver_type == 'SQP_RTI':
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raise Exception("alpha values are not available for SQP_RTI")
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elif field_ == 'residuals':
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return self.get_residuals()
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else:
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raise NotImplementedError("TODO!")
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def __get_stat_int(self, field):
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cdef int out
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acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &out)
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return out
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def __get_stat_double(self, field):
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cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((1,))
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acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out.data)
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return out
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def __get_stat_matrix(self, field, n, m):
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cdef cnp.ndarray[cnp.float64_t, ndim=2] out_mat = np.ascontiguousarray(np.zeros((n, m)), dtype=np.float64)
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acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out_mat.data)
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return out_mat
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def get_cost(self):
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"""
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Returns the cost value of the current solution.
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"""
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# compute cost internally
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acados_solver_common.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
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# create output
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cdef double out
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# call getter
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acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, "cost_value", <void *> &out)
|
|
|
|
return out
|
|
|
|
|
|
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' or recompute:
|
|
acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
|
|
|
|
# create output array
|
|
cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((4,), dtype=np.float64))
|
|
cdef double double_value
|
|
|
|
field = "res_stat".encode('utf-8')
|
|
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
|
|
out[0] = double_value
|
|
|
|
field = "res_eq".encode('utf-8')
|
|
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
|
|
out[1] = double_value
|
|
|
|
field = "res_ineq".encode('utf-8')
|
|
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
|
|
out[2] = double_value
|
|
|
|
field = "res_comp".encode('utf-8')
|
|
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
|
|
out[3] = double_value
|
|
|
|
return out
|
|
|
|
|
|
# Note: this function should not be used anymore, better use cost_set, constraints_set
|
|
def set(self, int stage, str field_, value_):
|
|
|
|
"""
|
|
Set numerical data inside the solver.
|
|
|
|
:param stage: integer corresponding to shooting node
|
|
:param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
|
|
|
|
.. note:: regarding lam, t: \n
|
|
the inequalities are internally organized in the following order: \n
|
|
[ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
|
|
lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
|
|
|
|
.. note:: pi: multipliers for dynamics equality constraints \n
|
|
lam: multipliers for inequalities \n
|
|
t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
|
|
sl: slack variables of soft lower inequality constraints \n
|
|
su: slack variables of soft upper inequality constraints \n
|
|
"""
|
|
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', 'z_guess']
|
|
|
|
field = field_.encode('utf-8')
|
|
|
|
cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64)
|
|
|
|
# treat parameters separately
|
|
if field_ == 'p':
|
|
assert acados_solver.acados_update_params(self.capsule, stage, <double *> value.data, value.shape[0]) == 0
|
|
else:
|
|
if field_ not in constraints_fields + cost_fields + out_fields:
|
|
raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\
|
|
\nPossible values are {}. Exiting.".format(field, \
|
|
constraints_fields + cost_fields + out_fields + ['p']))
|
|
|
|
dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
|
|
self.nlp_dims, self.nlp_out, stage, field)
|
|
|
|
if value_.shape[0] != dims:
|
|
msg = 'AcadosOcpSolverCython.set(): mismatching dimension for field "{}" '.format(field_)
|
|
msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
|
|
raise Exception(msg)
|
|
|
|
if field_ in constraints_fields:
|
|
acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config,
|
|
self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
|
|
elif field_ in cost_fields:
|
|
acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config,
|
|
self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
|
|
elif field_ in out_fields:
|
|
acados_solver_common.ocp_nlp_out_set(self.nlp_config,
|
|
self.nlp_dims, self.nlp_out, stage, field, <void *> value.data)
|
|
elif field_ in mem_fields:
|
|
acados_solver_common.ocp_nlp_set(self.nlp_config, \
|
|
self.nlp_solver, stage, field, <void *> value.data)
|
|
|
|
|
|
def cost_set(self, int stage, str field_, value_):
|
|
"""
|
|
Set numerical data in the cost module of the solver.
|
|
|
|
:param stage: integer corresponding to shooting node
|
|
:param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
|
|
:param value: of appropriate size
|
|
"""
|
|
field = field_.encode('utf-8')
|
|
|
|
cdef int dims[2]
|
|
acados_solver_common.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
|
|
self.nlp_dims, self.nlp_out, stage, field, &dims[0])
|
|
|
|
cdef double[::1,:] value
|
|
|
|
value_shape = value_.shape
|
|
if len(value_shape) == 1:
|
|
value_shape = (value_shape[0], 0)
|
|
value = np.asfortranarray(value_[None,:])
|
|
|
|
elif len(value_shape) == 2:
|
|
# Get elements in column major order
|
|
value = np.asfortranarray(value_)
|
|
|
|
if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
|
|
raise Exception('AcadosOcpSolverCython.cost_set(): mismatching dimension' +
|
|
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
|
|
|
|
acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \
|
|
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
|
|
|
|
|
|
def constraints_set(self, int stage, str field_, value_):
|
|
"""
|
|
Set numerical data in the constraint module of the solver.
|
|
|
|
:param stage: integer corresponding to shooting node
|
|
:param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
|
|
:param value: of appropriate size
|
|
"""
|
|
field = field_.encode('utf-8')
|
|
|
|
cdef int dims[2]
|
|
acados_solver_common.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
|
|
self.nlp_dims, self.nlp_out, stage, field, &dims[0])
|
|
|
|
cdef double[::1,:] value
|
|
|
|
value_shape = value_.shape
|
|
if len(value_shape) == 1:
|
|
value_shape = (value_shape[0], 0)
|
|
value = np.asfortranarray(value_[None,:])
|
|
|
|
elif len(value_shape) == 2:
|
|
# Get elements in column major order
|
|
value = np.asfortranarray(value_)
|
|
|
|
if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
|
|
raise Exception(f'AcadosOcpSolverCython.constraints_set(): mismatching dimension' +
|
|
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
|
|
|
|
acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \
|
|
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
|
|
|
|
return
|
|
|
|
|
|
def dynamics_get(self, int stage, str field_):
|
|
"""
|
|
Get numerical data from the dynamics module of the solver:
|
|
|
|
:param stage: integer corresponding to shooting node
|
|
:param field: string, e.g. 'A'
|
|
"""
|
|
field = field_.encode('utf-8')
|
|
|
|
# get dims
|
|
cdef int[2] dims
|
|
acados_solver_common.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
|
|
|
|
# create output data
|
|
cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F')
|
|
|
|
# call getter
|
|
acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, stage, field, <void *> out.data)
|
|
|
|
return out
|
|
|
|
|
|
def options_set(self, str field_, value_):
|
|
"""
|
|
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', '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', '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
|
|
field = field_.encode('utf-8')
|
|
|
|
cdef int int_value
|
|
cdef double double_value
|
|
cdef unsigned char[::1] string_value
|
|
|
|
# check field availability and type
|
|
if field_ in int_fields:
|
|
if not isinstance(value_, int):
|
|
raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_)))
|
|
|
|
if field_ == 'rti_phase':
|
|
if value_ < 0 or value_ > 2:
|
|
raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
|
|
'take only values 0, 1, 2 for SQP-RTI-type solvers')
|
|
if self.nlp_solver_type != 'SQP_RTI' and value_ > 0:
|
|
raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
|
|
'take only value 0 for SQP-type solvers')
|
|
|
|
int_value = value_
|
|
acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &int_value)
|
|
|
|
elif field_ in double_fields:
|
|
if not isinstance(value_, float):
|
|
raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_)))
|
|
|
|
double_value = value_
|
|
acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &double_value)
|
|
|
|
elif field_ in string_fields:
|
|
if not isinstance(value_, bytes):
|
|
raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_)))
|
|
|
|
string_value = value_.encode('utf-8')
|
|
acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &string_value[0])
|
|
|
|
else:
|
|
raise Exception('AcadosOcpSolverCython.options_set() does not support field {}.'\
|
|
'\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
|
|
|
|
|
|
def __del__(self):
|
|
if self.solver_created:
|
|
acados_solver.acados_free(self.capsule)
|
|
acados_solver.acados_free_capsule(self.capsule)
|
|
|