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137 lines
5.0 KiB
137 lines
5.0 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 *
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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_implicit_ode( model, 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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generate_hess = opts["generate_hess"]
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code_export_dir = opts["code_export_directory"]
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## load model
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x = model.x
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xdot = model.xdot
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u = model.u
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z = model.z
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p = model.p
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f_impl = model.f_impl_expr
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model_name = model.name
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## get model dimensions
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nx = casadi_length(x)
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nu = casadi_length(u)
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nz = casadi_length(z)
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## generate jacobians
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jac_x = jacobian(f_impl, x)
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jac_xdot = jacobian(f_impl, xdot)
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jac_u = jacobian(f_impl, u)
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jac_z = jacobian(f_impl, z)
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## generate hessian
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x_xdot_z_u = vertcat(x, xdot, z, u)
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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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multiplier = symbol('multiplier', nx + nz)
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ADJ = jtimes(f_impl, x_xdot_z_u, multiplier, True)
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HESS = jacobian(ADJ, x_xdot_z_u)
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## Set up functions
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p = model.p
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fun_name = model_name + '_impl_dae_fun'
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impl_dae_fun = Function(fun_name, [x, xdot, u, z, p], [f_impl])
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fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
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impl_dae_fun_jac_x_xdot_z = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z])
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# fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
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# impl_dae_fun_jac_x_xdot = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z])
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# fun_name = model_name + '_impl_dae_jac_x_xdot_u'
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# impl_dae_jac_x_xdot_u = Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z])
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fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
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impl_dae_fun_jac_x_xdot_u_z = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u, jac_z])
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fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
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impl_dae_fun_jac_x_xdot_u = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u])
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fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
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impl_dae_jac_x_xdot_u_z = Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z])
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fun_name = model_name + '_impl_dae_hess'
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impl_dae_hess = Function(fun_name, [x, xdot, u, z, multiplier, p], [HESS])
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# generate C code
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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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model_dir = model_name + '_model'
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if not os.path.exists(model_dir):
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os.mkdir(model_dir)
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model_dir_location = './' + model_dir
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os.chdir(model_dir_location)
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fun_name = model_name + '_impl_dae_fun'
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impl_dae_fun.generate(fun_name, casadi_opts)
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fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
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impl_dae_fun_jac_x_xdot_z.generate(fun_name, casadi_opts)
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fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
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impl_dae_jac_x_xdot_u_z.generate(fun_name, casadi_opts)
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fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
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impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_opts)
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if generate_hess:
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fun_name = model_name + '_impl_dae_hess'
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impl_dae_hess.generate(fun_name, casadi_opts)
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os.chdir(cwd)
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