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100 lines
3.6 KiB
100 lines
3.6 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, casadi_length, casadi_version_warning
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def generate_c_code_discrete_dynamics( 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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# load model
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x = model.x
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u = model.u
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p = model.p
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phi = model.disc_dyn_expr
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model_name = model.name
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nx = x.size()[0]
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if isinstance(phi, casadi.MX):
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symbol = MX.sym
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elif isinstance(phi, casadi.SX):
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symbol = SX.sym
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else:
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Exception("generate_c_code_disc_dyn: disc_dyn_expr must be a CasADi expression, you have type: {}".format(type(phi)))
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# assume nx1 = nx !!!
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lam = symbol('lam', nx, 1)
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# generate jacobians
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ux = vertcat(u,x)
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jac_ux = jacobian(phi, ux)
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# generate adjoint
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adj_ux = jtimes(phi, ux, lam, True)
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# generate hessian
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hess_ux = jacobian(adj_ux, ux)
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## 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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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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# set up & generate Functions
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fun_name = model_name + '_dyn_disc_phi_fun'
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phi_fun = Function(fun_name, [x, u, p], [phi])
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phi_fun.generate(fun_name, casadi_opts)
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fun_name = model_name + '_dyn_disc_phi_fun_jac'
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phi_fun_jac_ut_xt = Function(fun_name, [x, u, p], [phi, jac_ux.T])
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phi_fun_jac_ut_xt.generate(fun_name, casadi_opts)
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fun_name = model_name + '_dyn_disc_phi_fun_jac_hess'
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phi_fun_jac_ut_xt_hess = Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux])
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phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_opts)
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os.chdir(cwd)
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