longitudinal MPC: use reset() function instead of recreating the solver in (#24091)
* scons: add acados_template as dependency for lat and long mpc * long MPC: use acados reset instead of recreating the solver * long MPC: print timings and reset commented * update acados x86_64 * update acados include folder * update acados Python interface * update acados reference commit to latest acados/master * update x86 libs * update comma two * update acados again with commit 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584 * update comma two * update comma three * update x86 Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Comma Device <device@comma.ai>pull/24106/head
Jonathan Frey
3 years ago
committed by
GitHub
parent
b51deb97d1
commit
a9bac5acf8
59 changed files with 1532 additions and 233 deletions
@ -0,0 +1,116 @@ |
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# -*- 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 |
||||
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE |
||||
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
||||
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
||||
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
||||
# 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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|
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import os |
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import sys |
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from subprocess import call |
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|
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|
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class CMakeBuilder: |
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""" |
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Class to work with the `CMake` build system. |
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""" |
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def __init__(self): |
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self._source_dir = None # private source directory, this is set to code_export_dir |
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self.build_dir = 'build' |
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self._build_dir = None # private build directory, usually rendered to abspath(build_dir) |
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self.generator = None |
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"""Defines the generator, options can be found via `cmake --help` under 'Generator'. Type: string. Linux default 'Unix Makefiles', Windows 'Visual Studio 15 2017 Win64'; default value: `None`.""" |
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# set something for Windows |
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if os.name == 'nt': |
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self.generator = 'Visual Studio 15 2017 Win64' |
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self.build_targets = None |
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"""A comma-separated list of the build targets, if `None` then all targets will be build; type: List of strings; default: `None`.""" |
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self.options_on = None |
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"""List of strings as CMake options which are translated to '-D Opt[0]=ON -D Opt[1]=ON ...'; default: `None`.""" |
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|
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# Generate the command string for handling the cmake command. |
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def get_cmd1_cmake(self): |
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defines_str = '' |
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if self.options_on is not None: |
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defines_arr = [f' -D{opt}=ON' for opt in self.options_on] |
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defines_str = ' '.join(defines_arr) |
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generator_str = '' |
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if self.generator is not None: |
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generator_str = f' -G"{self.generator}"' |
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return f'cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX="{self._source_dir}"{defines_str}{generator_str} -Wdev -S"{self._source_dir}" -B"{self._build_dir}"' |
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|
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# Generate the command string for handling the build. |
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def get_cmd2_build(self): |
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import multiprocessing |
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cmd = f'cmake --build "{self._build_dir}" --config Release -j{multiprocessing.cpu_count()}' |
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if self.build_targets is not None: |
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cmd += f' -t {self.build_targets}' |
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return cmd |
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|
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# Generate the command string for handling the install command. |
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def get_cmd3_install(self): |
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return f'cmake --install "{self._build_dir}"' |
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|
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def exec(self, code_export_directory): |
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""" |
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Execute the compilation using `CMake` with the given settings. |
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:param code_export_directory: must be the absolute path to the directory where the code was exported to |
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""" |
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if(os.path.isabs(code_export_directory) is False): |
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print(f'(W) the code export directory "{code_export_directory}" is not an absolute path!') |
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self._source_dir = code_export_directory |
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self._build_dir = os.path.abspath(self.build_dir) |
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try: |
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os.mkdir(self._build_dir) |
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except FileExistsError as e: |
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pass |
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|
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try: |
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os.chdir(self._build_dir) |
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cmd_str = self.get_cmd1_cmake() |
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print(f'call("{cmd_str})"') |
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retcode = call(cmd_str, shell=True) |
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if retcode != 0: |
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raise RuntimeError(f'CMake command "{cmd_str}" was terminated by signal {retcode}') |
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cmd_str = self.get_cmd2_build() |
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print(f'call("{cmd_str}")') |
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retcode = call(cmd_str, shell=True) |
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if retcode != 0: |
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raise RuntimeError(f'Build command "{cmd_str}" was terminated by signal {retcode}') |
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cmd_str = self.get_cmd3_install() |
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print(f'call("{cmd_str}")') |
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retcode = call(cmd_str, shell=True) |
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if retcode != 0: |
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raise RuntimeError(f'Install command "{cmd_str}" was terminated by signal {retcode}') |
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except OSError as e: |
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print("Execution failed:", e, file=sys.stderr) |
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except Exception as e: |
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print("Execution failed:", e, file=sys.stderr) |
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exit(1) |
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@ -0,0 +1,374 @@ |
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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 |
||||
# 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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|
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{%- if solver_options.qp_solver %} |
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{%- set qp_solver = solver_options.qp_solver %} |
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{%- else %} |
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{%- set qp_solver = "FULL_CONDENSING_HPIPM" %} |
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{%- endif %} |
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|
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{%- if solver_options.hessian_approx %} |
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{%- set hessian_approx = solver_options.hessian_approx %} |
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{%- elif solver_options.sens_hess %} |
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{%- set hessian_approx = "EXACT" %} |
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{%- else %} |
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{%- set hessian_approx = "GAUSS_NEWTON" %} |
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{%- endif %} |
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|
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{%- if constraints.constr_type %} |
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{%- set constr_type = constraints.constr_type %} |
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{%- else %} |
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{%- set constr_type = "NONE" %} |
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{%- endif %} |
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|
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{%- if constraints.constr_type_e %} |
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{%- set constr_type_e = constraints.constr_type_e %} |
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{%- else %} |
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{%- set constr_type_e = "NONE" %} |
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{%- endif %} |
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|
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{%- if cost.cost_type %} |
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{%- set cost_type = cost.cost_type %} |
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{%- else %} |
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{%- set cost_type = "NONE" %} |
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{%- endif %} |
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|
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{%- if cost.cost_type_e %} |
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{%- set cost_type_e = cost.cost_type_e %} |
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{%- else %} |
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{%- set cost_type_e = "NONE" %} |
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{%- endif %} |
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|
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{%- if cost.cost_type_0 %} |
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{%- set cost_type_0 = cost.cost_type_0 %} |
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{%- else %} |
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{%- set cost_type_0 = "NONE" %} |
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{%- endif %} |
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|
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{%- if dims.nh %} |
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{%- set dims_nh = dims.nh %} |
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{%- else %} |
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{%- set dims_nh = 0 %} |
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{%- endif %} |
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|
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{%- if dims.nphi %} |
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{%- set dims_nphi = dims.nphi %} |
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{%- else %} |
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{%- set dims_nphi = 0 %} |
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{%- endif %} |
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|
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{%- if dims.nh_e %} |
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{%- set dims_nh_e = dims.nh_e %} |
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{%- else %} |
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{%- set dims_nh_e = 0 %} |
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{%- endif %} |
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|
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{%- if dims.nphi_e %} |
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{%- set dims_nphi_e = dims.nphi_e %} |
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{%- else %} |
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{%- set dims_nphi_e = 0 %} |
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{%- endif %} |
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|
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{%- if solver_options.model_external_shared_lib_dir %} |
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{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %} |
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{%- endif %} |
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|
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{%- if solver_options.model_external_shared_lib_name %} |
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{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %} |
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{%- endif %} |
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|
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{#- control operator #} |
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{%- if os and os == "pc" %} |
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{%- set control = "&" %} |
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{%- else %} |
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{%- set control = ";" %} |
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{%- endif %} |
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|
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{%- if acados_link_libs and os and os == "pc" %}{# acados linking libraries and flags #} |
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{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%} |
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{%- set openmp_flag = acados_link_libs.openmp %} |
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{%- else %} |
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{%- set openmp_flag = " " %} |
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{%- if qp_solver == "FULL_CONDENSING_QPOASES" %} |
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{%- set link_libs = "-lqpOASES_e" %} |
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{%- else %} |
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{%- set link_libs = "" %} |
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{%- endif %} |
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{%- endif %} |
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|
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cmake_minimum_required(VERSION 3.10) |
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|
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project({{ model.name }}) |
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|
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# build options. |
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option(BUILD_ACADOS_SOLVER_LIB "Should the solver library acados_solver_{{ model.name }} be build?" OFF) |
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option(BUILD_ACADOS_OCP_SOLVER_LIB "Should the OCP solver library acados_ocp_solver_{{ model.name }} be build?" OFF) |
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option(BUILD_EXAMPLE "Should the example main_{{ model.name }} be build?" OFF) |
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{%- if solver_options.integrator_type != "DISCRETE" %} |
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option(BUILD_SIM_EXAMPLE "Should the simulation example main_sim_{{ model.name }} be build?" OFF) |
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option(BUILD_ACADOS_SIM_SOLVER_LIB "Should the simulation solver library acados_sim_solver_{{ model.name }} be build?" OFF) |
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{%- endif %} |
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|
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# object target names |
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set(MODEL_OBJ model_{{ model.name }}) |
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set(OCP_OBJ ocp_{{ model.name }}) |
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set(SIM_OBJ sim_{{ model.name }}) |
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|
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# model |
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set(MODEL_SRC |
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{%- if solver_options.integrator_type == "ERK" %} |
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{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c |
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{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c |
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{%- if hessian_approx == "EXACT" %} |
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{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c |
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{%- endif %} |
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{%- elif solver_options.integrator_type == "IRK" %} |
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{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c |
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{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c |
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{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c |
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{%- if hessian_approx == "EXACT" %} |
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{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c |
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{%- endif %} |
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{%- elif solver_options.integrator_type == "LIFTED_IRK" %} |
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{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c |
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{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c |
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{%- if hessian_approx == "EXACT" %} |
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{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c |
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{%- endif %} |
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{%- elif solver_options.integrator_type == "GNSF" %} |
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{% if model.gnsf.purely_linear != 1 %} |
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{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c |
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{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c |
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{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c |
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{% if model.gnsf.nontrivial_f_LO == 1 %} |
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{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c |
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{%- endif %} |
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{%- endif %} |
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{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c |
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{%- elif solver_options.integrator_type == "DISCRETE" %} |
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{%- if model.dyn_ext_fun_type == "casadi" %} |
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{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c |
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{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c |
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{%- if hessian_approx == "EXACT" %} |
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{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c |
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{%- endif %} |
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{%- else %} |
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{{ model.name }}_model/{{ model.dyn_source_discrete }} |
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{%- endif %} |
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{%- endif -%} |
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) |
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add_library(${MODEL_OBJ} OBJECT ${MODEL_SRC} ) |
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|
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# optimal control problem - mostly CasADi exports |
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if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMPLE}) |
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set(OCP_SRC |
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{%- if constr_type == "BGP" and dims_nphi > 0 %} |
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{{ model.name }}_constraints/{{ model.name }}_phi_constraint.c |
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{%- endif %} |
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{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %} |
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{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c |
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{%- endif %} |
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|
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{%- if constr_type == "BGH" and dims_nh > 0 %} |
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{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c |
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{{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c |
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{%- if hessian_approx == "EXACT" %} |
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{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c |
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{%- endif %} |
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{%- endif %} |
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|
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{%- if constr_type_e == "BGH" and dims_nh_e > 0 %} |
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{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c |
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{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c |
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{%- if hessian_approx == "EXACT" %} |
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{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c |
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{%- endif %} |
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{%- endif %} |
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|
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{%- if cost_type_0 == "NONLINEAR_LS" %} |
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{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c |
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{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c |
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{{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c |
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{%- elif cost_type_0 == "EXTERNAL" %} |
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{%- if cost.cost_ext_fun_type_0 == "casadi" %} |
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{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c |
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{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c |
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{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c |
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{%- else %} |
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{{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }} |
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{%- endif %} |
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{%- endif %} |
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{%- if cost_type == "NONLINEAR_LS" %} |
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{{ model.name }}_cost/{{ model.name }}_cost_y_fun.c |
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{{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c |
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{{ model.name }}_cost/{{ model.name }}_cost_y_hess.c |
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{%- elif cost_type == "EXTERNAL" %} |
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{%- if cost.cost_ext_fun_type == "casadi" %} |
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{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c |
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{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c |
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{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c |
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{%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %} |
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{{ model.name }}_cost/{{ cost.cost_source_ext_cost }} |
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{%- endif %} |
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{%- endif %} |
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{%- if cost_type_e == "NONLINEAR_LS" %} |
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{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c |
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{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c |
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{{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c |
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{%- elif cost_type_e == "EXTERNAL" %} |
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{%- if cost.cost_ext_fun_type_e == "casadi" %} |
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{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c |
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{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c |
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{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c |
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{%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %} |
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{{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }} |
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{%- endif %} |
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{%- endif %} |
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acados_solver_{{ model.name }}.c) |
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add_library(${OCP_OBJ} OBJECT ${OCP_SRC}) |
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endif() |
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|
||||
{%- if solver_options.integrator_type != "DISCRETE" %} |
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# for sim solver |
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if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_EXAMPLE} |
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{%- if solver_options.integrator_type != "DISCRETE" %} |
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OR ${BUILD_SIM_EXAMPLE} OR ${BUILD_ACADOS_SIM_SOLVER_LIB} |
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{%- endif -%} |
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) |
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set(SIM_SRC acados_sim_solver_{{ model.name }}.c) |
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add_library(${SIM_OBJ} OBJECT ${SIM_SRC}) |
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endif() |
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{%- endif %} |
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|
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# for target example |
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set(EX_SRC main_{{ model.name }}.c) |
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set(EX_EXE main_{{ model.name }}) |
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|
||||
{%- if model_external_shared_lib_dir and model_external_shared_lib_name %} |
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set(EXTERNAL_DIR {{ model_external_shared_lib_dir }}) |
||||
set(EXTERNAL_LIB {{ model_external_shared_lib_name }}) |
||||
{%- else %} |
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set(EXTERNAL_DIR) |
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set(EXTERNAL_LIB) |
||||
{%- endif %} |
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|
||||
# set some search paths for preprocessor and linker |
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set(ACADOS_INCLUDE_PATH {{ acados_include_path }} CACHE PATH "Define the path which contains the include directory for acados.") |
||||
set(ACADOS_LIB_PATH {{ acados_lib_path }} CACHE PATH "Define the path which contains the lib directory for acados.") |
||||
|
||||
# c-compiler flags for debugging |
||||
set(CMAKE_C_FLAGS_DEBUG "-O0 -ggdb") |
||||
|
||||
set(CMAKE_C_FLAGS " |
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" -%} |
||||
-DACADOS_WITH_QPOASES |
||||
{%- endif -%} |
||||
{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" -%} |
||||
-DACADOS_WITH_OSQP |
||||
{%- endif -%} |
||||
{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" -%} |
||||
-DACADOS_WITH_QPDUNES |
||||
{%- endif -%} |
||||
-fPIC -std=c99 {{ openmp_flag }}") |
||||
#-fno-diagnostics-show-line-numbers -g |
||||
|
||||
include_directories( |
||||
${ACADOS_INCLUDE_PATH} |
||||
${ACADOS_INCLUDE_PATH}/acados |
||||
${ACADOS_INCLUDE_PATH}/blasfeo/include |
||||
${ACADOS_INCLUDE_PATH}/hpipm/include |
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %} |
||||
${ACADOS_INCLUDE_PATH}/qpOASES_e/ |
||||
{%- endif %} |
||||
) |
||||
|
||||
# linker flags |
||||
link_directories(${ACADOS_LIB_PATH}) |
||||
|
||||
# link to libraries |
||||
if(UNIX) |
||||
link_libraries(acados hpipm blasfeo m {{ link_libs }}) |
||||
else() |
||||
link_libraries(acados hpipm blasfeo {{ link_libs }}) |
||||
endif() |
||||
|
||||
# the targets |
||||
|
||||
# bundled_shared_lib |
||||
if(${BUILD_ACADOS_SOLVER_LIB}) |
||||
set(LIB_ACADOS_SOLVER acados_solver_{{ model.name }}) |
||||
add_library(${LIB_ACADOS_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}> |
||||
{%- if solver_options.integrator_type != "DISCRETE" %} |
||||
$<TARGET_OBJECTS:${SIM_OBJ}> |
||||
{%- endif -%} |
||||
) |
||||
install(TARGETS ${LIB_ACADOS_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX}) |
||||
endif(${BUILD_ACADOS_SOLVER_LIB}) |
||||
|
||||
# ocp_shared_lib |
||||
if(${BUILD_ACADOS_OCP_SOLVER_LIB}) |
||||
set(LIB_ACADOS_OCP_SOLVER acados_ocp_solver_{{ model.name }}) |
||||
add_library(${LIB_ACADOS_OCP_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}>) |
||||
# Specify libraries or flags to use when linking a given target and/or its dependents. |
||||
target_link_libraries(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_LIB}) |
||||
target_link_directories(${LIB_ACADOS_OCP_SOLVER} PRIVATE ${EXTERNAL_DIR}) |
||||
install(TARGETS ${LIB_ACADOS_OCP_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX}) |
||||
endif(${BUILD_ACADOS_OCP_SOLVER_LIB}) |
||||
|
||||
# example |
||||
if(${BUILD_EXAMPLE}) |
||||
add_executable(${EX_EXE} ${EX_SRC} $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${OCP_OBJ}> |
||||
{%- if solver_options.integrator_type != "DISCRETE" %} |
||||
$<TARGET_OBJECTS:${SIM_OBJ}> |
||||
{%- endif -%} |
||||
) |
||||
install(TARGETS ${EX_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX}) |
||||
endif(${BUILD_EXAMPLE}) |
||||
|
||||
{% if solver_options.integrator_type != "DISCRETE" -%} |
||||
# example_sim |
||||
if(${BUILD_SIM_EXAMPLE}) |
||||
set(EX_SIM_SRC main_sim_{{ model.name }}.c) |
||||
set(EX_SIM_EXE main_sim_{{ model.name }}) |
||||
add_executable(${EX_SIM_EXE} ${EX_SIM_SRC} $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${SIM_OBJ}>) |
||||
install(TARGETS ${EX_SIM_EXE} DESTINATION ${CMAKE_INSTALL_PREFIX}) |
||||
endif(${BUILD_SIM_EXAMPLE}) |
||||
|
||||
# sim_shared_lib |
||||
if(${BUILD_ACADOS_SIM_SOLVER_LIB}) |
||||
set(LIB_ACADOS_SIM_SOLVER acados_sim_solver_{{ model.name }}) |
||||
add_library(${LIB_ACADOS_SIM_SOLVER} SHARED $<TARGET_OBJECTS:${MODEL_OBJ}> $<TARGET_OBJECTS:${SIM_OBJ}>) |
||||
install(TARGETS ${LIB_ACADOS_SIM_SOLVER} DESTINATION ${CMAKE_INSTALL_PREFIX}) |
||||
endif(${BUILD_ACADOS_SIM_SOLVER_LIB}) |
||||
{%- endif %} |
||||
|
||||
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@ -0,0 +1,84 @@ |
||||
/**************************************************************************************************
|
||||
* * |
||||
* This file is part of BLASFEO. * |
||||
* * |
||||
* BLASFEO -- BLAS For Embedded Optimization. * |
||||
* Copyright (C) 2019 by Gianluca Frison. * |
||||
* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * |
||||
* All rights reserved. * |
||||
* * |
||||
* The 2-Clause BSD License * |
||||
* * |
||||
* Redistribution and use in source and binary forms, with or without * |
||||
* modification, are permitted provided that the following conditions are met: * |
||||
* * |
||||
* 1. Redistributions of source code must retain the above copyright notice, this * |
||||
* list of conditions and the following disclaimer. * |
||||
* 2. Redistributions in binary form must reproduce the above copyright notice, * |
||||
* this list of conditions and the following disclaimer in the documentation * |
||||
* and/or other materials provided with the distribution. * |
||||
* * |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * |
||||
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * |
||||
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * |
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * |
||||
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * |
||||
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * |
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * |
||||
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * |
||||
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * |
||||
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * |
||||
* * |
||||
* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * |
||||
* * |
||||
**************************************************************************************************/ |
||||
|
||||
#ifndef BLASFEO_D_BLASFEO_HP_API_H_ |
||||
#define BLASFEO_D_BLASFEO_HP_API_H_ |
||||
|
||||
|
||||
|
||||
#include "blasfeo_common.h" |
||||
|
||||
|
||||
|
||||
#ifdef __cplusplus |
||||
extern "C" { |
||||
#endif |
||||
|
||||
|
||||
|
||||
//
|
||||
// level 3 BLAS
|
||||
//
|
||||
|
||||
// dense
|
||||
|
||||
|
||||
// D <= beta * C + alpha * A^T * B
|
||||
void blasfeo_hp_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); |
||||
// D <= beta * C + alpha * A * B^T; C, D lower triangular
|
||||
void blasfeo_hp_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); |
||||
// D <= beta * C + alpha * A * A^T ; C, D lower triangular
|
||||
void blasfeo_hp_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); |
||||
// D <= alpha * B * A^{-T} , with A lower triangular
|
||||
void blasfeo_hp_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); |
||||
|
||||
|
||||
//
|
||||
// level 2 BLAS
|
||||
//
|
||||
|
||||
// dense
|
||||
|
||||
// z <= beta * y + alpha * A * x
|
||||
void blasfeo_hp_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); |
||||
|
||||
|
||||
|
||||
#ifdef __cplusplus |
||||
} |
||||
#endif |
||||
|
||||
#endif // BLASFEO_D_BLASFEO_HP_API_H_
|
||||
|
||||
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Reference in new issue