no cython numpy

pyextra/acados_template/acados_ocp_solver_pyx.pyx

@@ -37,12 +37,7 @@
 #
 
 cimport cython
-
 from libc cimport string
-from libc cimport bool
-
-cimport numpy as np
-from cpython cimport array
 
 cimport acados_solver_common
 cimport acados_solver
@@ -50,11 +45,8 @@ cimport acados_solver
 import os
 import json
 import numpy as np
-import array
 from datetime import datetime
 
-# from .utils import np_array_to_list
-
 
 cdef class AcadosOcpSolverFast:
     """
@@ -102,9 +94,7 @@ cdef class AcadosOcpSolverFast:
         """
         Solve the ocp with current input.
         """
-
+        return acados_solver.acados_solve(self.capsule)
-        status = acados_solver.acados_solve(self.capsule)
-        return status
 
     def get_slice(self, int start_stage_, int end_stage_, str field_):
         field = field_.encode('utf-8')
@@ -113,7 +103,7 @@ cdef class AcadosOcpSolverFast:
         self.fill_in_slice(start_stage_, end_stage_, field_, out)
         return out
 
-    def fill_in_slice(self, int start_stage_, int end_stage_, str field_, np.ndarray[np.float64_t, ndim=2, mode='c'] arr_):
+    def fill_in_slice(self, int start_stage_, int end_stage_, str field_, double[:,:] arr):
         out_fields = ['x', 'u', 'z', 'pi', 'lam', 't']
         mem_fields = ['sl', 'su']
 
@@ -129,17 +119,15 @@ cdef class AcadosOcpSolverFast:
         if start_stage_ < 0 or end_stage_ > self.N + 1:
             raise Exception('AcadosOcpSolver.get_slice(): stage index must be in [0, N], got: {}.'.format(self.N))
 
-        cdef np.ndarray[np.float64_t, ndim=2, mode='c'] arr = np.ascontiguousarray(arr_, dtype=np.double)
-
         if (field_ in out_fields):
-            acados_solver_common.ocp_nlp_out_get_slice(self.nlp_config, self.nlp_dims, self.nlp_out, start_stage_, end_stage_,
+            acados_solver_common.ocp_nlp_out_get_slice(self.nlp_config, self.nlp_dims, self.nlp_out,
-                field, <double *> arr.data)
+                start_stage_, end_stage_, field, <double *> &arr[0][0])
         elif field_ in mem_fields:
             raise NotImplementedError()
         #     acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, start_stage_, end_stage_,
         #         field, <double *> arr.data)
 
-    def get(self, stage_, field_):
+    def get(self, int stage_, field_):
         return self.get_slice(stage_, stage_ + 1, field_)[0]
 
 
@@ -305,14 +293,14 @@ cdef class AcadosOcpSolverFast:
         # compute cost internally
         acados_solver_common.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
 
-        # create output array
+        # create output
-        out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
+        cdef double out
 
         # call getter
         field = "cost_value".encode('utf-8')
-        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out.data)
+        acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &out)
 
-        return out[0]
+        return out
 
 
     def get_residuals(self):
@@ -387,9 +375,9 @@ cdef class AcadosOcpSolverFast:
             msg += 'with dimension {} (you have {})'.format(dims, value_.shape)
             raise Exception(msg)
 
-        cdef np.ndarray[np.float64_t, ndim=1, mode='c'] value = np.ascontiguousarray(value_, dtype=np.double)
+        cdef double[:] value = np.ascontiguousarray(value_, dtype=np.double)
 
-        value_data_p = <void *> value.data
+        value_data_p = <void *> &value[0]
         if field_ in constraints_fields:
             acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, self.nlp_dims, self.nlp_in, stage, field, value_data_p)
         elif field_ in cost_fields:
@@ -401,14 +389,13 @@ cdef class AcadosOcpSolverFast:
         return
 
 
-    def set_param(self, stage_, np.ndarray[np.float64_t, ndim=1] value_):
+    def set_param(self, int stage_, double[:] value):
-        cdef np.ndarray[np.float64_t, ndim=1, mode='c'] value = np.ascontiguousarray(value_, dtype=np.double)
+        acados_solver.acados_update_params(self.capsule, stage_, <double *> &value[0], value.shape[0])
-        acados_solver.acados_update_params(self.capsule, stage_, <double *> value_.data, value_.shape[0])
 
-    def cost_set(self, start_stage_, field_, value_, api='warn'):
+    def cost_set(self, int start_stage_, field_, value_, api='warn'):
       self.cost_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
 
-    def cost_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
+    def cost_set_slice(self, int start_stage_, int end_stage_, field_, value_, api='warn'):
         """
         Set numerical data in the cost module of the solver.
 
@@ -424,17 +411,17 @@ cdef class AcadosOcpSolverFast:
           dim = value_.shape[1]
           value_ = value_[None,:,:]
 
-        cdef np.ndarray[np.float64_t, ndim=3, mode='c'] value = np.ascontiguousarray(value_, dtype=np.double)
+        cdef double[:,:,:] value = np.ascontiguousarray(value_, dtype=np.double)
 
-        acados_solver_common.ocp_nlp_cost_model_set_slice(self.nlp_config, self.nlp_dims, self.nlp_in, start_stage_, end_stage_,
+        acados_solver_common.ocp_nlp_cost_model_set_slice(self.nlp_config, self.nlp_dims, self.nlp_in,
-            field, <void *> value.data, dim)
+            start_stage_, end_stage_, field, <void *> &value[0][0][0], dim)
 
 
-    def constraints_set(self, start_stage_, field_, value_, api='warn'):
+    def constraints_set(self, int start_stage_, field_, value_, api='warn'):
       self.constraints_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
 
 
-    def constraints_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
+    def constraints_set_slice(self, int start_stage_, int end_stage_, field_, value_, api='warn'):
         """
         Set numerical data in the constraint module of the solver.
 
@@ -450,10 +437,9 @@ cdef class AcadosOcpSolverFast:
           dim = value_.shape[1]
           value_ = value_[None,:,:]
 
-        cdef np.ndarray[np.float64_t, ndim=3, mode='c'] value = np.ascontiguousarray(value_, dtype=np.double)
+        cdef double[:,:,:] value = np.ascontiguousarray(value_, dtype=np.double)
-
+        acados_solver_common.ocp_nlp_constraints_model_set_slice(self.nlp_config, self.nlp_dims, self.nlp_in,
-        acados_solver_common.ocp_nlp_constraints_model_set_slice(self.nlp_config, self.nlp_dims, self.nlp_in, start_stage_, end_stage_,
+            start_stage_, end_stage_, field, <void*> &value[0][0][0], dim)
-            field, <void*> value.data, dim)
 
 
     def dynamics_get(self, int stage, field_):
@@ -538,8 +524,3 @@ cdef class AcadosOcpSolverFast:
         if self.solver_created:
             acados_solver.acados_free(self.capsule)
             acados_solver.acados_free_capsule(self.capsule)
-
-            # try:
-            #     self.dlclose(self.shared_lib._handle)
-            # except:
-            #     pass