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154 lines
8.8 KiB
154 lines
8.8 KiB
#
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# Copyright (c) The acados authors.
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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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class AcadosModel():
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"""
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Class containing all the information to code generate the external CasADi functions
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that are needed when creating an acados ocp solver or acados integrator.
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Thus, this class contains:
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a) the :py:attr:`name` of the model,
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b) all CasADi variables/expressions needed in the CasADi function generation process.
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"""
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def __init__(self):
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## common for OCP and Integrator
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self.name = None
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"""
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The model name is used for code generation. Type: string. Default: :code:`None`
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"""
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self.x = None #: CasADi variable describing the state of the system; Default: :code:`None`
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self.xdot = None #: CasADi variable describing the derivative of the state wrt time; Default: :code:`None`
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self.u = None #: CasADi variable describing the input of the system; Default: :code:`None`
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self.z = [] #: CasADi variable describing the algebraic variables of the DAE; Default: :code:`empty`
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self.p = [] #: CasADi variable describing parameters of the DAE; Default: :code:`empty`
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# dynamics
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self.f_impl_expr = None
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"""
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CasADi expression for the implicit dynamics :math:`f_\\text{impl}(\dot{x}, x, u, z, p) = 0`.
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Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'IRK'.
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Default: :code:`None`
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"""
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self.f_expl_expr = None
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"""
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CasADi expression for the explicit dynamics :math:`\dot{x} = f_\\text{expl}(x, u, p)`.
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Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'ERK'.
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Default: :code:`None`
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"""
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self.disc_dyn_expr = None
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"""
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CasADi expression for the discrete dynamics :math:`x_{+} = f_\\text{disc}(x, u, p)`.
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Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.integrator_type` == 'DISCRETE'.
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Default: :code:`None`
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"""
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self.dyn_ext_fun_type = 'casadi' #: type of external functions for dynamics module; 'casadi' or 'generic'; Default: 'casadi'
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self.dyn_generic_source = None #: name of source file for discrete dyanamics; Default: :code:`None`
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self.dyn_disc_fun_jac_hess = None #: name of function discrete dyanamics + jacobian and hessian; Default: :code:`None`
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self.dyn_disc_fun_jac = None #: name of function discrete dyanamics + jacobian; Default: :code:`None`
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self.dyn_disc_fun = None #: name of function discrete dyanamics; Default: :code:`None`
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# for GNSF models
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self.gnsf = {'nontrivial_f_LO': 1, 'purely_linear': 0}
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"""
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dictionary containing information on GNSF structure needed when rendering templates.
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Contains integers `nontrivial_f_LO`, `purely_linear`.
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"""
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## for OCP
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# constraints
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# BGH(default): lh <= h(x, u) <= uh
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self.con_h_expr = None #: CasADi expression for the constraint :math:`h`; Default: :code:`None`
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# BGP(convex over nonlinear): lphi <= phi(r(x, u)) <= uphi
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self.con_phi_expr = None #: CasADi expression for the constraint phi; Default: :code:`None`
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self.con_r_expr = None #: CasADi expression for the constraint phi(r); Default: :code:`None`
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self.con_r_in_phi = None
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# terminal
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self.con_h_expr_e = None #: CasADi expression for the terminal constraint :math:`h^e`; Default: :code:`None`
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self.con_r_expr_e = None #: CasADi expression for the terminal constraint; Default: :code:`None`
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self.con_phi_expr_e = None #: CasADi expression for the terminal constraint; Default: :code:`None`
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self.con_r_in_phi_e = None
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# cost
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self.cost_y_expr = None #: CasADi expression for nonlinear least squares; Default: :code:`None`
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self.cost_y_expr_e = None #: CasADi expression for nonlinear least squares, terminal; Default: :code:`None`
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self.cost_y_expr_0 = None #: CasADi expression for nonlinear least squares, initial; Default: :code:`None`
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self.cost_expr_ext_cost = None #: CasADi expression for external cost; Default: :code:`None`
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self.cost_expr_ext_cost_e = None #: CasADi expression for external cost, terminal; Default: :code:`None`
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self.cost_expr_ext_cost_0 = None #: CasADi expression for external cost, initial; Default: :code:`None`
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self.cost_expr_ext_cost_custom_hess = None #: CasADi expression for custom hessian (only for external cost); Default: :code:`None`
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self.cost_expr_ext_cost_custom_hess_e = None #: CasADi expression for custom hessian (only for external cost), terminal; Default: :code:`None`
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self.cost_expr_ext_cost_custom_hess_0 = None #: CasADi expression for custom hessian (only for external cost), initial; Default: :code:`None`
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## CONVEX_OVER_NONLINEAR convex-over-nonlinear cost: psi(y(x, u, p) - y_ref; p)
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self.cost_psi_expr_0 = None
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"""
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CasADi expression for the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None`
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Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
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"""
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self.cost_psi_expr = None
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"""
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CasADi expression for the outer loss function :math:`\psi(r, p)`; Default: :code:`None`
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Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
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"""
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self.cost_psi_expr_e = None
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"""
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CasADi expression for the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None`
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Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
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"""
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self.cost_r_in_psi_expr_0 = None
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"""
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CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None`
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Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
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"""
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self.cost_r_in_psi_expr = None
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"""
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CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`; Default: :code:`None`
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Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
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"""
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self.cost_r_in_psi_expr_e = None
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"""
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CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None`
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Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
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"""
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self.cost_conl_custom_outer_hess_0 = None
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"""
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CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), initial; Default: :code:`None`
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Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
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"""
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self.cost_conl_custom_outer_hess = None
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"""
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CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost); Default: :code:`None`
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Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
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"""
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self.cost_conl_custom_outer_hess_e = None
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"""
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CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), terminal; Default: :code:`None`
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Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
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"""
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