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78 lines
3.5 KiB
78 lines
3.5 KiB
# 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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from dataclasses import dataclass, field
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import numpy as np
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@dataclass
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class ZoroDescription:
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"""
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Zero-Order Robust Optimization scheme.
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For advanced users.
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"""
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backoff_scaling_gamma: float = 1.0
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fdbk_K_mat: np.ndarray = None
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unc_jac_G_mat: np.ndarray = None # default: an identity matrix
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P0_mat: np.ndarray = None
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W_mat: np.ndarray = None
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idx_lbx_t: list = field(default_factory=list)
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idx_ubx_t: list = field(default_factory=list)
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idx_lbx_e_t: list = field(default_factory=list)
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idx_ubx_e_t: list = field(default_factory=list)
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idx_lbu_t: list = field(default_factory=list)
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idx_ubu_t: list = field(default_factory=list)
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idx_lg_t: list = field(default_factory=list)
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idx_ug_t: list = field(default_factory=list)
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idx_lg_e_t: list = field(default_factory=list)
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idx_ug_e_t: list = field(default_factory=list)
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idx_lh_t: list = field(default_factory=list)
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idx_uh_t: list = field(default_factory=list)
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idx_lh_e_t: list = field(default_factory=list)
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idx_uh_e_t: list = field(default_factory=list)
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def process_zoro_description(zoro_description: ZoroDescription):
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zoro_description.nw, _ = zoro_description.W_mat.shape
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if zoro_description.unc_jac_G_mat is None:
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zoro_description.unc_jac_G_mat = np.eye(zoro_description.nw)
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zoro_description.nlbx_t = len(zoro_description.idx_lbx_t)
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zoro_description.nubx_t = len(zoro_description.idx_ubx_t)
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zoro_description.nlbx_e_t = len(zoro_description.idx_lbx_e_t)
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zoro_description.nubx_e_t = len(zoro_description.idx_ubx_e_t)
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zoro_description.nlbu_t = len(zoro_description.idx_lbu_t)
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zoro_description.nubu_t = len(zoro_description.idx_ubu_t)
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zoro_description.nlg_t = len(zoro_description.idx_lg_t)
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zoro_description.nug_t = len(zoro_description.idx_ug_t)
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zoro_description.nlg_e_t = len(zoro_description.idx_lg_e_t)
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zoro_description.nug_e_t = len(zoro_description.idx_ug_e_t)
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zoro_description.nlh_t = len(zoro_description.idx_lh_t)
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zoro_description.nuh_t = len(zoro_description.idx_uh_t)
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zoro_description.nlh_e_t = len(zoro_description.idx_lh_e_t)
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zoro_description.nuh_e_t = len(zoro_description.idx_uh_e_t)
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return zoro_description.__dict__
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