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215 lines
7.8 KiB
215 lines
7.8 KiB
/*
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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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// standard
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#include <stdio.h>
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#include <stdlib.h>
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// acados
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#include "acados/utils/print.h"
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#include "acados/utils/math.h"
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#include "acados_c/ocp_nlp_interface.h"
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#include "acados_c/external_function_interface.h"
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#include "acados_solver_{{ model.name }}.h"
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#define NX {{ model.name | upper }}_NX
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#define NZ {{ model.name | upper }}_NZ
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#define NU {{ model.name | upper }}_NU
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#define NP {{ model.name | upper }}_NP
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#define NBX {{ model.name | upper }}_NBX
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#define NBX0 {{ model.name | upper }}_NBX0
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#define NBU {{ model.name | upper }}_NBU
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#define NSBX {{ model.name | upper }}_NSBX
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#define NSBU {{ model.name | upper }}_NSBU
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#define NSH {{ model.name | upper }}_NSH
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#define NSG {{ model.name | upper }}_NSG
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#define NSPHI {{ model.name | upper }}_NSPHI
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#define NSHN {{ model.name | upper }}_NSHN
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#define NSGN {{ model.name | upper }}_NSGN
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#define NSPHIN {{ model.name | upper }}_NSPHIN
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#define NSBXN {{ model.name | upper }}_NSBXN
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#define NS {{ model.name | upper }}_NS
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#define NSN {{ model.name | upper }}_NSN
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#define NG {{ model.name | upper }}_NG
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#define NBXN {{ model.name | upper }}_NBXN
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#define NGN {{ model.name | upper }}_NGN
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#define NY0 {{ model.name | upper }}_NY0
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#define NY {{ model.name | upper }}_NY
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#define NYN {{ model.name | upper }}_NYN
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#define NH {{ model.name | upper }}_NH
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#define NPHI {{ model.name | upper }}_NPHI
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#define NHN {{ model.name | upper }}_NHN
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#define NPHIN {{ model.name | upper }}_NPHIN
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#define NR {{ model.name | upper }}_NR
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int main()
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{
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{{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
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// there is an opportunity to change the number of shooting intervals in C without new code generation
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int N = {{ model.name | upper }}_N;
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// allocate the array and fill it accordingly
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double* new_time_steps = NULL;
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int status = {{ model.name }}_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps);
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if (status)
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{
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printf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status);
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exit(1);
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}
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ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
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ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
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ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
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ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule);
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ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule);
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void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule);
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// initial condition
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int idxbx0[NBX0];
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{%- for i in range(end=dims.nbx_0) %}
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idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }};
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{%- endfor %}
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double lbx0[NBX0];
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double ubx0[NBX0];
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{%- for i in range(end=dims.nbx_0) %}
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lbx0[{{ i }}] = {{ constraints.lbx_0[i] }};
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ubx0[{{ i }}] = {{ constraints.ubx_0[i] }};
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{%- endfor %}
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ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0);
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ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0);
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ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0);
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// initialization for state values
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double x_init[NX];
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{%- for i in range(end=dims.nx) %}
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x_init[{{ i }}] = 0.0;
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{%- endfor %}
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// initial value for control input
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double u0[NU];
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{%- for i in range(end=dims.nu) %}
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u0[{{ i }}] = 0.0;
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{%- endfor %}
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{%- if dims.np > 0 %}
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// set parameters
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double p[NP];
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{%- for item in parameter_values %}
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p[{{ loop.index0 }}] = {{ item }};
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{%- endfor %}
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for (int ii = 0; ii <= N; ii++)
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{
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{{ model.name }}_acados_update_params(acados_ocp_capsule, ii, p, NP);
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}
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{% endif %}{# if np > 0 #}
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// prepare evaluation
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int NTIMINGS = 1;
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double min_time = 1e12;
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double kkt_norm_inf;
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double elapsed_time;
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int sqp_iter;
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double xtraj[NX * (N+1)];
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double utraj[NU * N];
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// solve ocp in loop
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int rti_phase = 0;
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for (int ii = 0; ii < NTIMINGS; ii++)
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{
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// initialize solution
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for (int i = 0; i <= nlp_dims->N; i++)
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{
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ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
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ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
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}
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ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase);
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status = {{ model.name }}_acados_solve(acados_ocp_capsule);
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ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
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min_time = MIN(elapsed_time, min_time);
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}
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/* print solution and statistics */
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for (int ii = 0; ii <= nlp_dims->N; ii++)
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ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]);
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for (int ii = 0; ii < nlp_dims->N; ii++)
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ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]);
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printf("\n--- xtraj ---\n");
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d_print_exp_tran_mat( NX, N+1, xtraj, NX);
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printf("\n--- utraj ---\n");
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d_print_exp_tran_mat( NU, N, utraj, NU );
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// ocp_nlp_out_print(nlp_solver->dims, nlp_out);
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printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS);
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if (status == ACADOS_SUCCESS)
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{
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printf("{{ model.name }}_acados_solve(): SUCCESS!\n");
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}
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else
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{
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printf("{{ model.name }}_acados_solve() failed with status %d.\n", status);
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}
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// get solution
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ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
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ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
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{{ model.name }}_acados_print_stats(acados_ocp_capsule);
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printf("\nSolver info:\n");
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printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n",
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sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf);
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// free solver
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status = {{ model.name }}_acados_free(acados_ocp_capsule);
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if (status) {
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printf("{{ model.name }}_acados_free() returned status %d. \n", status);
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}
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// free solver capsule
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status = {{ model.name }}_acados_free_capsule(acados_ocp_capsule);
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if (status) {
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printf("{{ model.name }}_acados_free_capsule() returned status %d. \n", status);
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}
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return status;
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}
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