You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
180 lines
6.6 KiB
180 lines
6.6 KiB
#
|
|
# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
|
|
# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
|
|
# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
|
|
# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
|
|
#
|
|
# This file is part of acados.
|
|
#
|
|
# 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 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
|
|
# 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.;
|
|
#
|
|
|
|
import os
|
|
from casadi import *
|
|
from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_length, casadi_version_warning
|
|
|
|
def generate_c_code_constraint( model, con_name, is_terminal, opts ):
|
|
|
|
casadi_version = CasadiMeta.version()
|
|
casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
|
|
|
|
if casadi_version not in (ALLOWED_CASADI_VERSIONS):
|
|
casadi_version_warning(casadi_version)
|
|
|
|
# load constraint variables and expression
|
|
x = model.x
|
|
p = model.p
|
|
|
|
if isinstance(x, casadi.MX):
|
|
symbol = MX.sym
|
|
else:
|
|
symbol = SX.sym
|
|
|
|
if is_terminal:
|
|
con_h_expr = model.con_h_expr_e
|
|
con_phi_expr = model.con_phi_expr_e
|
|
# create dummy u, z
|
|
u = symbol('u', 0, 0)
|
|
z = symbol('z', 0, 0)
|
|
else:
|
|
con_h_expr = model.con_h_expr
|
|
con_phi_expr = model.con_phi_expr
|
|
u = model.u
|
|
z = model.z
|
|
|
|
if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)):
|
|
raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.")
|
|
|
|
if not (is_empty(con_h_expr) and is_empty(con_phi_expr)):
|
|
if is_empty(con_h_expr):
|
|
constr_type = 'BGP'
|
|
else:
|
|
constr_type = 'BGH'
|
|
|
|
if is_empty(p):
|
|
p = symbol('p', 0, 0)
|
|
|
|
if is_empty(z):
|
|
z = symbol('z', 0, 0)
|
|
|
|
if not (is_empty(con_h_expr)) and opts['generate_hess']:
|
|
# multipliers for hessian
|
|
nh = casadi_length(con_h_expr)
|
|
lam_h = symbol('lam_h', nh, 1)
|
|
|
|
# set up & change directory
|
|
code_export_dir = opts["code_export_directory"]
|
|
if not os.path.exists(code_export_dir):
|
|
os.makedirs(code_export_dir)
|
|
|
|
cwd = os.getcwd()
|
|
os.chdir(code_export_dir)
|
|
gen_dir = con_name + '_constraints'
|
|
if not os.path.exists(gen_dir):
|
|
os.mkdir(gen_dir)
|
|
gen_dir_location = os.path.join('.', gen_dir)
|
|
os.chdir(gen_dir_location)
|
|
|
|
# export casadi functions
|
|
if constr_type == 'BGH':
|
|
if is_terminal:
|
|
fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt'
|
|
else:
|
|
fun_name = con_name + '_constr_h_fun_jac_uxt_zt'
|
|
|
|
jac_ux_t = transpose(jacobian(con_h_expr, vertcat(u,x)))
|
|
jac_z_t = jacobian(con_h_expr, z)
|
|
constraint_fun_jac_tran = Function(fun_name, [x, u, z, p], \
|
|
[con_h_expr, jac_ux_t, jac_z_t])
|
|
|
|
constraint_fun_jac_tran.generate(fun_name, casadi_opts)
|
|
if opts['generate_hess']:
|
|
|
|
if is_terminal:
|
|
fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess'
|
|
else:
|
|
fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess'
|
|
|
|
# adjoint
|
|
adj_ux = jtimes(con_h_expr, vertcat(u, x), lam_h, True)
|
|
# hessian
|
|
hess_ux = jacobian(adj_ux, vertcat(u, x))
|
|
|
|
adj_z = jtimes(con_h_expr, z, lam_h, True)
|
|
hess_z = jacobian(adj_z, z)
|
|
|
|
# set up functions
|
|
constraint_fun_jac_tran_hess = \
|
|
Function(fun_name, [x, u, lam_h, z, p], \
|
|
[con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z])
|
|
|
|
# generate C code
|
|
constraint_fun_jac_tran_hess.generate(fun_name, casadi_opts)
|
|
|
|
if is_terminal:
|
|
fun_name = con_name + '_constr_h_e_fun'
|
|
else:
|
|
fun_name = con_name + '_constr_h_fun'
|
|
h_fun = Function(fun_name, [x, u, z, p], [con_h_expr])
|
|
h_fun.generate(fun_name, casadi_opts)
|
|
|
|
else: # BGP constraint
|
|
if is_terminal:
|
|
fun_name = con_name + '_phi_e_constraint'
|
|
r = model.con_r_in_phi_e
|
|
con_r_expr = model.con_r_expr_e
|
|
else:
|
|
fun_name = con_name + '_phi_constraint'
|
|
r = model.con_r_in_phi
|
|
con_r_expr = model.con_r_expr
|
|
|
|
nphi = casadi_length(con_phi_expr)
|
|
con_phi_expr_x_u_z = substitute(con_phi_expr, r, con_r_expr)
|
|
phi_jac_u = jacobian(con_phi_expr_x_u_z, u)
|
|
phi_jac_x = jacobian(con_phi_expr_x_u_z, x)
|
|
phi_jac_z = jacobian(con_phi_expr_x_u_z, z)
|
|
|
|
hess = hessian(con_phi_expr[0], r)[0]
|
|
for i in range(1, nphi):
|
|
hess = vertcat(hess, hessian(con_phi_expr[i], r)[0])
|
|
|
|
r_jac_u = jacobian(con_r_expr, u)
|
|
r_jac_x = jacobian(con_r_expr, x)
|
|
|
|
constraint_phi = \
|
|
Function(fun_name, [x, u, z, p], \
|
|
[con_phi_expr_x_u_z, \
|
|
vertcat(transpose(phi_jac_u), \
|
|
transpose(phi_jac_x)), \
|
|
transpose(phi_jac_z), \
|
|
hess, vertcat(transpose(r_jac_u), \
|
|
transpose(r_jac_x))])
|
|
|
|
constraint_phi.generate(fun_name, casadi_opts)
|
|
|
|
# change directory back
|
|
os.chdir(cwd)
|
|
|
|
return
|
|
|