def exportOcp(ocp, ocpOptions, integratorOptions, cgOptions, phase1Options):
defaultCgOptions = {
'CXX': 'g++',
'CC': 'gcc',
'CXXFLAGS': '-O3 -fPIC -finline-functions',
'CFLAGS': '-O3 -fPIC -finline-functions',
'hideSymbols': False,
'export_without_build_path': None
}
defaultPhase1Options = {'CXX': 'g++'}
validateOptions(defaultCgOptions, cgOptions, "codegen")
validateOptions(defaultPhase1Options, phase1Options, "phase 1")
cgOptions['hashPrefix'] = ocp.hashPrefix
phase1Options['hashPrefix'] = ocp.hashPrefix
# write the OCP exporter and run it, returning an exported OCP
files = phase1.runPhase1(ocp, phase1Options, integratorOptions, ocpOptions)
# add model for rt integrator
files['model.c'] = '''\
#include "qpoases/solver.hpp"
#include "rhs.h"
#include "rhsJacob.h"
'''
rtModelGen = rtModelExport.generateCModel(ocp.dae, ocp.ts, None)
files['rhs.cpp'] = '#include "rhs.h"\n' + rtModelGen['rhsFile'][0]
files['rhsJacob.cpp'] = '#include "rhsJacob.h"\n' + rtModelGen[
'rhsJacobFile'][0]
files['rhs.h'] = rtModelGen['rhsFile'][1]
files['rhsJacob.h'] = rtModelGen['rhsJacobFile'][1]
# add objective and jacobian
externObj = writeObjective(ocp, ocp._minLsq, 'lsqExtern')
externObjEnd = writeObjective(ocp, ocp._minLsqEndTerm, 'lsqEndTermExtern')
externFile = '''\
#include "acado_external_functions.h"
#include <math.h>
#include <stdio.h>
'''
externFile += externObj[0] + '\n'
externFile += externObjEnd[0]
files['acado_external_functions.cpp'] = externFile
externHeader = externObj[1] + '\n'
externHeader += externObjEnd[1]
files['acado_external_functions.h'] = externHeader
# #include objective/jacobian in acado_solver.c
files['acado_solver.c'] = '#include "acado_external_functions.h"\n'+\
files['acado_solver.c']
# add python_interface.c
files['python_interface.c'] = ocg_interface.ocg_interface
if ocpOptions['QP_SOLVER'] == 'QP_QPOASES':
exportPath = qpoases.exportPhase2(cgOptions, files)
else:
raise Exception('the impossible happened, unsupported qp solver: "' +
str(ocpOptions['QP_SOLVER']) + '"')
return exportPath
def exportOcp(ocp, ocpOptions, integratorOptions, cgOptions, phase1Options):
defaultCgOptions = {'CXX':'g++', 'CC':'gcc',
'CXXFLAGS':'-O3 -fPIC -finline-functions',
'CFLAGS':'-O3 -fPIC -finline-functions',
'hideSymbols':False,
'export_without_build_path':None,
'force_export_path':None}
defaultPhase1Options = {'CXX':'g++'}
validateOptions(defaultCgOptions, cgOptions, "codegen")
validateOptions(defaultPhase1Options, phase1Options, "phase 1")
cgOptions['hashPrefix'] = ocp.hashPrefix
phase1Options['hashPrefix'] = ocp.hashPrefix
# write the OCP exporter and run it, returning an exported OCP
files = phase1.runPhase1(ocp, phase1Options, integratorOptions, ocpOptions)
# add model for rt integrator
files['model.c'] = '''\
#include "qpoases/solver.hpp"
#include "rhs.h"
#include "rhsJacob.h"
'''
rtModelGen = rtModelExport.generateCModel(ocp.dae, ocp.ts, None)
files['rhs.cpp'] = '#include "rhs.h"\n'+rtModelGen['rhsFile'][0]
files['rhsJacob.cpp'] = '#include "rhsJacob.h"\n'+rtModelGen['rhsJacobFile'][0]
files['rhs.h'] = rtModelGen['rhsFile'][1]
files['rhsJacob.h'] = rtModelGen['rhsJacobFile'][1]
# add objective and jacobian
externObj = writeObjective(ocp, ocp._minLsq, 'lsqExtern')
externObjEnd = writeObjective(ocp, ocp._minLsqEndTerm, 'lsqEndTermExtern')
externFile = '''\
#include "acado_external_functions.h"
#include <math.h>
#include <stdio.h>
'''
externFile += externObj[0] + '\n'
externFile += externObjEnd[0]
files['acado_external_functions.cpp'] = externFile
externHeader = externObj[1] + '\n'
externHeader += externObjEnd[1]
files['acado_external_functions.h'] = externHeader
# #include objective/jacobian in acado_solver.c
files['acado_solver.c'] = '#include "acado_external_functions.h"\n'+\
files['acado_solver.c']
# add python_interface.c
files['python_interface.c'] = ocg_interface.ocg_interface
if ocpOptions['QP_SOLVER'] == 'QP_QPOASES':
exportPath = qpoases.exportPhase2(cgOptions, files)
else:
raise Exception('the impossible happened, unsupported qp solver: "'+str(ocpOptions['QP_SOLVER'])+'"')
return exportPath
def exportOcp(ocp, ocpOptions, integratorOptions, cgOptions, phase1Options):
defaultCgOptions = {'CXX':'g++', 'CC':'gcc',
'CXXFLAGS':'-O3 -fPIC -finline-functions',
'CFLAGS':'-O3 -fPIC -finline-functions',
'hideSymbols':False,
'export_without_build_path':None,
'force_export_path':None}
defaultPhase1Options = {'CXX':'g++'}
validateOptions(defaultCgOptions, cgOptions, "codegen")
validateOptions(defaultPhase1Options, phase1Options, "phase 1")
cgOptions['hashPrefix'] = ocp.hashPrefix
phase1Options['hashPrefix'] = ocp.hashPrefix
# write the OCP exporter and run it, returning an exported OCP
files = phase1.runPhase1(ocp, phase1Options, integratorOptions, ocpOptions)
# add model for rt integrator
files['model.c'] = '''\
#include "qpoases/solver.hpp"
#include "acado_external_functions.h"
'''
rtModelGen = rtModelExport.generateCModel(ocp.dae, ocp.ts, None)
# add objective and jacobian
externObj = writeObjective(ocp, ocp._minLsq, 'lsqExtern')
externObjEnd = writeObjective(ocp, ocp._minLsqEndTerm, 'lsqEndTermExtern')
externFile = '''\
#include "acado_external_functions.h"
#include <math.h>
#include <stdio.h>
'''
externFile += externObj[0] + '\n'
externFile += externObjEnd[0] + '\n'
externFile += rtModelGen['rhsFile'][0] + '\n'
externFile += rtModelGen['rhsJacobFile'][0]
files['acado_external_functions.cpp'] = externFile
externHeader = externObj[1] + '\n'
externHeader += externObjEnd[1]
externHeader += rtModelGen['rhsFile'][1] + '\n'
externHeader += rtModelGen['rhsJacobFile'][1]
files['acado_external_functions.h'] = externHeader
# #include objective/jacobian in acado_solver.c
files['acado_solver.c'] = '#include "acado_external_functions.h"\n'+\
files['acado_solver.c']
if ocpOptions['QP_SOLVER'] == 'QP_QPDUNES':
# Patch the source if we are using qpDUNES
files['acado_solver.c'] = files['acado_solver.c'].replace("#include <qpDUNES.h>",
"#include <qpdunes/qpDUNES.h>")
# make c++ file with everything included
files['everything.cpp'] = '''\
#include "acado_external_functions.cpp"
#undef d
#include "acado_common.h"
#include "acado_integrator.c"
#include "acado_solver.c"
ACADOworkspace acadoWorkspace;
ACADOvariables acadoVariables;
'''
# add python_interface.c
files['python_interface.c'] = ocg_interface.ocg_interface
if ocpOptions['QP_SOLVER'] == 'QP_QPOASES':
import qpoases
exportPath = qpoases.exportPhase2(cgOptions, files)
elif ocpOptions['QP_SOLVER'] == 'QP_HPMPC':
import hpmpc
exportPath = hpmpc.exportPhase2(cgOptions, files)
elif ocpOptions['QP_SOLVER'] == 'QP_QPDUNES':
import qpdunes
exportPath = qpdunes.exportPhase2(cgOptions, files)
elif ocpOptions['QP_SOLVER'] == 'QP_FORCES':
import forces
exportPath = forces.exportPhase2(cgOptions, files)
else:
raise Exception('the impossible happened, unsupported qp solver: "'+str(ocpOptions['QP_SOLVER'])+'"')
return exportPath
