Example #1
0
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
Example #2
0
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
Example #3
0
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