def test_conversion_all_funcs(self):
x1, x2, x3 = xx = st.symb_vector("x1:4")
u1, u2 = uu = st.symb_vector("u1:3")
xxuusum = sum(xx) + sum(uu)
arg = sp.tanh(xxuusum) # limit the argument to (-1, 1)*0.99
# see mpc.CassadiPrinter.__init__ for exlanation
sp_func_names = mpc.CassadiPrinter().cs_func_keys.keys()
blacklist = ["atan2", ]
flist = [getattr(sp, name) for name in sp_func_names if name not in blacklist]
# create the test_matrix
expr_list = []
for func in flist:
if func is sp.acosh:
# only defined for values > 1
expr_list.append(func(1/arg))
else:
expr_list.append(func(arg))
expr_sp = sp.Matrix(expr_list + [arg, xxuusum])
func_cs = mpc.create_casadi_func(expr_sp, xx, uu)
xxuu = list(xx) + list(uu)
func_np = st.expr_to_func(xxuu, expr_sp)
argvals = np.random.rand(len(xxuu))
argvals_cs = (argvals[:len(xx)], argvals[len(xx):])
res_np = func_np(*argvals)
res_cs = func_cs(*argvals_cs).full().squeeze()
self.assertTrue(np.allclose(res_np, res_cs))
def test_conversion1(self):
x1, x2, x3 = xx = st.symb_vector("x1:4")
u1, u2 = uu = st.symb_vector("u1:3")
expr_sp = sp.Matrix([x1 + x2 + x3, sp.sin(x1)*x2**x3, 1.23, 0, u1*sp.exp(u2)])
func_cs = mpc.create_casadi_func(expr_sp, xx, uu)
xxuu = list(xx) + list(uu)
func_np = st.expr_to_func(xxuu, expr_sp)
argvals = np.random.rand(len(xxuu))
argvals_cs = (argvals[:len(xx)], argvals[len(xx):])
res_np = func_np(*argvals)
res_cs = func_cs(*argvals_cs).full().squeeze()
self.assertTrue(np.allclose(res_np, res_cs))
def test_conversion2(self):
x1, x2, x3 = xx = st.symb_vector("x1:4")
u1, u2 = uu = st.symb_vector("u1:3")
lmd1, lmd2 = llmd = st.symb_vector("lmd1:3")
xxuullmd = list(xx) + list(uu) + list(llmd)
expr_sp = sp.Matrix([x1 + x2 + x3, sp.sin(x1)*x2**x3, 1.23, 0, u1*sp.exp(u2), x1*lmd1 + lmd2**4])
func_cs = mpc.create_casadi_func(expr_sp, xxuullmd)
func_np = st.expr_to_func(xxuullmd, expr_sp)
argvals = np.random.rand(len(xxuullmd))
# unpack the array for lambdified function
res_np = func_np(*argvals)
# pass the whole array for casadi function
res_cs = func_cs(argvals).full().squeeze()
self.assertTrue(np.allclose(res_np, res_cs))