def _make_jit_function(f: cs.Function):
"""
Compiles casadi function into a shared object and return it
:return:
"""
import filecmp
import os
gen_code_path = 'ilqr_generated_{}.c'.format(f.name())
f.generate(gen_code_path)
gen_lib_path = 'ilqr_generated_{}.so'.format(f.name())
gcc_cmd = 'gcc {} -shared -fPIC -O3 -o {}'.format(
gen_code_path, gen_lib_path)
if os.system(gcc_cmd) != 0:
raise SystemError('Unable to compile function "{}"'.format(
f.name()))
jit_f = cs.external(f.name(), './' + gen_lib_path)
os.remove(gen_code_path)
os.remove(gen_lib_path)
return jit_f
def create_function(name, inp, out, options):
codegen = options['codegen']
if options['verbose'] >= 1:
print('Building function %s ... ' % name, end=' ')
t0 = time.time()
fun = Function(name, inp, out).expand()
if codegen['build'] == 'jit':
if options['verbose'] >= 1:
print(('[jit compilation with flags %s]' % (codegen['flags'])),
end=' ')
fun.generate(name)
compiler = Compiler(name + '.c', 'clang', {'flags': codegen['flags']})
fun = external(name, compiler)
os.remove(name + '.c')
elif codegen['build'] == 'shared':
if os.name == 'nt':
raise ValueError('Build option is not supported for Windows!')
directory = os.path.join(os.getcwd(), 'build')
if not os.path.isdir(directory):
os.makedirs(directory)
path = os.path.join(directory, name)
if options['verbose'] >= 1:
print(('[compile to .so with flags %s]' % (codegen['flags'])),
end=' ')
if os.path.isfile(path + '.so'):
os.remove(path + '.so')
fun.generate(name + '.c')
shutil.move(name + '.c', path + '.c')
os.system('gcc -fPIC -shared %s %s.c -o %s.so' %
(codegen['flags'], path, path))
fun = external(name, path + '.so')
os.remove(path + '.c')
elif codegen['build'] == 'existing':
if os.name == 'nt':
raise ValueError('Build option is not supported for Windows!')
directory = os.path.join(os.getcwd(), 'build')
path = os.path.join(directory, name)
if not os.path.isfile(path + '.so'):
raise ValueError('%s.so does not exist!', path)
if options['verbose'] >= 1:
print(('[using shared object %s.so]' % path), end=' ')
fun = external(name, path + '.so')
elif codegen['build'] is None:
fun = fun
else:
raise ValueError('Invalid build option.')
t1 = time.time()
if options['verbose'] >= 1:
print('in %5f s' % (t1 - t0))
return fun, (t1 - t0)
def generate_c_code_external_cost(model, is_terminal):
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)
x = model.x
p = model.p
if isinstance(x, MX):
symbol = MX.sym
else:
symbol = SX.sym
if is_terminal:
suffix_name = "_cost_ext_cost_e_fun"
suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess"
suffix_name_jac = "_cost_ext_cost_e_fun_jac"
u = symbol("u", 0, 0)
ext_cost = model.cost_expr_ext_cost_e
else:
suffix_name = "_cost_ext_cost_fun"
suffix_name_hess = "_cost_ext_cost_fun_jac_hess"
suffix_name_jac = "_cost_ext_cost_fun_jac"
u = model.u
ext_cost = model.cost_expr_ext_cost
# set up functions to be exported
fun_name = model.name + suffix_name
fun_name_hess = model.name + suffix_name_hess
fun_name_jac = model.name + suffix_name_jac
# generate expression for full gradient and Hessian
full_hess, grad = hessian(ext_cost, vertcat(u, x))
ext_cost_fun = Function(fun_name, [x, u, p], [ext_cost])
ext_cost_fun_jac_hess = Function(
fun_name_hess, [x, u, p], [ext_cost, grad, full_hess]
)
ext_cost_fun_jac = Function(
fun_name_jac, [x, u, p], [ext_cost, grad]
)
# generate C code
if not os.path.exists("c_generated_code"):
os.mkdir("c_generated_code")
os.chdir("c_generated_code")
gen_dir = model.name + '_cost'
if not os.path.exists(gen_dir):
os.mkdir(gen_dir)
gen_dir_location = "./" + gen_dir
os.chdir(gen_dir_location)
ext_cost_fun.generate(fun_name, casadi_opts)
ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_opts)
ext_cost_fun_jac.generate(fun_name_jac, casadi_opts)
os.chdir("../..")
return
def generate_c_code_external_cost(model, is_terminal):
casadi_version = CasadiMeta.version()
casadi_opts = dict(mex=False, casadi_int="int", casadi_real="double")
if casadi_version not in (ALLOWED_CASADI_VERSIONS):
msg = "Please download and install CasADi {} ".format(
" or ".join(ALLOWED_CASADI_VERSIONS))
msg += "to ensure compatibility with acados.\n"
msg += "Version {} currently in use.".format(casadi_version)
raise Exception(msg)
if is_terminal:
suffix_name = "_ext_cost_e_fun"
suffix_name_hess = "_ext_cost_e_fun_jac_hess"
u = SX.sym("u", 0, 0)
ext_cost = model.cost_expr_ext_cost_e
else:
suffix_name = "_ext_cost_fun"
suffix_name_hess = "_ext_cost_fun_jac_hess"
u = model.u
ext_cost = model.cost_expr_ext_cost
x = model.x
p = model.p
# set up functions to be exported
fun_name = model.name + suffix_name
fun_name_hess = model.name + suffix_name_hess
# generate jacobians
jac_x = jacobian(ext_cost, x)
jac_u = jacobian(ext_cost, u)
# generate hessians
hess_uu = jacobian(jac_u.T, u)
hess_xu = jacobian(jac_u.T, x)
hess_ux = jacobian(jac_x.T, u)
hess_xx = jacobian(jac_x.T, x)
full_hess = vertcat(horzcat(hess_uu, hess_xu), horzcat(hess_ux, hess_xx))
ext_cost_fun = Function(fun_name, [x, u, p], [ext_cost])
ext_cost_fun_jac_hess = Function(
fun_name_hess, [x, u, p],
[ext_cost, vertcat(jac_u.T, jac_x.T), full_hess])
# generate C code
if not os.path.exists("c_generated_code"):
os.mkdir("c_generated_code")
os.chdir("c_generated_code")
gen_dir = model.name + '_cost'
if not os.path.exists(gen_dir):
os.mkdir(gen_dir)
gen_dir_location = "./" + gen_dir
os.chdir(gen_dir_location)
ext_cost_fun.generate(fun_name, casadi_opts)
ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_opts)
os.chdir("../..")
return
def generate_c_code_external_cost(model, stage_type, 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)
x = model.x
p = model.p
if isinstance(x, MX):
symbol = MX.sym
else:
symbol = SX.sym
if stage_type == 'terminal':
suffix_name = "_cost_ext_cost_e_fun"
suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess"
suffix_name_jac = "_cost_ext_cost_e_fun_jac"
u = symbol("u", 0, 0)
ext_cost = model.cost_expr_ext_cost_e
custom_hess = model.cost_expr_ext_cost_custom_hess_e
elif stage_type == 'path':
suffix_name = "_cost_ext_cost_fun"
suffix_name_hess = "_cost_ext_cost_fun_jac_hess"
suffix_name_jac = "_cost_ext_cost_fun_jac"
u = model.u
ext_cost = model.cost_expr_ext_cost
custom_hess = model.cost_expr_ext_cost_custom_hess
elif stage_type == 'initial':
suffix_name = "_cost_ext_cost_0_fun"
suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess"
suffix_name_jac = "_cost_ext_cost_0_fun_jac"
u = model.u
ext_cost = model.cost_expr_ext_cost_0
custom_hess = model.cost_expr_ext_cost_custom_hess_0
# set up functions to be exported
fun_name = model.name + suffix_name
fun_name_hess = model.name + suffix_name_hess
fun_name_jac = model.name + suffix_name_jac
# generate expression for full gradient and Hessian
full_hess, grad = hessian(ext_cost, vertcat(u, x))
if custom_hess is not None:
full_hess = custom_hess
ext_cost_fun = Function(fun_name, [x, u, p], [ext_cost])
ext_cost_fun_jac_hess = Function(fun_name_hess, [x, u, p],
[ext_cost, grad, full_hess])
ext_cost_fun_jac = Function(fun_name_jac, [x, u, p], [ext_cost, grad])
# generate C code
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 = model.name + '_cost'
if not os.path.exists(gen_dir):
os.mkdir(gen_dir)
gen_dir_location = "./" + gen_dir
os.chdir(gen_dir_location)
ext_cost_fun.generate(fun_name, casadi_opts)
ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_opts)
ext_cost_fun_jac.generate(fun_name_jac, casadi_opts)
os.chdir(cwd)
return