def makeMpc(dae, N, ts):
mpc = rawe.Ocp(dae, N=N, ts=ts, yxNames=['pos', 'vel'], yuNames=['force'])
mpc.constrain(-2.5, '<=', mpc['force'], '<=', 2.5)
# cgOpts = {'CXX':'clang++', 'CC':'clang'}
cgOpts = {'CXX': 'g++', 'CC': 'gcc'}
# cgOpts = {'CXX':'icpc', 'CC':'icc'}
intOpts = rawe.RtIntegratorOptions()
intOpts['INTEGRATOR_TYPE'] = 'INT_IRK_GL4'
intOpts['NUM_INTEGRATOR_STEPS'] = 5
intOpts['LINEAR_ALGEBRA_SOLVER'] = 'GAUSS_LU'
ocpOpts = rawe.OcpExportOptions()
ocpOpts['HESSIAN_APPROXIMATION'] = 'GAUSS_NEWTON'
ocpOpts['DISCRETIZATION_TYPE'] = 'MULTIPLE_SHOOTING'
ocpOpts['QP_SOLVER'] = 'QP_QPOASES'
ocpOpts['SPARSE_QP_SOLUTION'] = 'CONDENSING'
# ocpOpts['SPARSE_QP_SOLUTION'] = 'FULL_CONDENSING'
# ocpOpts['QP_SOLVER'] = 'QP_FORCES'
# ocpOpts['SPARSE_QP_SOLUTION'] = 'SPARSE_SOLVER'
ocpOpts['FIX_INITIAL_STATE'] = True
ocpOpts['HOTSTART_QP'] = True
ocpOpts['GENERATE_MATLAB_INTERFACE'] = True
return rawe.OcpRT(mpc,
ocpOptions=ocpOpts,
integratorOptions=intOpts,
codegenOptions=cgOpts)
# it under the terms of the GNU Lesser General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# rawesome is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public License
# along with rawesome. If not, see <http://www.gnu.org/licenses/>.
import rawe
import casadi as C
intOpts = rawe.RtIntegratorOptions()
intOpts['INTEGRATOR_TYPE'] = 'INT_IRK_GL2'
intOpts['NUM_INTEGRATOR_STEPS'] = 40
intOpts['IMPLICIT_INTEGRATOR_NUM_ITS'] = 3
intOpts['IMPLICIT_INTEGRATOR_NUM_ITS_INIT'] = 0
intOpts['LINEAR_ALGEBRA_SOLVER'] = 'HOUSEHOLDER_QR'
intOpts['UNROLL_LINEAR_SOLVER'] = False
intOpts['IMPLICIT_INTEGRATOR_MODE'] = 'IFTR'
def makeNmpc(dae, N, dt):
mpc = rawe.Ocp(dae, N=N, ts=dt)
ocpOpts = rawe.OcpExportOptions()
ocpOpts['HESSIAN_APPROXIMATION'] = 'GAUSS_NEWTON'
ocpOpts['DISCRETIZATION_TYPE'] = 'MULTIPLE_SHOOTING'