def makeMhe(dae, N, ts):
mhe = rawe.ocp.Ocp(dae, N=N, ts=ts, yxNames=['pos', 'vel'], yuNames=[])
# cgOpts = {'CXX':'clang++', 'CC':'clang'}
cgOpts = {'CXX': 'g++', 'CC': 'gcc'}
# cgOpts = {'CXX':'icpc', 'CC':'icc'}
return rawe.OcpRT(mhe, codegenOptions=cgOpts)
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)
def makeMhe(dae, N, ts):
mhe = rawe.ocp.Ocp(dae, N=N, ts=ts)
mhe.minimizeLsq([mhe['pos'],mhe['vel']])
mhe.minimizeLsqEndTerm([mhe['pos'],mhe['vel']])
# cgOpts = {'CXX':'clang++', 'CC':'clang'}
cgOpts = {'CXX':'g++', 'CC':'gcc'}
# cgOpts = {'CXX':'icpc', 'CC':'icc'}
return rawe.OcpRT(mhe, codegenOptions=cgOpts)
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'
ocpOpts['QP_SOLVER'] = 'QP_QPOASES'
ocpOpts['HOTSTART_QP'] = False
ocpOpts['SPARSE_QP_SOLUTION'] = 'CONDENSING'
# ocpOpts['SPARSE_QP_SOLUTION'] = 'FULL_CONDENSING_U2'
# ocpOpts['AX_NUM_QP_ITERATIONS'] = '30'
ocpOpts['FIX_INITIAL_STATE'] = True
mpc.minimizeLsq(C.veccat([mpc['x'], mpc['v'], mpc['u']]))
mpc.minimizeLsqEndTerm(C.veccat([mpc['x'], mpc['v']]))
cgOpts = {'CXX': 'g++', 'CC': 'gcc'}
return rawe.OcpRT(mpc,
ocpOptions=ocpOpts,
integratorOptions=intOpts,
codegenOptions=cgOpts)
def makeMhe(dae,N,dt):
from rawe.ocp import Ocp
mhe = Ocp(dae, N=N, ts=dt)
ocpOpts = rawe.OcpExportOptions()
ocpOpts['HESSIAN_APPROXIMATION'] = 'GAUSS_NEWTON'
ocpOpts['DISCRETIZATION_TYPE'] = 'MULTIPLE_SHOOTING'
ocpOpts['QP_SOLVER'] = 'QP_QPOASES'
ocpOpts['HOTSTART_QP'] = False
ocpOpts['SPARSE_QP_SOLUTION'] = 'CONDENSING'
# ocpOpts['SPARSE_QP_SOLUTION'] = 'FULL_CONDENSING_U2'
# ocpOpts['AX_NUM_QP_ITERATIONS'] = '30'
ocpOpts['FIX_INITIAL_STATE'] = False
# mhe.minimizeLsq(C.veccat([mhe['x'],mhe['u']]))
# mhe.minimizeLsqEndTerm(C.veccat([mhe['x']]))
mhe.minimizeLsq(mhe['measurements'])
mhe.minimizeLsqEndTerm(mhe['measurementsN'])
cgOpts = {'CXX':'g++', 'CC':'gcc'}
print "makeMhe calling rawe.OcpRT"
return rawe.OcpRT(mhe, ocpOptions=ocpOpts, integratorOptions=intOpts,
codegenOptions=cgOpts)
intOpts['INTEGRATOR_TYPE'] = 'INT_IRK_RIIA3'
intOpts['NUM_INTEGRATOR_STEPS'] = 5
ocpOpts = rawe.OcpExportOptions()
ocpOpts['QP_SOLVER'] = "QP_QPOASES"
ocpOpts['SPARSE_QP_SOLUTION'] = "CONDENSING"
# ocpOpts['SPARSE_QP_SOLUTION'] = "FULL_CONDENSING"
# ocpOpts['SPARSE_QP_SOLUTION'] = "SPARSE_SOLVER"
# ocpOpts['QP_SOLVER'] = "QP_QPDUNES"
ocpOpts["FIX_INITIAL_STATE"] = True
ocpOpts["HOTSTART_QP"] = True
# ocpOpts['GENERATE_MATLAB_INTERFACE'] = True
ocpRt = rawe.OcpRT(mpc,
ocpOptions=ocpOpts,
integratorOptions=intOpts,
codegenOptions=cgOpts,
phase1Options=phase1Opts)
print '=' * 80
# set the cost hessians
# xRms = 0.2
# vRms = 0.2
# fRms = 20
ocpRt.S[0, 0] = 1.0 #/(xRms*N)**2
ocpRt.S[1, 1] = 1.0 #/(vRms*N)**2
ocpRt.S[2, 2] = 1.0 #/(fRms*N)**2
ocpRt.SN[0, 0] = 1.0 #/(xRms*N)**2
ocpRt.SN[1, 1] = 1.0 #/(vRms*N)**2