MATLAB: add p_global and GenerateContext #1241
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FreyJo
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Sep 10, 2024
| @@ -1013,17 +1013,17 @@ def generate_external_functions(self, context: Optional[GenerateContext] = None) | |||
| check_casadi_version() | |||
| if self.model.dyn_ext_fun_type == 'casadi': | |||
| if self.solver_options.integrator_type == 'ERK': | |||
| generate_c_code_explicit_ode(context, model) | |||
| generate_c_code_explicit_ode(context, model, model_dir) | |||
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I would prefer not adding the additional argument model_dir, since all information is contained in the other arguments.
Also note that the functions generate_c_code_constraint and the ones for the cost, dont have such an argument.
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but this way model_dir is defined only once and not five times.
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one could move it to context though
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I think we cant, because for multiphase the models vary but there is only one context.
I would prefer setting it up in place still but not too strongly.
...ados_template/acados_template/c_templates_tera/matlab_templates/acados_mex_set_p_global.in.c
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interfaces/acados_template/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m
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This PR introduces some changes following up on the introduction of global parameters in #1234 and #1241 incorporating recent updates to CasADi including `blazing_spline`. Note that the use of `p_global` now requires CasADi version `nightly-se2`. --------- Co-authored-by: Joris Gillis <joris@yacoda.com> Co-authored-by: Jonathan Frey <jonathanpaulfrey@gmail.com>
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This PR * introduces `p_global` to Acadosl. * introduces `GenerateContext` for code generation. Compare also #1234. And minor cleanup of code generation in python. --------- Co-authored-by: Jonathan Frey <jonathanpaulfrey@gmail.com>
FreyJo
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This PR introduces some changes following up on the introduction of global parameters in #1234 and #1241 incorporating recent updates to CasADi including `blazing_spline`. Note that the use of `p_global` now requires CasADi version `nightly-se2`. --------- Co-authored-by: Joris Gillis <joris@yacoda.com> Co-authored-by: Jonathan Frey <jonathanpaulfrey@gmail.com>
FreyJo
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Oct 7, 2024
This PR introduces some changes following up on the introduction of global parameters in #1234 and #1241 incorporating recent updates to CasADi including `blazing_spline`. Note that the use of `p_global` now requires CasADi version `nightly-se2`. --------- Co-authored-by: Joris Gillis <joris@yacoda.com> Co-authored-by: Jonathan Frey <jonathanpaulfrey@gmail.com>
FreyJo
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Previously, as of #1241, `p_global` was only supported for `MX`, since the memory pool workflow is limited to this. The `p_global_precompute_fun` now computes the same stuff but has one output vector called `global_data` (a concatenation of all the expressions previously computed by the function). This `global_data` has been added to `ocp_nlp_in` and is added as a last input to all other external CasADi functions by the `GenerateContext`. Detailed changes below: #### OCP NLP Dimensions: * Added `np_global` and `n_global_data` fields to `ocp_nlp_dims` and initialized them in `ocp_nlp_dims_assign_self`. * Introduced `ocp_nlp_dims_set_global` function to set global fields in `ocp_nlp_dims` * Updated `ocp_nlp_in_calculate_size_self` and `ocp_nlp_in_assign_self` to handle global data. #### External Function Generic Enhancements: * Added `with_global_data` field to `external_function_opts` and corresponding default setter function. #### External Function CasADi Enhancements: * Added `set_global_data_pointer` function to `external_function_external_param_casadi` and updated related functions to handle global data. #### Bug Fixes and Code Clean-Up: * Fixed incorrect error messages and improved error handling in `external_function_casadi_wrapper` and `external_function_param_casadi_wrapper`. * Refactored parameter handling in `external_function_param_casadi_set_param` and `external_function_param_casadi_set_param_sparse`.
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This PR
p_globaltoAcadosModelGenerateContextfor code generation.Compare also #1234.
And a minor cleanup of code generation in python.