8000 MATLAB: Blazing MOCP example by FreyJo · Pull Request #1270 · acados/acados · GitHub
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MATLAB: Blazing MOCP example #1270

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merged 2 commits into from
Sep 30, 2024
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MATLAB: Blazing MOCP example #1270

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46edde5
blazing spline matlab example: split ocp formulation and solver optio…
FreyJo Sep 27, 2024
7ef1f90
test qp_solver_cond_block_size with M(OCP) in MATLAB
FreyJo Sep 27, 2024
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17 changes: 1 addition & 16 deletions ...p_global_example/create_ocp_formulation.m → ...ple/create_ocp_formulation_without_opts.m
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@

function ocp = create_ocp_formulation(p_global, m, l, C, lut, use_p_global, p_global_values)
function ocp = create_ocp_formulation_without_opts(p_global, m, l, C, lut, use_p_global, p_global_values)
ocp = AcadosOcp();

% Set model
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ocp.constraints.x0 = [0.0; pi; 0.0; 0.0];

% Set options
Tf = 1.0;
N_horizon = 20;

ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM';
ocp.solver_options.hessian_approx = 'GAUSS_NEWTON';
ocp.solver_options.integrator_type = 'ERK';
ocp.solver_options.print_level = 0;
ocp.solver_options.nlp_solver_type = 'SQP_RTI';

ocp.solver_options.tf = Tf;
ocp.solver_options.N_horizon = N_horizon;
% NOTE: these additional flags are required for code generation of CasADi functions using casadi.blazing_spline
ocp.solver_options.ext_fun_compile_flags = ['-I' casadi.GlobalOptions.getCasadiIncludePath ' -ffast-math -march=native '];

% Parameters
ocp.parameter_values = 9.81;

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50 changes: 35 additions & 15 deletions examples/acados_matlab_octave/p_global_example/main.m
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,8 @@ function main()
[p_global, m, l, C, p_global_values] = create_p_global(lut);

% OCP formulation
ocp = create_ocp_formulation(p_global, m, l, C, lut, use_p_global, p_global_values);
ocp = create_ocp_formulation_without_opts(p_global, m, l, C, lut, use_p_global, p_global_values);
ocp = set_solver_options(ocp);

% OCP solver
ocp_solver = AcadosOcpSolver(ocp);
Expand Down Expand Up @@ -141,30 +142,49 @@ function main()
end


function mocp = create_mocp_formulation(p_global, m, l, C, lut, use_p_global, p_global_values)
function ocp = set_solver_options(ocp)
% set options
ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM';
ocp.solver_options.hessian_approx = 'GAUSS_NEWTON';
ocp.solver_options.integrator_type = 'ERK';
ocp.solver_options.print_level = 0;
ocp.solver_options.nlp_solver_type = 'SQP_RTI';

% set prediction horizon
Tf = 1.0;
N_horizon = 20;
ocp.solver_options.tf = Tf;
ocp.solver_options.N_horizon = N_horizon;

% Set options
ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM';
ocp.solver_options.hessian_approx = 'GAUSS_NEWTON';
ocp.solver_options.integrator_type = 'ERK';
ocp.solver_options.print_level = 0;
ocp.solver_options.nlp_solver_type = 'SQP_RTI';

% partial condensing
ocp.solver_options.qp_solver_cond_N = 5;
ocp.solver_options.qp_solver_cond_block_size = [3, 3, 3, 3, 7, 1];

% NOTE: these additional flags are required for code generation of CasADi functions using casadi.blazing_spline
ocp.solver_options.ext_fun_compile_flags = ['-I' casadi.GlobalOptions.getCasadiIncludePath ' -ffast-math -march=native '];
end

function mocp = create_mocp_formulation(p_global, m, l, C, lut, use_p_global, p_global_values)

N_horizon_1 = 10;
N_horizon_2 = 10;
N_horizon = N_horizon_1 + N_horizon_2;
mocp = AcadosMultiphaseOcp([N_horizon_1, N_horizon_2]);
ocp_phase_1 = create_ocp_formulation(p_global, m, l, C, lut, use_p_global, p_global_values);
ocp_phase_2 = create_ocp_formulation(p_global, m, l, C, lut, use_p_global, p_global_values);
ocp_phase_1 = create_ocp_formulation_without_opts(p_global, m, l, C, lut, use_p_global, p_global_values);
ocp_phase_2 = create_ocp_formulation_without_opts(p_global, m, l, C, lut, use_p_global, p_global_values);

mocp = set_solver_options(mocp);

mocp.set_phase(ocp_phase_1, 1);
mocp.set_phase(ocp_phase_2, 2);

% set options
mocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM';
mocp.solver_options.hessian_approx = 'GAUSS_NEWTON';
mocp.solver_options.integrator_type = 'ERK';
mocp.solver_options.print_level = 0;
mocp.solver_options.nlp_solver_type = 'SQP_RTI';

% set prediction horizon
mocp.solver_options.tf = Tf;
mocp.solver_options.N_horizon = N_horizon;

end


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