Rework p_global to use global_data instead of memory pools
#1313
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…ion_opts_set_to_default
sandmaennchen
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Oct 24, 2024
FreyJo
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Nov 4, 2024
Should have happened in #1313 already
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Previously, as of #1241,
p_globalwas only supported forMX, since the memory pool workflow is limited to this.The
p_global_precompute_funnow computes the same stuff but has one output vector calledglobal_data(a concatenation of all the expressions previously computed by the function).This
global_datahas been added toocp_nlp_inand is added as a last input to all other external CasADi functions by theGenerateContext.Detailed changes below:
OCP NLP Dimensions:
np_globalandn_global_datafields toocp_nlp_dimsand initialized them inocp_nlp_dims_assign_self.ocp_nlp_dims_set_globalfunction to set global fields inocp_nlp_dimsocp_nlp_in_calculate_size_selfandocp_nlp_in_assign_selfto handle global data.External Function Generic Enhancements:
with_global_datafield toexternal_function_optsand corresponding default setter function.External Function CasADi Enhancements:
set_global_data_pointerfunction toexternal_function_external_param_casadiand updated related functions to handle global data.Bug Fixes and Code Clean-Up:
external_function_casadi_wrapperandexternal_function_param_casadi_wrapper.external_function_param_casadi_set_paramandexternal_function_param_casadi_set_param_sparse.