8000 Solution sensitivities refactoring by FreyJo · Pull Request #1343 · acados/acados · GitHub
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Solution sensitivities refactoring #1343

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Merged
merged 11 commits into from
Nov 6, 2024
Merged

Solution sensitivities refactoring #1343

merged 11 commits into from
Nov 6, 2024

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FreyJo
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@FreyJo FreyJo commented Nov 6, 2024

refactor functionality in ocp_nlp_params_jac_compute.
New description of this function:

this function sets up: jac_lag_stat_p_global, jac_ineq_p_global, jac_dyn_p_global
    - jac_dyn_p_global is computed in dynamics module
    - jac_ineq_p_global is computed in constraints module (TODO!)
    - jac_lag_stat_p_global: first dynamics writes its contribution, then cost and constraints modules add their contribution.

Detailed:

  • split tmp_nvninx_np_global into matrices jac_lag_stat_p_global, jac_ineq_p_global, jac_dyn_p_global
  • fix shape of inequality part jac_ineq_p_global, should be 2*ni
  • directly set up those matrices in the cost and dynamics modules instead of taking out columns in ocp_nlp_common
  • avoid copying

This resulted in significant speed-up in the chain benchmark example:
Minimum time for eval rhs on my machine
Before the changes: 775 ms
After the changes: 527 ms

@FreyJo FreyJo requested a review from sandmaennchen November 6, 2024 10:28
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sandmaennchen approved these changes Nov 6, 2024
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👍

@FreyJo FreyJo merged commit 5f797a8 into acados:master Nov 6, 2024
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@FreyJo FreyJo deleted the solution_sens_refactor 6563 branch November 6, 2024 12:03
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@sandmaennchen sandmaennchen sandmaennchen approved these changes

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