8000 Python: optional parametrization of `W` when reformulating (non)linear least-squares cost as external cost by sandmaennchen · Pull Request #1377 · acados/acados · GitHub
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Python: optional parametrization of W when reformulating (non)linear least-squares cost as external cost #1377

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Merged
merged 7 commits into from
Nov 28, 2024
Merged

Python: optional parametrization of W when reformulating (non)linear least-squares cost as external cost #1377

merged 7 commits into from
Nov 28, 2024

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sandmaennchen
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@sandmaennchen sandmaennchen commented Nov 27, 2024 •
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Extend translate_cost_to_external_cost with an optional parametrization of the weighting matrix. The user now needs to provide additional p and p_global symbolics (and values).

Also: Improve checks in setters of parameter_values and p_global_values

@sandmaennchen sandmaennchen force-pushed the reformulate_to_external branch from 6b65209 to fd9ff7c Compare November 27, 2024 13:29
@sandmaennchen sandmaennchen requested a review from dirkpr November 27, 2024 15:10
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dirkpr approved these changes Nov 27, 2024
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Looks good, only some comments. Should W_params be a concatentation of W columns or the W matrix directly?

@FreyJo FreyJo changed the title python: optional parametrization of W when reformulating (non)linear least-squares cost as external cost Python: optional parametrization of W when reformulating (non)linear least-squares cost as external cost Nov 27, 2024
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Maybe appending the values and symbolics for the parameters is more restrictive than useful here.
One common scenario could be W_0 = diag(p_w), W = diag(p_w), W_e = diag(p_w[:nx]).
As it is now, the function does not allow "reusing" parameters in this way.

If this limitation is acceptable, we should maybe sanitize the input, such that param_W etc. do not depend on each other.

@sandmaennchen sandmaennchen requested a review from FreyJo November 28, 2024 09:49
@sandmaennchen sandmaennchen force-pushed the reformulate_to_external branch from 7c2d220 to a915157 Compare November 28, 2024 10:21
@FreyJo FreyJo merged commit 4b95194 into acados:master Nov 28, 2024
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@sandmaennchen sandmaennchen deleted the reformulate_to_external branch November 28, 2024 11:26
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@dirkpr dirkpr dirkpr approved these changes

@FreyJo FreyJo FreyJo approved these changes

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