8000 MATLAB/Python: Add check whether `p_global` is defined, but `global_data` is empty by sandmaennchen · Pull Request #1396 · acados/acados · GitHub
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MATLAB/Python: Add check whether p_global is defined, but global_data is empty #1396

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Merged
merged 1 commit into from
Dec 12, 2024
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MATLAB/Python: Add check whether p_global is defined, but global_data is empty #1396

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11 changes: 8 additions & 3 deletions interfaces/acados_matlab_octave/GenerateContext.m
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Original file line number Diff line number Diff line change
Expand Up @@ -185,6 +185,14 @@
global_data_expr_list = cellfun(@(pair) pair{2}, precompute_pairs, 'UniformOutput', false);
self.global_data_expr = cse(vertcat(global_data_expr_list{:}));

% Assert length match
assert(length(self.global_data_expr) == length(self.global_data_sym), ...
sprintf('Length mismatch: %d != %d', length(self.global_data_expr), length(self.global_data_sym)));

if length(self.global_data_expr) == 0
error("The model contains global parameters, but no CasADi function depends on them. This is currently not supported. Please remove p_global from the model definition.")
end

% Add global data as input to all functions
for i = 1:length(self.function_input_output_pairs)
self.function_input_output_pairs{i}{1}{end+1} = self.global_data_sym;
Expand All @@ -197,9 +205,6 @@
% Add function definition
self.add_function_definition(fun_name, {self.p_global}, {self.global_data_expr}, output_dir);

% Assert length match
assert(length(self.global_data_expr) == length(self.global_data_sym), ...
sprintf('Length mismatch: %d != %d', length(self.global_data_expr), length(self.global_data_sym)));
end


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6 changes: 5 additions & 1 deletion interfaces/acados_template/acados_template/casadi_function_generation.py
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Expand Up @@ -154,6 +154,11 @@ def __setup_p_global_precompute_fun(self):
self.global_data_sym = ca.vertcat(*global_data_sym_list)
self.global_data_expr = ca.cse(ca.vertcat(*[output for _, output in precompute_pairs]))

assert casadi_length(self.global_data_expr) == casadi_length(self.global_data_sym), f"Length mismatch: {casadi_length(self.global_data_expr)} != {casadi_length(self.global_data_sym)}"

if casadi_length(self.global_data_expr) == 0:
raise Exception("The model contains global parameters, but no CasADi function depends on them. This is currently not supported. Please remove p_global from the model definition.")

# add global data as input to all functions
for i in range(len(self.function_input_output_pairs)):
self.function_input_output_pairs[i][0].append(self.global_data_sym)
Expand All @@ -164,7 +169,6 @@ def __setup_p_global_precompute_fun(self):

# self.print_global_data_summary()

assert casadi_length(self.global_data_expr) == casadi_length(self.global_data_sym), f"Length mismatch: {casadi_length(self.global_data_expr)} != {casadi_length(self.global_data_sym)}"

def finalize(self):
if not is_empty(self.p_global):
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