8000 Python: `build` and `generate` flags for batch solvers by sandmaennchen · Pull Request #1404 · acados/acados · GitHub
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Python: build and generate flags for batch solvers #1404

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merged 3 commits into from
Jan 3, 2025
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Python: build and generate flags for batch solvers #1404

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build and generate flags for batch solver
sandmaennchen Jan 3, 2025
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docstring
sandmaennchen Jan 3, 2025
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build and generate flags
sandmaennchen Jan 3, 2025
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17 changes: 12 additions & 5 deletions interfaces/acados_template/acados_template/acados_ocp_batch_solver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,23 +39,30 @@

class AcadosOcpBatchSolver():
"""
Batch Integrator for parallel integration.
Batch OCP solver for parallel solves.

:param sim: type :py:class:`~acados_template.acados_sim.AcadosOcp`
:param ocp: type :py:class:`~acados_template.acados_ocp.AcadosOcp`
:param N_batch: batch size, positive integer
:param json_file: Default: 'acados_sim.json'
:param json_file: Default: 'acados_ocp.json'
:param build: Flag indicating whether solver should be (re)compiled. If False an attempt is made to load an already compiled shared library for the solver. Default: True
:param generate: Flag indicating whether problem functions should be code generated. Default: True
:verbose: bool, default: True
"""

__ocp_solvers : List[AcadosOcpSolver]

def __init__(self, ocp: AcadosOcp, N_batch: int, json_file: str = 'acados_ocp.json', verbose: bool=True):
def __init__(self, ocp: AcadosOcp, N_batch: int, json_file: str = 'acados_ocp.json', build: bool = True, generate: bool = True, verbose: bool=True):

if not isinstance(N_batch, int) or N_batch <= 0:
raise Exception("AcadosOcpBatchSolver: argument N_batch should be a positive integer.")

self.__N_batch = N_batch
self.__ocp_solvers = [AcadosOcpSolver(ocp, json_file=json_file, build=n==0, generate=n==0, verbose=verbose) for n in range(self.N_batch)]
self.__ocp_solvers = [AcadosOcpSolver(ocp,
json_file=json_file,
build=n==0 if build else False,
generate=n==0 if generate else False,
verbose=verbose)
for n in range(self.N_batch)]

self.__shared_lib = self.ocp_solvers[0].shared_lib
self.__acados_lib = self.ocp_solvers[0].acados_lib
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8000
11 changes: 9 additions & 2 deletions interfaces/acados_template/acados_template/acados_sim_batch_solver.py
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Expand Up @@ -42,18 +42,25 @@ class AcadosSimBatchSolver():
:param sim: type :py:class:`~acados_template.acados_sim.AcadosSim`
:param N_batch: batch size, positive integer
:param json_file: Default: 'acados_sim.json'
:param build: Flag indicating whether solver should be (re)compiled. If False an attempt is made to load an already compiled shared library for the solver. Default: True
:param generate: Flag indicating whether problem functions should be code generated. Default: True
:verbose: bool, default: True
"""

__sim_solvers : List[AcadosSimSolver]

def __init__(self, sim: AcadosSim, N_batch: int, json_file: str = 'acados_sim.json', verbose: bool=True):
def __init__(self, sim: AcadosSim, N_batch: int, json_file: str = 'acados_sim.json', build: bool = True, generate: bool = True, verbose: bool=True):

if not isinstance(N_batch, int) or N_batch <= 0:
raise Exception("AcadosSimBatchSolver: argument N_batch should be a positive integer.")

self.__N_batch = N_batch
self.__sim_solvers = [AcadosSimSolver(sim, json_file=json_file, build=n==0, generate=n==0, verbose=verbose) for n in range(self.N_batch)]
self.__sim_solvers = [AcadosSimSolver(sim,
json_file=json_file,
build=n==0 if build else False,
generate=n==0 if generate else False,
verbose=verbose)
for n in range(self.N_batch)]

self.__shared_lib = self.sim_solvers[0].shared_lib
self.__model_name = self.sim_solvers[0].model_name
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