Evaluator #1402
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Evaluator #1402
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moving evaluation files to original pendulum
…hon solver interface
interfaces/acados_template/acados_template/acados_ocp_solver.py
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interfaces/acados_template/acados_template/acados_ocp_solver.py
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# Conflicts: # interfaces/acados_template/acados_template/acados_ocp_solver.py
…in evaluator, copy ocp internally
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You should add your example here to make sure it is tested on CI acados/.github/workflows/full_build.yml Line 152 in 70d3e91 .. also I think it would be good if the example would use parameters 🙈 |
examples/acados_python/evaluation/minimal_example_evaluation.py
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examples/acados_python/evaluation/minimal_example_evaluation.py
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sandmaennchen
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Jan 10, 2025
FreyJo
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Mar 26, 2025
FreyJo
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- fix get_path_cost_expression for `CONVEX_OVER_NONLINEAR`, broken in #1402 - fix also for terminal cost - removed comments
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Adding a basic evaluator that can be used to (I) evaluate closed-loop cost aligned with the acados definition and (II) to evaluate the full trajectory obtained from acados externally. Point two is mainly used for testing the one-step evaluation of (I).
Updating parameters in the solver after instantiation requires to call the "update_all" function of the evaluator to align the evaluator and the solver. Attention: Currently only parameters "p" and "p_global" are updated. Other (bounds, weights, and references) will follow.
Example minimal_example_evaluation.py tests the function on a pendulum.
The evaluator is in a preliminary phase and requires updates to be fully aligned with acados. Next steps: