acados · FreyJo · Apr 17, 2025 · Apr 17, 2025 · Apr 17, 2025 · Apr 17, 2025
diff --git a/interfaces/acados_template/acados_template/acados_multiphase_ocp.py b/interfaces/acados_template/acados_template/acados_multiphase_ocp.py
@@ -256,7 +256,7 @@ def set_phase(self, ocp: AcadosOcp, phase_idx: int) -> None:
 
         return
 
-    def make_consistent(self) -> None:
+    def make_consistent(self, verbose: bool = True) -> None:
 
         self.N_horizon = sum(self.N_list)
         self.solver_options.N_horizon = self.N_horizon # NOTE: to not change options when making ocp consistent
@@ -330,7 +330,7 @@ def make_consistent(self) -> None:
                     print(f"Phase {i} contains non-default initial fields: {nondefault_fields}, which will be ignored.")
 
             print(f"Calling make_consistent for phase {i}.")
-            ocp.make_consistent(is_mocp_phase=True)
+            ocp.make_consistent(is_mocp_phase=True, verbose=verbose)
 
             self.dummy_ocp_list.append(ocp)
 

diff --git a/interfaces/acados_template/acados_template/acados_ocp.py b/interfaces/acados_template/acados_template/acados_ocp.py
@@ -898,7 +898,7 @@ def _make_consistent_simulation(self):
             raise ValueError("Wrong value for sim_method_jac_reuse. Should be either int or array of ints of shape (N,).")
 
 
-    def make_consistent(self, is_mocp_phase=False) -> None:
+    def make_consistent(self, is_mocp_phase: bool=False, verbose: bool=True) -> None:
         """
         Detect dimensions, perform sanity checks
         """
@@ -941,23 +941,24 @@ def make_consistent(self, is_mocp_phase=False) -> None:
         self._make_consistent_cost_terminal()
 
         # GN check
-        gn_warning_0 = (opts.N_horizon > 0 and cost.cost_type_0 == 'EXTERNAL' and opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and is_empty(model.cost_expr_ext_cost_custom_hess_0))
-        gn_warning_path = (opts.N_horizon > 0 and cost.cost_type == 'EXTERNAL' and opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and is_empty(model.cost_expr_ext_cost_custom_hess))
-        gn_warning_terminal = (cost.cost_type_e == 'EXTERNAL' and opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and is_empty(model.cost_expr_ext_cost_custom_hess_e))
-        if any([gn_warning_0, gn_warning_path, gn_warning_terminal]):
-            external_cost_types = []
-            if gn_warning_0:
-                external_cost_types.append('cost_type_0')
-            if gn_warning_path:
-                external_cost_types.append('cost_type')
-            if gn_warning_terminal:
-                external_cost_types.append('cost_type_e')
-            print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not well defined!\n"
-            f"got cost_type EXTERNAL for {', '.join(external_cost_types)}, hessian_approx: 'GAUSS_NEWTON'.\n"
-            "With this setting, acados will proceed computing the exact Hessian for the cost term and no Hessian contribution from constraints and dynamics.\n"
-            "If the external cost is a linear least squares cost, this coincides with the Gauss-Newton Hessian.\n"
-            "Note: There is also the option to use the external cost module with a numerical Hessian approximation (see `ext_cost_num_hess`).\n"
-            "OR the option to provide a symbolic custom Hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
+        if verbose:
+            gn_warning_0 = (opts.N_horizon > 0 and cost.cost_type_0 == 'EXTERNAL' and opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and is_empty(model.cost_expr_ext_cost_custom_hess_0))
+            gn_warning_path = (opts.N_horizon > 0 and cost.cost_type == 'EXTERNAL' and opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and is_empty(model.cost_expr_ext_cost_custom_hess))
+            gn_warning_terminal = (cost.cost_type_e == 'EXTERNAL' and opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and is_empty(model.cost_expr_ext_cost_custom_hess_e))
+            if any([gn_warning_0, gn_warning_path, gn_warning_terminal]):
+                external_cost_types = []
+                if gn_warning_0:
+                    external_cost_types.append('cost_type_0')
+                if gn_warning_path:
+                    external_cost_types.append('cost_type')
+                if gn_warning_terminal:
+                    external_cost_types.append('cost_type_e')
+                print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not well defined!\n"
+                f"got cost_type EXTERNAL for {', '.join(external_cost_types)}, hessian_approx: 'GAUSS_NEWTON'.\n"
+                "With this setting, acados will proceed computing the exact Hessian for the cost term and no Hessian contribution from constraints and dynamics.\n"
+                "If the external cost is a linear least squares cost, this coincides with the Gauss-Newton Hessian.\n"
+                "Note: There is also the option to use the external cost module with a numerical Hessian approximation (see `ext_cost_num_hess`).\n"
+                "OR the option to provide a symbolic custom Hessian approximation (see `cost_expr_ext_cost_custom_hess`).\n")
 
         # cost integration
         if opts.N_horizon > 0:

diff --git a/interfaces/acados_template/acados_template/acados_ocp_batch_solver.py b/interfaces/acados_template/acados_template/acados_ocp_batch_solver.py
@@ -77,7 +77,8 @@ def __init__(self, ocp: AcadosOcp, N_batch_max: int,
                                               json_file=json_file,
                                               build=n==0 if build else False,
                                               generate=n==0 if generate else False,
-                                              verbose=verbose)
+                                              verbose=verbose if n==0 else False,
+                                              )
                                for n in range(self.N_batch_max)]
 
         self.__shared_lib = self.ocp_solvers[0].shared_lib

diff --git a/interfaces/acados_template/acados_template/acados_ocp_solver.py b/interfaces/acados_template/acados_template/acados_ocp_solver.py
@@ -90,7 +90,7 @@ def shared_lib(self,):
         return self.__shared_lib
 
     @classmethod
-    def generate(cls, acados_ocp: Union[AcadosOcp, AcadosMultiphaseOcp], json_file: str, simulink_opts=None, cmake_builder: CMakeBuilder = None):
+    def generate(cls, acados_ocp: Union[AcadosOcp, AcadosMultiphaseOcp], json_file: str, simulink_opts=None, cmake_builder: CMakeBuilder = None, verbose=True):
         """
         Generates the code for an acados OCP solver, given the description in acados_ocp.
             :param acados_ocp: type Union[AcadosOcp, AcadosMultiphaseOcp] - description of the OCP for acados
@@ -100,6 +100,7 @@ def generate(cls, acados_ocp: Union[AcadosOcp, AcadosMultiphaseOcp], json_file:
             :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use
                    the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
                    `MS Visual Studio`); default: `None`
+            :param verbose: indicating if warnings are printed
         """
         acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory)
 
@@ -112,7 +113,7 @@ def generate(cls, acados_ocp: Union[AcadosOcp, AcadosMultiphaseOcp], json_file:
                 acados_ocp.simulink_opts = simulink_opts
 
         # make consistent
-        acados_ocp.make_consistent()
+        acados_ocp.make_consistent(verbose=verbose)
 
         # module dependent post processing
         if acados_ocp.solver_options.integrator_type == 'GNSF':
@@ -225,11 +226,11 @@ def __init__(self, acados_ocp: Union[AcadosOcp, AcadosMultiphaseOcp, None], json
         if generate:
             if json_file is not None:
                 acados_ocp.json_file = json_file
-            self.generate(acados_ocp, json_file=acados_ocp.json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder)
+            self.generate(acados_ocp, json_file=acados_ocp.json_file, simulink_opts=simulink_opts, cmake_builder=cmake_builder, verbose=verbose)
             json_file = acados_ocp.json_file
         else:
             if acados_ocp is not None:
-                acados_ocp.make_consistent()
+                acados_ocp.make_consistent(verbose=verbose)
 
         # load json, store options in object
         with open(json_file, 'r') as f:

diff --git a/interfaces/acados_template/acados_template/acados_sim_batch_solver.py b/interfaces/acados_template/acados_template/acados_sim_batch_solver.py
@@ -70,7 +70,8 @@ def __init__(self, sim: AcadosSim, N_batch: int, num_threads_in_batch_solve: Uni
                                               json_file=json_file,
                                               build=n==0 if build else False,
                                               generate=n==0 if generate else False,
-                                              verbose=verbose)
+                                              verbose=verbose if n==0 else False,
+                                              )
                               for n in range(self.N_batch)]
 
         self.__shared_lib = self.sim_solvers[0].shared_lib