acados_solver_utils.hpp

Go to the documentation of this file.

// Copyright 2023 ICUBE Laboratory, University of Strasbourg
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Thibault Poignonec (tpoignonec@unistra.fr)
 
#ifndef ACADOS_SOLVER_BASE__ACADOS_SOLVER_UTILS_HPP_
#define ACADOS_SOLVER_BASE__ACADOS_SOLVER_UTILS_HPP_
 
#include <Eigen/Dense>
 
#include <string>
 
// Acados C interface
#include "acados_c/ocp_nlp_interface.h"
 
#include "acados_solver_base/acados_solver.hpp"
#include "acados_solver_base/acados_types.hpp"
 
 
namespace acados
{
 
namespace utils
{
 
// ---------------------------------------------------------
// Convenience setters for commonly used cost variables
// ---------------------------------------------------------
 
template<typename Derived>
bool set_cost_field(
  AcadosSolver & solver,
  unsigned int stage,
  const std::string & field,
  Eigen::EigenBase<Derived> & value);
 
// Linear cost L = || Vx @ u + Vu @ u + Vz @ z - y_ref ||²_W
//
// Make sure the cost type is 'LINEAR_LS'
// ---------------------------------------------------------
 
bool set_cost_Vx(AcadosSolver & solver, unsigned int stage, Eigen::MatrixXd & Vx);
 
bool set_cost_Vu(AcadosSolver & solver, unsigned int stage, Eigen::MatrixXd & Vu);
 
bool set_cost_Vz(AcadosSolver & solver, unsigned int stage, Eigen::MatrixXd & Vz);
 
bool set_cost_W(AcadosSolver & solver, unsigned int stage, Eigen::MatrixXd & W);
 
bool set_cost_y_ref(AcadosSolver & solver, unsigned int stage, Eigen::VectorXd & y_ref);
 
// ------------------------------------------------------------
// Convenience setters for commonly used constraint variables
// ------------------------------------------------------------
 
template<typename Derived>
bool set_constraint_field(
  AcadosSolver & solver,
  unsigned int stage,
  const std::string & field,
  Eigen::EigenBase<Derived> & value);
 
// Linear constraints
// ---------------------------------------------------------
 
// For basic utils, see `AcadosSolver::set_state_bounds` and `AcadosSolver::set_control_bounds`
 
// TODO(tpoignonec):
//     - Add resize_state_bounds(stage, idxbx, suppress_warnings = false)
//     - Add resize_state_bounds(stage, bx_index_map, suppress_warnings = false)
//     - Add resize_control_bounds(stage, idxbu, suppress_warnings = false)
//     - Add resize_control_bounds(stage, bu_index_map, suppress_warnings = false)
 
// Polytopic constraints of the form
// ---------------------------------------------------------
// General linear constraints of the form
//    \f$ D @ u+ C @ x \in [g_min; g_max] \f$
// except for terminal stage where
//    \f$ C @ x \in [g_min; g_max] \f$
 
bool set_const_C(AcadosSolver & solver, unsigned int stage, Eigen::MatrixXd & C);
 
bool set_const_D(AcadosSolver & solver, unsigned int stage, Eigen::MatrixXd & D);
 
bool set_const_g_min(AcadosSolver & solver, unsigned int stage, Eigen::VectorXd & g_min);
 
bool set_const_g_max(AcadosSolver & solver, unsigned int stage, Eigen::VectorXd & g_max);
 
// Ton-linear constraints
// ---------------------------------------------------------
 
bool set_const_h_min(AcadosSolver & solver, unsigned int stage, Eigen::VectorXd & h_min);
 
bool set_const_h_max(AcadosSolver & solver, unsigned int stage, Eigen::VectorXd & h_max);
 
// ------------------------------------------------------------
// Convenience getters for solver stats
// ------------------------------------------------------------
 
template<typename T>
void unsafe_get_stats_field(AcadosSolver & solver, const std::string & field, T & value);
 
double get_stats_cost_value(AcadosSolver & solver);
 
int get_stats_sqp_iter(AcadosSolver & solver);
 
double get_stats_cpu_time(AcadosSolver & solver);
 
}  // namespace utils
 
}  // namespace acados
 
#endif  // ACADOS_SOLVER_BASE__ACADOS_SOLVER_UTILS_HPP_