ocp_nlp_interface

ocp_nlp_interface#

Typedefs

typedef struct ocp_nlp_plan_t ocp_nlp_plan_t#

Structure to store the configuration of a non-linear program.

typedef struct ocp_nlp_solver ocp_nlp_solver#

Structure to store the collection of pointers for the nonlinear programming solver.

Enums

enum ocp_nlp_solver_t#

Solution methods for optimal control problems.

Values:

enumerator SQP#
enumerator SQP_WITH_FEASIBLE_QP#
enumerator SQP_RTI#
enumerator DDP#
enumerator INVALID_NLP_SOLVER#
enum ocp_nlp_dynamics_t#

Types of the system dynamics, discrete or continuous time.

Values:

enumerator CONTINUOUS_MODEL#
enumerator DISCRETE_MODEL#
enumerator INVALID_DYNAMICS#
enum ocp_nlp_constraints_t#

Constraint types.

Values:

enumerator BGH#

Comprises simple bounds, polytopic constraints, general non-linear constraints.

enumerator BGP#

Comprises simple bounds, polytopic constraints, general non-linear constraints, and positive definite constraints.

enumerator INVALID_CONSTRAINT#
enum ocp_nlp_reg_t#

Regularization types.

Values:

enumerator NO_REGULARIZE#
enumerator MIRROR#
enumerator PROJECT#
enumerator PROJECT_REDUC_HESS#
enumerator CONVEXIFY#
enumerator GERSHGORIN_LEVENBERG_MARQUARDT#
enumerator INVALID_REGULARIZE#
enum ocp_nlp_globalization_t#

Globalization types.

Values:

enumerator FIXED_STEP#
enumerator MERIT_BACKTRACKING#
enumerator FUNNEL_L1PEN_LINESEARCH#

Functions

ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *ocp_nlp_plan_create(int N)#

Constructs an empty plan struct (user nlp configuration), all fields are set to a default/invalid state.

Parameters:

N – Horizon length

ACADOS_SYMBOL_EXPORT void ocp_nlp_plan_destroy(void *plan_)#

Destructor for plan struct, frees memory.

Parameters:

plan_ – The plan struct to destroy.

ACADOS_SYMBOL_EXPORT ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan)#

Constructs an nlp configuration struct from a plan.

Parameters:

plan – The plan (user nlp configuration).

ACADOS_SYMBOL_EXPORT void ocp_nlp_config_destroy(void *config_)#

Desctructor of the nlp configuration.

Parameters:

config_ – The configuration struct.

ACADOS_SYMBOL_EXPORT ocp_nlp_dims *ocp_nlp_dims_create(void *config_)#

Constructs an struct that contains the dimensions of the variables.

Parameters:

config_ – The configuration struct.

ACADOS_SYMBOL_EXPORT void ocp_nlp_dims_destroy(void *dims_)#

Destructor of The dimension struct.

Parameters:

dims_ – The dimension struct.

ACADOS_SYMBOL_EXPORT ocp_nlp_in *ocp_nlp_in_create(ocp_nlp_config *config, ocp_nlp_dims *dims)#

Constructs an input struct for a non-linear programs.

Parameters:

  • config – The configuration struct.

  • dims – The dimension struct.

ACADOS_SYMBOL_EXPORT void ocp_nlp_in_destroy(void *in)#

Destructor of the inputs struct.

Parameters:

in – The inputs struct.

ACADOS_SYMBOL_EXPORT void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, const char *field, void *value)#

Sets the sampling times for the given stage.

Parameters:

  • config – The configuration struct.

  • dims – The dimension struct.

  • in – The inputs struct.

  • stage – Stage number.

  • field – Has to be “Ts” (TBC other options).

  • value – The sampling times (floating point).

ACADOS_SYMBOL_EXPORT int ocp_nlp_dynamics_model_set_external_param_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, const char *field, void *ext_fun)#
ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_set_external_param_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, const char *field, void *ext_fun)#
ACADOS_SYMBOL_EXPORT int ocp_nlp_constraints_model_set_external_param_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, const char *field, void *ext_fun)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_in_set_params_sparse(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, int *idx, double *p, int n_update)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_in_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, const char *field, void *value)#
ACADOS_SYMBOL_EXPORT int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, const char *fun_type, void *fun_ptr)#

Sets the function pointers to the dynamics functions for the given stage.

Parameters:

  • config – The configuration struct.

  • dims – The dimension struct.

  • in – The inputs struct.

  • stage – Stage number.

  • fun_type – The name of the function type, either impl_ode_fun, impl_ode_fun_jac_x_xdot, impl_ode_jac_x_xdot_u (TBC)

  • fun_ptr – Function pointer to the dynamics function.

ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, const char *field, void *value)#

Sets the function pointers to the cost functions for the given stage.

Parameters:

  • config – The configuration struct.

  • dims – The dimension struct.

  • in – The inputs struct.

  • stage – Stage number.

  • field – The name of the field, either nls_res_jac, y_ref, W (others TBC)

  • value – Cost values.

ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, const char *field, void *value)#
ACADOS_SYMBOL_EXPORT int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out, int stage, const char *field, void *value)#

Sets the function pointers to the constraints functions for the given stage.

Parameters:

  • config – The configuration struct.

  • dims – The dimension struct.

  • in – The inputs struct.

  • stage – Stage number.

  • field – The name of the field, either lb, ub (others TBC)

  • value – Constraints function or values.

ACADOS_SYMBOL_EXPORT void ocp_nlp_constraints_model_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, const char *field, void *value)#
ACADOS_SYMBOL_EXPORT ocp_nlp_out *ocp_nlp_out_create(ocp_nlp_config *config, ocp_nlp_dims *dims)#

Constructs an output struct for the non-linear program.

Parameters:

  • config – The configuration struct.

  • dims – The dimension struct.

ACADOS_SYMBOL_EXPORT void ocp_nlp_out_destroy(void *out)#

Destructor of the output struct.

Parameters:

out – The output struct.

ACADOS_SYMBOL_EXPORT void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, ocp_nlp_in *in, int stage, const char *field, void *value)#

Sets fields in the output struct of an nlp solver, used to initialize the solver.

Parameters:

  • config – The configuration struct.

  • dims – The dimension struct.

  • out – The output struct.

  • stage – Stage number.

  • field – The name of the field, either x, u, pi.

  • value – Initialization values.

ACADOS_SYMBOL_EXPORT void ocp_nlp_out_set_values_to_zero(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, int stage, const char *field, void *value)#

Gets values of fields in the output struct of an nlp solver.

Parameters:

  • config – The configuration struct.

  • dims – The dimension struct.

  • out – The output struct.

  • stage – Stage number.

  • field – The name of the field, either x, u, z, pi.

  • value – Pointer to the output memory.

ACADOS_SYMBOL_EXPORT void ocp_nlp_get_at_stage(ocp_nlp_solver *solver, int stage, const char *field, void *value)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_get_from_iterate(ocp_nlp_solver *solver, int iter, int stage, const char *field, void *value)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_get_all(ocp_nlp_solver *solver, ocp_nlp_in *in, ocp_nlp_out *out, const char *field, void *value)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_set_all(ocp_nlp_solver *solver, ocp_nlp_in *in, ocp_nlp_out *out, const char *field, void *value)#
ACADOS_SYMBOL_EXPORT int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, int stage, const char *field)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, int stage, const char *field, int *dims_out)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, int stage, const char *field, int *dims_out)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, int stage, const char *field, int *dims_out)#
ACADOS_SYMBOL_EXPORT int ocp_nlp_dims_get_total_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, const char *field)#
ACADOS_SYMBOL_EXPORT void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims)#

Creates an options struct for the non-linear program.

Parameters:

  • config – The configuration struct.

  • dims – The dimension struct.

ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_destroy(void *opts)#

Destructor of the options.

Parameters:

opts – The options struct.

ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void *value)#

Sets an option.

Parameters:

  • config – The configuration struct.

  • opts_ – The options struct.

  • field – Name of the option.

  • value – Value of the option.

ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void *value)#
ACADOS_SYMBOL_EXPORT ocp_nlp_solver *ocp_nlp_solver_create(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_, ocp_nlp_in *nlp_in)#

Creates an ocp solver.

Parameters:

  • config – The configuration struct.

  • dims – The dimension struct.

  • opts_ – The options struct.

Returns:

The solver.

ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_destroy(ocp_nlp_solver *solver)#

Destructor of the solver.

Parameters:

solver – The solver struct.

ACADOS_SYMBOL_EXPORT int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)#

Solves the optimal control problem.

Call ocp_nlp_precompute before calling this function.

Parameters:

  • solver – The solver struct.

  • nlp_in – The inputs struct.

  • nlp_out – The output struct.

ACADOS_SYMBOL_EXPORT int ocp_nlp_setup_qp_matrices_and_factorize(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_reset_qp_memory(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)#

Resets the memory of the QP solver.

Parameters:

  • solver – The solver struct.

  • nlp_in – The inputs struct.

  • nlp_out – The output struct.

ACADOS_SYMBOL_EXPORT int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)#

Performs precomputations for the solver.

Needs to be called before ocp_nlp_solve (TBC).

Parameters:

  • solver – The solver struct.

  • nlp_in – The inputs struct.

  • nlp_out – The output struct.

ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)#

Computes cost function value.

Parameters:

  • solver – The solver struct.

  • nlp_in – The inputs struct.

  • nlp_out – The output struct.

ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_params_jac(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)#

Computes jacobian wrt params in all modules (preparation for solution sensitivities).

Parameters:

  • solver – The solver struct.

  • nlp_in – The inputs struct.

  • nlp_out – The output struct.

ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)#

Computes the residuals.

Parameters:

  • solver – The solver struct.

  • nlp_in – The inputs struct.

  • nlp_out – The output struct.

ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_lagrange_grad_p(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, const char *field, double *out)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_solution_sens_adj_p(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *sens_nlp_out, const char *field, int stage, double *out)#
ACADOS_SYMBOL_EXPORT void ocp_nlp_get(ocp_nlp_solver *solver, const char *field, void *return_value_)#
Parameters:

  • solver – The solver struct.

  • field – Supports “sqp_iter”, “status”, “nlp_res”, “time_tot”, …

  • return_value_ – Pointer to the output memory.

ACADOS_SYMBOL_EXPORT void ocp_nlp_set(ocp_nlp_solver *solver, int stage, const char *field, void *value)#

Sets the initial guesses for the integrator for the given stage.

Parameters:

  • solver – The ocp_nlp_solver struct.

  • stage – Stage number.

  • field – Supports “z_guess”, “xdot_guess” (IRK), “phi_guess” (GNSF-IRK)

  • value – The initial guess for the algebraic variables in the integrator (if continuous model is used).

struct ocp_nlp_plan_t
#include <ocp_nlp_interface.h>

Structure to store the configuration of a non-linear program.

Public Members

ocp_qp_solver_plan_t ocp_qp_solver_plan#

QP solver configuration.

ocp_qp_solver_plan_t relaxed_ocp_qp_solver_plan#

QP solver configuration.

sim_solver_plan_t *sim_solver_plan#

Simulation solver configuration for each stage.

ocp_nlp_solver_t nlp_solver#

Nlp solver type.

ocp_nlp_reg_t regularization#

Regularization type, defaults to no regularization.

ocp_nlp_globalization_t globalization#

Globalization type, defaults to fixed step.

ocp_nlp_cost_t *nlp_cost#

Cost type for each stage.

ocp_nlp_dynamics_t *nlp_dynamics#

Dynamics type for each stage.

ocp_nlp_constraints_t *nlp_constraints#

Constraints type for each stage.

int N#

Horizon length.

struct ocp_nlp_solver
#include <ocp_nlp_interface.h>

Structure to store the collection of pointers for the nonlinear programming solver.

Public Members

ocp_nlp_config *config#
ocp_nlp_dims *dims#
void *opts#
void *mem#
void *work#