ocp_model_handler.hpp File Reference

#include <array>
#include <acados/utils/math.h>
#include <acados/utils/print.h>
#include <acados_c/external_function_interface.h>
#include <acados_c/ocp_nlp_interface.h>
#include <blasfeo_d_aux_ext_dep.h>
#include <trajectory_optimization_ocp/acados_solver_karl.h>
#include <trajectory_optimization_ocp/acados_solver_shuttle.h>

Go to the source code of this file.

Namespaces
namespace	trajectory_optimization
	Namespace for trajectory_optimization package.

Macros
#define	ACADOS_DISPATCH(function_name, ...)

Typedefs
typedef std::variant< karl_solver_capsule *, shuttle_solver_capsule * >	trajectory_optimization::ocp_model_capsule_t

Functions
ocp_model_capsule_t	trajectory_optimization::acados_create_capsule (const std::string &model_name)
	Creates the model-specific acados capsule selected by the configured model name.
int	trajectory_optimization::acados_create (ocp_model_capsule_t capsule)
	Wrapper around the generated acados create function for the selected model.
int	trajectory_optimization::acados_create_with_discretization (ocp_model_capsule_t capsule, int n_time_steps, double *new_time_steps)
	Wrapper around the generated acados create function with custom discretization.
int	trajectory_optimization::acados_free_capsule (ocp_model_capsule_t capsule)
	Wrapper around the generated acados capsule cleanup function.
int	trajectory_optimization::acados_free (ocp_model_capsule_t capsule)
	Wrapper around the generated acados solver cleanup function.
int	trajectory_optimization::acados_solve (ocp_model_capsule_t capsule)
	Wrapper around the generated acados solve function.
void	trajectory_optimization::acados_evaluate_dynamics (ocp_model_capsule_t capsule, int stage, double *x, double *u, double *x_dot)
	Evaluates the explicit model dynamics for a shooting stage.
int	trajectory_optimization::acados_reset (ocp_model_capsule_t capsule, int reset_qp_solver_mem, int reset_numerical_values, int reset_solver_options, int reset_x_to_x0_bar)
	Resets selected solver memory without freeing and recreating the capsule.
int	trajectory_optimization::acados_update_params_sparse (ocp_model_capsule_t capsule, int stage, int *idx, double *p, int n_update)
	Wrapper around the generated sparse parameter update function.
int	trajectory_optimization::acados_set_p_global_and_precompute_dependencies (ocp_model_capsule_t capsule, double *data, int data_len)
	Wrapper around the generated global-parameter update function.
void	trajectory_optimization::acados_print_stats (ocp_model_capsule_t capsule)
	Wrapper around the generated acados statistics printer.
ocp_nlp_in *	trajectory_optimization::acados_get_nlp_in (ocp_model_capsule_t capsule)
	Wrapper around the generated accessor for the OCP input structure.
ocp_nlp_out *	trajectory_optimization::acados_get_nlp_out (ocp_model_capsule_t capsule)
	Wrapper around the generated accessor for the OCP output structure.
ocp_nlp_solver *	trajectory_optimization::acados_get_nlp_solver (ocp_model_capsule_t capsule)
	Wrapper around the generated accessor for the OCP solver instance.
ocp_nlp_config *	trajectory_optimization::acados_get_nlp_config (ocp_model_capsule_t capsule)
	Wrapper around the generated accessor for the OCP configuration.
void *	trajectory_optimization::acados_get_nlp_opts (ocp_model_capsule_t capsule)
	Wrapper around the generated accessor for the OCP solver options.
ocp_nlp_dims *	trajectory_optimization::acados_get_nlp_dims (ocp_model_capsule_t capsule)
	Wrapper around the generated accessor for the OCP dimensions.

Macro Definition Documentation

ACADOS_DISPATCH

#define ACADOS_DISPATCH	(		function_name,
			... )

Value:

  if (std::holds_alternative<karl_solver_capsule*>(capsule)) {                                 \
    return karl_##function_name(std::get<karl_solver_capsule*>(capsule), ##__VA_ARGS__);       \
  } else if (std::holds_alternative<shuttle_solver_capsule*>(capsule)) {                       \
    return shuttle_##function_name(std::get<shuttle_solver_capsule*>(capsule), ##__VA_ARGS__); \
  } else {                                                                                     \
    throw std::invalid_argument("Invalid capsule type.");                                      \
  }

Definition at line 42 of file ocp_model_handler.hpp.

#define ACADOS_DISPATCH(function_name, ...)                                                    \
  if (std::holds_alternative<karl_solver_capsule*>(capsule)) {                                 \
    return karl_##function_name(std::get<karl_solver_capsule*>(capsule), ##__VA_ARGS__);       \
  } else if (std::holds_alternative<shuttle_solver_capsule*>(capsule)) {                       \
    return shuttle_##function_name(std::get<shuttle_solver_capsule*>(capsule), ##__VA_ARGS__); \
  } else {                                                                                     \
    throw std::invalid_argument("Invalid capsule type.");                                      \
  }