Acados Pre-release v0.1.3

FreyJo · October 8, 2020, 11:57am

There is a new pre-release of acados, version 0.1.3

This is meant to give an overview on the changes from the last 6 months.

Changes since the previous release 0.1.2

General

added OpenMP to CMake build system https://github.com/acados/acados/pull/641
Update HPIPM, BLASFEO https://github.com/acados/acados/pull/621
added cost computation for OCP NLP + getters in Matlab and Python https://github.com/acados/acados/pull/640
fix cost computation for NLS & LLS https://github.com/acados/acados/pull/640
Add option to use numerical hessian approximation for contribution of external cost module https://github.com/acados/acados/pull/610
C: improve OCP QP interface https://github.com/acados/acados/pull/602
Add option to use Levenberg Marquardt Regularization term https://github.com/acados/acados/pull/574
Preliminary implementation on globalization: https://github.com/acados/acados/pull/590
documentation updates https://github.com/acados/acados/pull/627 https://github.com/acados/acados/pull/585

Interfaces

Matlab: Added full dimension detection, setting dimensions manually is unnecessary, they will be overwritten by the dimension detection https://github.com/acados/acados/pull/642
General improvements, refactoring https://github.com/acados/acados/pull/607, https://github.com/acados/acados/pull/598
Python: add getter for residuals -> allows to perform SQP by iterating SQP_RTI
https://github.com/acados/acados/blob/master/examples/acados_python/getting_started/ocp/example_sqp_rti_loop.py
Ported race car example to Matlab:
https://github.com/acados/acados/pull/631
MEX templating: extend support to more modules: nonlinear least squares, external cost, GNSF, …

Bugfixes:

ArminN · October 9, 2020, 8:30am

This is great!
Thank you very much for the great job!

Cheers
Armin

Steradiant · October 9, 2020, 4:20pm

First of all, congratulations to this great software!

I just downloaded acados on my second machine and I had troubles running the minimal_example_ocp. I always got a lot of errors which stated undefined reference to 'omp_get_num_threads' . After some research I found out, that this has to do with the OpenMP Library. It seems, that you have to set an extra flag -fopenmp or -openmp when compiling.

I resolved the problem with disabling the OpenMP support while performing cmake, hence,

 cmake.exe -G "MinGW Makefiles" -DACADOS_WITH_OPENMP=OFF -D BLASFEO_TARGET=GENERIC -D HPIPM_TARGET=GENERIC -D ACADOS_INSTALL_DIR=.. -DBUILD_SHARED_LIBS=OFF -DACADOS_EXAMPLES=OFF  -DACADOS_UNIT_TESTS=OFF ..

Note: I’m working with Windows 10 and MATLAB R2020a

FreyJo · October 12, 2020, 8:23am

Thanks for reporting this issue.
Checking for availability of OpenMP and setting the appropriate flags should happen here:

github.com

acados/acados/blob/47af832f30c43e2c9d58495e063390258af3dc93/CMakeLists.txt#L115-L135


# OPENMP
if(ACADOS_WITH_OPENMP)
    cmake_minimum_required(VERSION 3.9)
    find_package(OpenMP)
    if(OpenMP_CXX_FOUND AND OpenMP_C_FOUND)
        # message(STATUS "OpenMP_CXX_FLAGS: ${OpenMP_CXX_FLAGS}, OpenMP_C_FLAGS: ${OpenMP_C_FLAGS}")
        # add openmp compiler flags
        set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")

        if(ACADOS_NUM_THREADS)
            add_compile_definitions(ACADOS_NUM_THREADS=${ACADOS_NUM_THREADS})
        endif()
    else()
        message(STATUS "OpenMP NOT found.")
        set(ACADOS_WITH_OPENMP OFF)
    endif()
else()
    set(ACADOS_WITH_OPENMP OFF)
    message(STATUS "ACADOS_WITH_OPENMP: ${ACADOS_WITH_OPENMP}")
endif()

Note, it was also tested on Windows here.

Maybe you can try to run a C example to check if it is related to Matlab.

Otherwise, for now setting, -DACADOS_WITH_OPENMP=OFF, is the way to go.

Cheers,
Jonathan