Adaptation from Acado Toolkit

FreyJo · December 20, 2021, 1:25pm

Hi Frank,

I see, the ext_qp_res option is not interfaced in the code generation part.

Since you seem to use the generated solver.
I would like to point you to the get_residuals function in the Python interface:

github.com

acados/acados/blob/af60ca0512491f64eee242a5a040b35e32bea35c/interfaces/acados_template/acados_template/acados_ocp_solver.py#L1225-L1256

    
      
          def get_residuals(self):
              """
              Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
              """
              # compute residuals if RTI
              if self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
                  self.shared_lib.ocp_nlp_eval_residuals.argtypes = [c_void_p, c_void_p, c_void_p]
                  self.shared_lib.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
          
          
    # create output array
              out = np.ascontiguousarray(np.zeros((4, 1)), dtype=np.float64)
              out_data = cast(out.ctypes.data, POINTER(c_double))
          
          
    # call getters
              self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
          
          
    field = "res_stat".encode('utf-8')
              self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
          
          
    out_data = cast(out[1].ctypes.data, POINTER(c_double))

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The calls to the C functions in there can be used with SQP_RTI in the code generated solver, namely evaluating the residuals, which is not done by default in RTI for performance, and then calling the getters.

I am not sure in what framework you are using the code generated solver.
If in C++, ROS or the like you can just make those calls to the shared library.
It would of course be nice to also add this functionality to the Matlab interface.

Best,
Jonathan