Cost and linearization points

FreyJo · March 23, 2020, 9:35pm

Hey Jay,

in Python you can initialize the solver like here:

acados/acados/blob/52c67fe6864042a8d672a4b74441a5f7798bc1f8/examples/acados_python/tests/test_ocp_setting.py#L261


ocp.solver_options.tf = Tf
ocp.solver_options.nlp_solver_type = SOLVER_TYPE


if ocp.solver_options.integrator_type == 'GNSF':
    with open('../getting_started/common/' + model.name + '_gnsf_functions.json', 'r') as f:
        gnsf_dict = json.load(f)
    ocp.gnsf_model = gnsf_dict


ocp_solver = AcadosOcpSolver(ocp, json_file = 'acados_ocp.json')


# initialize solver
x_traj_init = np.transpose( np.vstack( [np.zeros((N+1,)), \
     np.arange(pi, -pi/N,- pi/N), np.zeros((N+1,)), np.zeros((N+1,))]) )
for i in range(N+1):
    ocp_solver.set(i, "x", x_traj_init[i])


pi_init = np.ones((N, nx))
for i in range(N):
    ocp_solver.set(i, "pi", pi_init[i])


u_init = np.zeros((N, nu))

Cheers,
Jonathan