Simulink parameter input query

User Questions
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1

Hi,

I am a beginner and am learning acados, switching from acado, for my project. I am working on MATLAB and using the Simulink interface to simulate my problem. My system has a 1 parameter ‘p’ in the model whose values are obtained from a function defined in Simulink. This parameter is taken as input to the solver block in Simulink.

  • The parameter is given as a column array with 1 value per time step of size Np+1 to the solver block.
  • When I set this parameter to zero, the solver runs fine and gives me a status 0. However, when values are provided, the solver gives a status 4.
  • The ‘partial_condensing_hpipm’ solver is used. When I change it to ‘full_condensing_hpipm’, MATLAB crashes. When I select ‘full_condensing_qpoases’, it gives the following error.
ocp_create: field qp_solver does not support full_condensing_qpoases, supported values are:
partial_condensing_hpipm, full_condensing_hpipm, full_condensing_qpoases, partial_condensing_osqp, partial_condensing_hpmpc,
partial_condensing_qpdunes
  • The same system dynamics, constraints and inputs work in acado and gives required results.

What could be the issue for the status 4?

Regards,
Nikhil

2

Hi Nikhil,

About the qpOASES issue: Did you compile acados with qpOASES?
In CMake this means setting the flag: -DACADOS_WITH_QPOASES=ON

I don’t know how the parameter enters your problem.
But status 4, typically means the QP solver reported infeasibility.

Best,
Jonathan

3

Hi Jonathan,

Thank you for the information.

I went through the installation steps and that step was mentioned for Linux users. Since I am on Windows, I think I did not set this option. However, I did redo the steps below in the build folder with the above setting.

cmake.exe -G "MinGW Makefiles" -D BLASFEO_TARGET=GENERIC -D HPIPM_TARGET=GENERIC -D ACADOS_INSTALL_DIR=.. -DBUILD_SHARED_LIBS=OFF -DACADOS_EXAMPLES=OFF -DACADOS_UNIT_TESTS=OFF .. -DACADOS_WITH_QPOASES=ON
mingw32-make.exe -j4
mingw32-make.exe install

I still get the same error. Is there something I am not doing correctly? I am not familiar with cmake and its processes.

The parameter is a road profile input to the suspension system. The road profile values are obtained from a function. These values are only input to the controller and plant in Simulink during runtime only. For each time step, the value is sent as an array of size Np+1 using repmat. I am not sure if this is the right method to input the values since in acado only 1 value was taken for each time step. However, acados requires an array of Np+1 for the parameter.

Regards,
Nikhil

4

Hi Nikhil,

What you tried makes sense!
Unfortunately, there is a problem with qpOASES on Windows and Matlab, which was also reported by someone else.
I will try to look into that soon.

The way you describe setting the parameters also seems correct to me and in line with acados/make_sfun.in.m at 0f69582700354dc116b24e8beec7915622b97abe · acados/acados · GitHub

Cheers,
Jonathan

5

Hi Jonathan,

I did a pull request and now I get the below error even when using the ‘partial_condensing_hpipm’ solver which was working fine earlier. What could be the issue?

Error using mex
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1c5):undefined reference to `QProblem_calculateMemorySize'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1fa):undefined reference to `QProblemB_calculateMemorySize'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x463):undefined reference to `QProblemB_assignMemory'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x46b):undefined reference to `QProblemB_calculateMemorySize'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x506):undefined reference to `QProblem_assignMemory'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x510):undefined reference to `QProblem_calculateMemorySize'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xa6e):undefined reference to `QProblemBCON'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xa7b):undefined reference to `QProblemB_setPrintLevel'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xa83):undefined reference to `QProblemB_printProperties'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xaee):undefined reference to `QProblemB_init'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xb0d):undefined reference to `QProblemB_getPrimalSolution'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xb18):undefined reference to `QProblemB_getDualSolution'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xe7b):undefined reference to `QProblem_hotstart'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xea4):undefined reference to `QProblem_getPrimalSolution'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xeaf):undefined reference to `QProblem_getDualSolution'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xee1):undefined reference to `QProblemCON'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xeee):undefined reference to `QProblem_setPrintLevel'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xef6):undefined reference to `QProblem_printProperties'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xfb9):undefined reference to `QProblem_initW'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1160):undefined reference to `QProblemB_initW'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x11d6):undefined reference to `QProblemB_hotstart'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x11e6):undefined reference to `QProblemB_getPrimalSolution'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x11f1):undefined reference to `QProblemB_getDualSolution'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1273):undefined reference to `QProblem_init'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x128b):undefined reference to `Options_setToMPC'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x12d7):undefined reference to `OptionsCPY'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x12df):undefined reference to `Options_ensureConsistency'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x12f2):undefined reference to `QProblem_setPrintLevel'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x15a1):undefined reference to `Options_setToMPC'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x15ed):undefined reference to `OptionsCPY'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x15f5):undefined reference to `Options_ensureConsistency'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1608):undefined reference to `QProblemB_setPrintLevel'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x165e):undefined reference to `QProblem_initW'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x16a7):undefined reference to `QProblemBCON'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x16b4):undefined reference to `QProblemB_setPrintLevel'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x170b):undefined reference to `QProblemB_init'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1763):undefined reference to `QProblem_init'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x17a4):undefined reference to `QProblem_hotstart'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x17d2):undefined reference to `QProblemCON'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x17e4):undefined reference to `QProblem_setPrintLevel'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1865):undefined reference to `QProblem_init'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1887):undefined reference to `Options_setToMPC'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x18d3):undefined reference to `OptionsCPY'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x18db):undefined reference to `Options_ensureConsistency'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x18ee):undefined reference to `QProblem_setPrintLevel'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x193c):undefined reference to `QProblem_init'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1954):undefined reference to `Options_setToMPC'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x19a8):undefined reference to `OptionsCPY'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x19b8):undefined reference to `Options_ensureConsistency'
Path\acados\examples\acados_matlab_octave\..\..\lib\libacados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x19cb):undefined reference to `QProblem_setPrintLevel'
collect2.exe: error: ld returned 1 exit status

Error in ocp_set_ext_fun (line 616)
mex(mex_flags, FLAGS, LDFLAGS, ['-DSETTER=', setter{ii}],...
Error in acados_ocp (line 189)
obj.C_ocp_ext_fun = ocp_set_ext_fun(obj.C_ocp, obj.C_ocp_ext_fun,...
Error in main_MPC (line 124)
ocp = acados_ocp(ocp_model, ocp_opts);

Thank you in advance.

Regards,
Nikhil

6

Hi Nikhil,

This is something I was experiencing too and have been fixing on my own system. My observations (and solutions) are roughly described here: Linker problem after building acados with multiple qp solvers · Issue #651 · acados/acados · GitHub.

To solve your problem with the fresh install, I think you should just clean your CMakeCache.txt (or just remove the build folder) and then rebuild acados (with qpoases turned off option(ACADOS_WITH_QPOASES "qpOASES solver" OFF)

7

Hi asparc,

Thanks. I was able to solve the ‘partial_condensing_hpipm’ error with your suggestion. However, the original issue (qpoases not working) still remains unfortunately.

8

Hi Nikhil,

Good that you got it working without qpoases. To get it working with qpoases, compile acados with qpoases (after cleaning the CMakeCache.txt) and do the following:

In interfaces/acados_matlab_octave/ocp_compile_interface.m, link to all external libraries that acados was compiled with, in all relevant mex-commands. For instance, if acados is compiled with qpOASES and OSQP, the mex-commands become:

mex(mex_flags, FLAGS, LDFLAGS, acados_include, acados_interfaces_include, external_include, blasfeo_include, hpipm_include, ...
            acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo', '-losqp', '-lqpOASES_e',  mex_files{ii}, '-outdir', opts.output_dir)

Similarly to the above, update the mex-commands in interfaces/acados_matlab_octave/ocp_set_ext_fun.m. For instance, if acados is compiled with qpOASES and OSQP, the mex-commands become:

mex(mex_flags, FLAGS, LDFLAGS, ['-DSETTER=', setter{ii}],...
    ['-DSET_FIELD=', set_fields{ii}], ['-DMEX_FIELD=', mex_fields{ii}],...
    ['-DFUN_NAME=', fun_names{ii}], ['-DPHASE=', num2str(phase{ii})],...
    ['-DN0=', num2str(phase_start{ii})], ['-DN1=', num2str(phase_end{ii})],...
    acados_include, acados_interfaces_include, external_include, blasfeo_include,...
    hpipm_include, acados_lib_path, acados_matlab_octave_lib_path, model_lib_path,...
    '-lacados', '-lhpipm', '-lblasfeo', '-losqp', '-lqpOASES_e', ['-l', model_name], mex_files{ii});
9

Hi asparc,

I deleted the build folder and compiled acados with qpoases on. Then, I added '-lqpOASES_e' to all the mex commands where it was not present. This was done in interfaces/acados_matlab_octave/ocp_compile_interface.m as well as interfaces/acados_matlab_octave/ocp_set_ext_fun.m. The same error as in the first post is shown again. Is my method incorrect?

10

Yes, that is what I did to solve the error in your first post (on windows/matlab). Is the error really identical to what you first posted? Other things I can think of:
Do you have the most recent version of all submodules (git submodule update --recursive --init)?
Did you accidentally alos activate other solvers than qpoases in the CMakeLists, e.g. OSQP?