Functions
def	solve_ocp (state, y_sol, x_sol)

Variables
float	Ts = 0.05

int	N_hor = 18

int	N_sim = 80

bool	multipleshooting = False

int	R_obstacle = 2

	f

	nlp

	bounds

	n_states

	n_inputs

	first_input_idx

string	name = "mpcproblem"

	f_prob = cs.Function("f", [nlp["x"], nlp["p"]], [nlp["f"]])

	g_prob = cs.Function("g", [nlp["x"], nlp["p"]], [nlp["g"]])

	cgen

	n

	m

	num_p

	prefix

	cfile = cgen.generate(os.path.join(tmpdir, ''))

	sofile = os.path.join(tmpdir, f"{name}.so")

	prob = pa.load_casadi_problem_with_param(sofile, n, m)

	lowerbound

	upperbound

int	lbfgsmem = N_hor

int	tol = 1e-5

bool	verbose = False

dictionary	panocparams

	innersolver

	almparams

	solver = pa.ALMSolver(almparams, innersolver)

	state = np.array([-5, 0, 0, 0])

	dest = np.array([5, 0.1, 0, 0])

	x_sol = np.concatenate((np.tile(state, N_hor), np.zeros((n_inputs * N_hor,))))

	y_sol = np.zeros((m,))

	xs = np.zeros((N_sim, n_states))

	times = np.zeros((N_sim,))

	t

	stats

	input = x_sol[first_input_idx : first_input_idx + n_inputs]

	fig_trajectory

	ax

	c = plt.Circle((0, 0), R_obstacle)

	fig_time

Function Documentation

◆ solve_ocp()

def bicycle-obstacle-avoidance-mpc.solve_ocp	(	state,
		y_sol,
		x_sol
	)

Definition at line 97 of file bicycle-obstacle-avoidance-mpc.py.

Variable Documentation

◆ Ts

float Ts = 0.05

Definition at line 18 of file bicycle-obstacle-avoidance-mpc.py.

◆ N_hor

int N_hor = 18

Definition at line 19 of file bicycle-obstacle-avoidance-mpc.py.

◆ N_sim

int N_sim = 80

Definition at line 20 of file bicycle-obstacle-avoidance-mpc.py.

◆ multipleshooting

bool multipleshooting = False

Definition at line 22 of file bicycle-obstacle-avoidance-mpc.py.

◆ R_obstacle

int R_obstacle = 2

Definition at line 23 of file bicycle-obstacle-avoidance-mpc.py.

◆ f

f

Definition at line 25 of file bicycle-obstacle-avoidance-mpc.py.

◆ nlp

nlp

Definition at line 25 of file bicycle-obstacle-avoidance-mpc.py.

◆ bounds

bounds

Definition at line 25 of file bicycle-obstacle-avoidance-mpc.py.

◆ n_states

n_states

Definition at line 25 of file bicycle-obstacle-avoidance-mpc.py.

◆ n_inputs

n_inputs

Definition at line 25 of file bicycle-obstacle-avoidance-mpc.py.

◆ first_input_idx

first_input_idx

Definition at line 25 of file bicycle-obstacle-avoidance-mpc.py.

◆ name

name = "mpcproblem"

Definition at line 34 of file bicycle-obstacle-avoidance-mpc.py.

◆ f_prob

f_prob = cs.Function("f", [nlp["x"], nlp["p"]], [nlp["f"]])

Definition at line 35 of file bicycle-obstacle-avoidance-mpc.py.

◆ g_prob

g_prob = cs.Function("g", [nlp["x"], nlp["p"]], [nlp["g"]])

Definition at line 36 of file bicycle-obstacle-avoidance-mpc.py.

◆ cgen

cgen

Definition at line 37 of file bicycle-obstacle-avoidance-mpc.py.

◆ n

n

Definition at line 37 of file bicycle-obstacle-avoidance-mpc.py.

◆ m

m

Definition at line 37 of file bicycle-obstacle-avoidance-mpc.py.

◆ num_p

num_p

Definition at line 37 of file bicycle-obstacle-avoidance-mpc.py.

◆ prefix

prefix

Definition at line 39 of file bicycle-obstacle-avoidance-mpc.py.

◆ cfile

cfile = cgen.generate(os.path.join(tmpdir, ''))

Definition at line 40 of file bicycle-obstacle-avoidance-mpc.py.

◆ sofile

sofile = os.path.join(tmpdir, f"{name}.so")

Definition at line 41 of file bicycle-obstacle-avoidance-mpc.py.

◆ prob

prob = pa.load_casadi_problem_with_param(sofile, n, m)

Definition at line 44 of file bicycle-obstacle-avoidance-mpc.py.

◆ lowerbound

lowerbound

Definition at line 46 of file bicycle-obstacle-avoidance-mpc.py.

◆ upperbound

upperbound

Definition at line 47 of file bicycle-obstacle-avoidance-mpc.py.

◆ lbfgsmem

int lbfgsmem = N_hor

Definition at line 53 of file bicycle-obstacle-avoidance-mpc.py.

◆ tol

int tol = 1e-5

Definition at line 54 of file bicycle-obstacle-avoidance-mpc.py.

◆ verbose

bool verbose = False

Definition at line 55 of file bicycle-obstacle-avoidance-mpc.py.

◆ panocparams

dictionary panocparams

Initial value:

 =  {
     "max_iter": 1000,
     "max_time": timedelta(seconds=0.5),
     "print_interval": 10 if verbose else 0,
     "stop_crit": pa.PANOCStopCrit.ProjGradUnitNorm,
     "update_lipschitz_in_linesearch": True,
 }

Definition at line 57 of file bicycle-obstacle-avoidance-mpc.py.

◆ innersolver

innersolver

Initial value:

 =  pa.PANOCSolver(
     pa.PANOCParams(**panocparams),
     pa.LBFGSParams(memory=lbfgsmem),
 )

Definition at line 65 of file bicycle-obstacle-avoidance-mpc.py.

◆ almparams

almparams

Initial value:

 =  pa.ALMParams(
     max_iter=20,
     max_time=timedelta(seconds=1),
     print_interval=1 if verbose else 0,
     preconditioning=False,
     ε=tol,
     δ=tol,
     Δ=5,
     Σ_0=4e5,
     Σ_max=1e12,
 )