include

Question

As exposed in this topic in ACADO forum, there is a bug when you try to use OnlineData variables. In my case I am using C++ code instead of MATLAB interface and have 7 OnlineData variables. In the topic mentioned before they propose using the function SetNOD but using C++ I can't call the function. I cannot access the official forum in sourcefourge because they have some problems and I would appreciate your help.

The abbreviated code is:

include

define N 20 //Time intervals -- 51 states

int main{

USING_NAMESPACE_ACADO

    //Variables
        DifferentialState   x, y, z, dx, dy, dz, roll, pitch, yaw, droll, dpitch, dyaw;
        Control     u1, u2, u3, u4;
        OnlineData   yaw0, obsx, obsy, obsz, obsrx, obsry, obsrz; 
       . . .

    //Create Optimal Control Problem object
        OCP ocp(t_start, t_end, N); //50 number of discretization intervals

    //Fixing the bug
        //Alternatives I tried
        ocp.SetNOD(7);//Error A
        //ocp.ModelContainer.SetNOD(7);//Error B


    //Objective Function        
        ocp.minimizeLSQ(Q, h);
        ocp.minimizeLSQEndTerm(QN, hN);

    /* Constraints */
        //Model constraint
            ocp.setModel( f );

    /* Export OCP */

    OCPexport mpc( ocp );
    ... 

    if (mpc.exportCode( "path_qp_export_oases" ) != SUCCESSFUL_RETURN)
        exit( EXIT_FAILURE );

return 0;

}

Error A:

/.../path_qp_generated_oases.cpp: In function ‘int main()’: /.../path_qp_generated_oases.cpp:321:9: error: ‘class ACADO::OCP’ has no member named ‘SetNOD’ ocp.SetNOD(7);

make[2]: [.../CMakeFiles/my_examples_path_qp_generated_oases.dir/my_examples/path_qp_generated_oases.cpp.o] Error 1 make1: .../CMakeFiles/my_examples_path_qp_generated_oases.dir/all] Error 2 make: [all] Error 2

Error B:

/.../path_qp_generated_oases.cpp: In function ‘int main()’: /.../path_qp_generated_oases.cpp:320:10: error: invalid use of ‘ACADO::ModelContainer::ModelContainer’ ocp.ModelContainer.SetNOD(7);

make2: [examples/CMakeFiles/my_examples_path_qp_generated_oases.dir/my_examples/path_qp_generated_oases.cpp.o] Error 1 make1:[examples/CMakeFiles/my_examples_path_qp_generated_oases.dir/all] Error 2 make: all Error 2

I am using the version of acado-master downloaded today: Branch: master Commit: 2cde3c748856ca16a4460e05149c1e5de362526f Remote: acado/acado

Also have the same problem with acado-stable downloaded today: ~/ACADOtoolkit$ git rev-parse HEAD e0cc4b058e1dc60c4e57f306dc7c7db41a582451

Thank you very much!!

Answer 1

我遇到了同样的问题 ACADO Toolkit目前存在一个错误，它有时会错误计算或完全忽略用于定义问题的OnlineData变量。
该方法是setNOD()，带有小写的“s”。

以下是一些可以帮助其他人的示例代码......

首先确保从github安装最新的ACADO源。

为ACADO定义非线性优化问题，如documentation：

所示

DifferentialState x;
DifferentialState y;

Control u;

DifferentialEquation f;
f << dot(x) == 1.0*u;
f << dot(y) == 2.0*u;

OnlineData d0;
OnlineData d1;
OnlineData d2;

etc.

OCP ocp(0.0, steps*Ts, steps);
ocp.minimizeLSQ(W, h);
ocp.minimizeLSQEndTerm(W, h);
ocp.setModel(f);

ocp.setNOD(3);

OCPexport mpc(ocp);

您必须手动计算OnlineData的号码，并将该号码加入setNOD()。

然后编译，生成代码等，如文档中所述。

现在，您可以搜索导出目录中的代码，以查找以前被忽略的OnlineData变量：

 grep -R "od\[" *

另请注意，test.c程序不会设置这些变量。

在您自己的代码中，您需要设置它们的值如果您有3个OnlineData，则将它们设置为沿着控制范围的每个步骤都是相同的，如下所示：

for (int i = 0; i < (N + 1); ++i)
{
  acadoVariables.od[i * NOD + 0] = 1.0;
  acadoVariables.od[i * NOD + 1] = 9.0;
  acadoVariables.od[i * NOD + 2] = 5.0;
}

希望这有帮助！

How can I fix the bug in ACADO Toolkit when using OnlineData variables?

include

define N 20 //Time intervals -- 51 states

1 个答案: